jwscxx::graphics::Stereo_camera_d Class Reference

Stereo pair of cameras for 3D viewing in OpenGL. More...

#include <camera.h>

Inheritance diagram for jwscxx::graphics::Stereo_camera_d:

Collaboration diagram for jwscxx::graphics::Stereo_camera_d:

List of all members.

Public Member Functions
	Stereo_camera_d (double focal_pt_x, double focal_pt_y, double focal_pt_z, double ref_pt_x, double ref_pt_y, double ref_pt_z, double up_x, double up_y, double up_z, double aperture, double clip_near, double clip_far) throw (jwscxx::base::Arg_error)
	Constructs a Stereo_camera_d.
	Stereo_camera_d (const jwsc::Vector_d *focal_pt, const jwsc::Vector_d *ref_pt, const jwsc::Vector_d *up, double aperture, double clip_near, double clip_far) throw (jwscxx::base::Arg_error)
	Constructs a Stereo_camera_d.
	Stereo_camera_d (const Stereo_camera_d &c)
	Constructs a camera by copying another.
	Stereo_camera_d (const char *fname) throw (jwscxx::base::Arg_error, jwscxx::base::IO_error)
	Reads a camera from an input file.
	Stereo_camera_d (std::istream &in) throw (jwscxx::base::Arg_error, jwscxx::base::IO_error)
	Reads a camera from an input stream.
virtual	~Stereo_camera_d ()
	Deletes this Camera_d.
virtual Stereo_camera_d &	operator= (const Stereo_camera_d &c)
	Copies a camera into this one.
virtual Stereo_camera_d *	clone () const
	Clones this camera.
const jwsc::Vector_d *	get_left_prp () const
	Returns a constant pointer to the left camera focal point.
const jwsc::Vector_d *	get_right_prp () const
	Returns a constant pointer to the right camera focal point.
const jwsc::Vector_d *	get_left_vrp () const
	Returns a constant pointer to the left camera reference point.
const jwsc::Vector_d *	get_right_vrp () const
	Returns a constant pointer to the right camera reference point.
void	set_aperture (double aperture) throw (jwscxx::base::Arg_error)
	Sets the vertical aperture.
void	set_f_with_new_aperture_using_prp (double f) throw (jwscxx::base::Arg_error)
	Sets the focal length and updates the aperture by changing the left and right prp.
void	set_f_with_same_aperture_using_prp (double f) throw (jwscxx::base::Arg_error)
	Sets the focal length using the same aperture by changing the left and right prp.
void	set_f_with_new_aperture_using_vrp (double f) throw (jwscxx::base::Arg_error)
	Sets the focal length and updates the aperture by changing the vrp.
void	set_f_with_same_aperture_using_vrp (double f) throw (jwscxx::base::Arg_error)
	Sets the focal length using the same aperture by changing the vrp.
void	set_clipping (double clip_near, double clip_far) throw (jwscxx::base::Arg_error)
	Sets the clipping planes.
void	rotate (double angle, double x, double y, double z) throw (jwscxx::base::Arg_error)
	Rotates this Stereo_camera_d around a vector.
void	rotate (double angle, const jwsc::Vector_d *r) throw (jwscxx::base::Arg_error)
	Rotates this Stereo_camera_d around a vector.
void	translate (double x, double y, double z)
	Translates this Stereo_camera_d.
void	translate (const jwsc::Vector_d *t) throw (jwscxx::base::Arg_error)
	Translates this Stereo_camera_d.
void	look_at (double focal_pt_x, double focal_pt_y, double focal_pt_z, double ref_pt_x, double ref_pt_y, double ref_pt_z, double up_x, double up_y, double up_z) throw (jwscxx::base::Arg_error)
	Sets the position, direction and focal length of the camera.
void	set_left_gl_modelview ()
	Sets the left GL model view matrix.
void	set_right_gl_modelview ()
	Sets the right GL model view matrix.
void	set_left_gl_projection ()
	Sets the left GL projection matrix.
void	set_right_gl_projection ()
	Sets the right GL projection matrix.
void	read (std::istream &in) throw (jwscxx::base::IO_error, jwscxx::base::Arg_error)
	Reads this stereo camera from an input stream.
void	write (std::ostream &out) const throw (jwscxx::base::IO_error)
	Writes this stereo camera to an output stream.
Protected Attributes
jwsc::Vector_d *	left_vrp
	Left view reference point.
jwsc::Vector_d *	right_vrp
	Right view reference point.
jwsc::Vector_d *	left_prp
	Left projection reference point.
jwsc::Vector_d *	right_prp
	Right projection reference point.
double	separation
	Seperation between the stereo cameras.
double	ndfl
	Distance to the near clipping plane divided by the focal length.

---

Detailed Description

Stereo pair of cameras for 3D viewing in OpenGL.

Uses single precision, floating point values.

Definition at line 1065 of file camera.h.

---

Constructor & Destructor Documentation

Stereo_camera_d::Stereo_camera_d	(	double	focal_pt_x,
		double	focal_pt_y,
		double	focal_pt_z,
		double	ref_pt_x,
		double	ref_pt_y,
		double	ref_pt_z,
		double	up_x,
		double	up_y,
		double	up_z,
		double	aperture,
		double	clip_near,
		double	clip_far
	)		throw (jwscxx::base::Arg_error)

Constructs a Stereo_camera_d.

Parameters:

focal_pt_x	X-coord of the focal point.
focal_pt_y	Y-coord of the focal point.
focal_pt_z	Z-coord of the focal point.
ref_pt_x	X-coord of the reference point.
ref_pt_y	Y-coord of the reference point.
ref_pt_z	Z-coord of the reference point.
up_x	X-coord of the up vector.
up_y	Y-coord of the up vector.
up_z	Z-coord of the up vector.
aperture	Angle, in degrees, of the vertical field of view.
clip_near	Near clipping plane for the GL frustum. Must be >= 0.
clip_far	Far clipping plane for the GL frustum. Must be >= 0.

Note:

The view seperation is calculated as

 focal_length / 30 

Exceptions:

jwscxx::base::Arg_error

Invalid up vector, aperture, or clipping planes.

Definition at line 3519 of file camera.cpp.

Stereo_camera_d::Stereo_camera_d	(	const jwsc::Vector_d *	focal_pt,
		const jwsc::Vector_d *	ref_pt,
		const jwsc::Vector_d *	up,
		double	aperture,
		double	clip_near,
		double	clip_far
	)		throw (jwscxx::base::Arg_error)

Constructs a Stereo_camera_d.

Parameters:

focal_pt	Focal point.
ref_pt	Reference point.
up	Up vector.
aperture	Angle, in degrees, of the vertical field of view.
clip_near	Near clipping plane for the GL frustum. Must be >= 0.
clip_far	Far clipping plane for the GL frustum. Must be >= 0.

Note:

The view seperation is calculated as

 focal_length / 30 

Exceptions:

jwscxx::base::Arg_error

Invalid up vector, aperture, or clipping planes.

Definition at line 3563 of file camera.cpp.

Stereo_camera_d::Stereo_camera_d

(

const Stereo_camera_d &

c

)

Constructs a camera by copying another.

Parameters:

c	Camera to copy into this one.

Definition at line 3584 of file camera.cpp.

Stereo_camera_d::Stereo_camera_d

(

const char *

fname

)

throw (jwscxx::base::Arg_error, jwscxx::base::IO_error)

Reads a camera from an input file.

The file format is expected to be in ASCII as follows

        Type: type_info name
         VRP: x y z
         PRP: x y z
           U: x y z
           V: x y z
           N: x y z
           F: focal_length
    Aperture: aperture   
        Near: near
         Far: far
    Left VRP: x y z
   Right VRP: x y z
    Left PRP: x y z
   Right PRP: x y z

Parameters:

fname

Input file to read this camera from.

Exceptions:

jwscxx::base::IO_error	Could not read from in.
jwscxx::base::Arg_error	Invalid arguments in file to read from.

Definition at line 3621 of file camera.cpp.

Stereo_camera_d::Stereo_camera_d

(

std::istream &

in

)

throw (jwscxx::base::Arg_error, jwscxx::base::IO_error)

Reads a camera from an input stream.

The file format is expected to be in ASCII as follows

        Type: type_info name
         VRP: x y z
         PRP: x y z
           U: x y z
           V: x y z
           N: x y z
           F: focal_length
    Aperture: aperture   
        Near: near
         Far: far
    Left VRP: x y z
   Right VRP: x y z
    Left PRP: x y z
   Right PRP: x y z

Parameters:

in	Input stream to read this camera from.

Exceptions:

jwscxx::base::IO_error	Could not read from in.
jwscxx::base::Arg_error	Invalid arguments in file to read from.

Definition at line 3659 of file camera.cpp.

Stereo_camera_d::~Stereo_camera_d

(

)

[virtual]

Deletes this Camera_d.

Definition at line 3672 of file camera.cpp.

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Member Function Documentation

Stereo_camera_d & Stereo_camera_d::operator=

(

const Stereo_camera_d &

c

)

[virtual]

Copies a camera into this one.

Performs a deep copy of this camera.

Parameters:

c	Camera to copy into this one.

Returns:

A reference to this camera.

Definition at line 3688 of file camera.cpp.

Stereo_camera_d * Stereo_camera_d::clone

(

)

const [virtual]

Clones this camera.

Returns:

A new copy of this camera.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3705 of file camera.cpp.

const jwsc::Vector_d * Stereo_camera_d::get_left_prp

(

)

const

Returns a constant pointer to the left camera focal point.

Definition at line 3711 of file camera.cpp.

const jwsc::Vector_d * Stereo_camera_d::get_right_prp

(

)

const

Returns a constant pointer to the right camera focal point.

Definition at line 3717 of file camera.cpp.

const jwsc::Vector_d * Stereo_camera_d::get_left_vrp

(

)

const

Returns a constant pointer to the left camera reference point.

Definition at line 3723 of file camera.cpp.

const jwsc::Vector_d * Stereo_camera_d::get_right_vrp

(

)

const

Returns a constant pointer to the right camera reference point.

Definition at line 3729 of file camera.cpp.

void Stereo_camera_d::set_aperture

(

double

aperture

)

throw (jwscxx::base::Arg_error) [virtual]

Sets the vertical aperture.

Parameters:

aperture

New vertical aperture, in degrees.

Exceptions:

jwscxx::base::Arg_error

Angle must be >= 0.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3740 of file camera.cpp.

void Stereo_camera_d::set_f_with_new_aperture_using_prp

(

double

f

)

throw (jwscxx::base::Arg_error) [virtual]

Sets the focal length and updates the aperture by changing the left and right prp.

In order to keep the size of the view the same, computes a new aperture from the new focal length.

Parameters:

f	New focal length.

Exceptions:

jwscxx::base::Arg_error

Invalid focal length.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3756 of file camera.cpp.

void Stereo_camera_d::set_f_with_same_aperture_using_prp

(

double

f

)

throw (jwscxx::base::Arg_error) [virtual]

Sets the focal length using the same aperture by changing the left and right prp.

The aperture is not changed, instead the size of the image plane is changed.

Parameters:

f	New focal length.

Exceptions:

jwscxx::base::Arg_error

Invalid focal length.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3792 of file camera.cpp.

void Stereo_camera_d::set_f_with_new_aperture_using_vrp

(

double

f

)

throw (jwscxx::base::Arg_error) [virtual]

Sets the focal length and updates the aperture by changing the vrp.

The aperture is updated to make the image plane the same size with the new focal length.

Parameters:

f	New focal length.

Exceptions:

jwscxx::base::Arg_error

Invalid focal length.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3828 of file camera.cpp.

void Stereo_camera_d::set_f_with_same_aperture_using_vrp

(

double

f

)

throw (jwscxx::base::Arg_error) [virtual]

Sets the focal length using the same aperture by changing the vrp.

The aperture is not changed, instead the size of the image plane is changed.

Parameters:

f	New focal length.

Exceptions:

jwscxx::base::Arg_error

Invalid focal length.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3864 of file camera.cpp.

void Stereo_camera_d::set_clipping	(	double	clip_near,
		double	clip_far
	)		throw (jwscxx::base::Arg_error) [virtual]

Sets the clipping planes.

Parameters:

clip_near	Near clipping plane for the GL frustum. Must be >= 0.
clip_far	Far clipping plane for the GL frustum. Must be >= 0.

Exceptions:

jwscxx::base::Arg_error

Invalid clipping planes.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3898 of file camera.cpp.

void Stereo_camera_d::rotate	(	double	phi,
		double	x,
		double	y,
		double	z
	)		throw (jwscxx::base::Arg_error) [virtual]

Rotates this Stereo_camera_d around a vector.

Parameters:

phi	Angle to rotate, in radians. Use a positive value for clockwise, negative for counter-clockwise.
x	X-coord of the vector to rotate around.
y	Y-coord of the vector to rotate around.
z	Z-coord of the vector to rotate around.

Exceptions:

jwscxx::base::Arg_error

Invalid vector to rotate around.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3916 of file camera.cpp.

void Stereo_camera_d::rotate	(	double	angle,
		const jwsc::Vector_d *	r
	)		throw (jwscxx::base::Arg_error) [virtual]

Rotates this Stereo_camera_d around a vector.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3928 of file camera.cpp.

void Stereo_camera_d::translate	(	double	x,
		double	y,
		double	z
	)		[virtual]

Translates this Stereo_camera_d.

Parameters:

x	X-coord of the vector to translate by.
y	Y-coord of the vector to translate by.
z	Z-coord of the vector to translate by.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3940 of file camera.cpp.

void Stereo_camera_d::translate

(

const jwsc::Vector_d *

t

)

throw (jwscxx::base::Arg_error) [virtual]

Translates this Stereo_camera_d.

Parameters:

t	Vector to translate by.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3957 of file camera.cpp.

void Stereo_camera_d::look_at	(	double	focal_pt_x,
		double	focal_pt_y,
		double	focal_pt_z,
		double	ref_pt_x,
		double	ref_pt_y,
		double	ref_pt_z,
		double	up_x,
		double	up_y,
		double	up_z
	)		throw (jwscxx::base::Arg_error) [virtual]

Sets the position, direction and focal length of the camera.

Parameters:

focal_pt_x	X-coord of the focal point.
focal_pt_y	Y-coord of the focal point.
focal_pt_z	Z-coord of the focal point.
ref_pt_x	X-coord of the reference point.
ref_pt_y	Y-coord of the reference point.
ref_pt_z	Z-coord of the reference point.
up_x	X-coord of the up vector.
up_y	Y-coord of the up vector.
up_z	Z-coord of the up vector.

Exceptions:

jwscxx::base::Arg_error

Invalid arguments.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 3983 of file camera.cpp.

void Stereo_camera_d::set_left_gl_modelview

(

)

Sets the left GL model view matrix.

Switches the GL matrix mode to GL_MODELVIEW, loads the identity matrix, and multiplies the camera rotation and translation matrices.

Definition at line 4026 of file camera.cpp.

void Stereo_camera_d::set_right_gl_modelview

(

)

Sets the right GL model view matrix.

Switches the GL matrix mode to GL_MODELVIEW, loads the identity matrix, and multiplies the camera rotation and translation matrices.

Definition at line 4048 of file camera.cpp.

void Stereo_camera_d::set_left_gl_projection

(

)

Sets the left GL projection matrix.

Switches the GL matrix mode to GL_PROJECTION, loads the identity matrix, and sets the perspective frustum.

Definition at line 4070 of file camera.cpp.

void Stereo_camera_d::set_right_gl_projection

(

)

Sets the right GL projection matrix.

Switches the GL matrix mode to GL_PROJECTION, loads the identity matrix, and sets the perspective frustum.

Definition at line 4090 of file camera.cpp.

void Stereo_camera_d::read

(

std::istream &

in

)

throw (jwscxx::base::IO_error, jwscxx::base::Arg_error) [virtual]

Reads this stereo camera from an input stream.

The file format is expected to be in ASCII as follows

        Type: type_info name
         VRP: x y z
         PRP: x y z
           U: x y z
           V: x y z
           N: x y z
           F: focal_length
    Aperture: aperture   
        Near: near
         Far: far
    Left VRP: x y z
   Right VRP: x y z
    Left PRP: x y z
   Right PRP: x y z

Parameters:

in	Input stream to read this camera from.

Exceptions:

jwscxx::base::IO_error	Could not read from in.
jwscxx::base::Arg_error	Invalid arguments in file to read from.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 4131 of file camera.cpp.

void Stereo_camera_d::write

(

std::ostream &

out

)

const throw (jwscxx::base::IO_error) [virtual]

Writes this stereo camera to an output stream.

The file format is in ASCII as follows

        Type: type_info name
         VRP: x y z
         PRP: x y z
           U: x y z
           V: x y z
           N: x y z
           F: focal_length
    Aperture: aperture   
        Near: near
         Far: far
    Left VRP: x y z
   Right VRP: x y z
    Left PRP: x y z
   Right PRP: x y z

Parameters:

out	Output stream to write this camera to.

Exceptions:

jwscxx::base::IO_error

Could not write to out.

Reimplemented from jwscxx::graphics::Camera_d.

Definition at line 4228 of file camera.cpp.

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Member Data Documentation

jwsc::Vector_d* jwscxx::graphics::Stereo_camera_d::left_vrp [protected]

Left view reference point.

Definition at line 1257 of file camera.h.

jwsc::Vector_d* jwscxx::graphics::Stereo_camera_d::right_vrp [protected]

Right view reference point.

Definition at line 1260 of file camera.h.

jwsc::Vector_d* jwscxx::graphics::Stereo_camera_d::left_prp [protected]

Left projection reference point.

Definition at line 1263 of file camera.h.

jwsc::Vector_d* jwscxx::graphics::Stereo_camera_d::right_prp [protected]

Right projection reference point.

Definition at line 1266 of file camera.h.

double jwscxx::graphics::Stereo_camera_d::separation [protected]

Seperation between the stereo cameras.

Definition at line 1269 of file camera.h.

double jwscxx::graphics::Stereo_camera_d::ndfl [protected]

Distance to the near clipping plane divided by the focal length.

Definition at line 1275 of file camera.h.

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The documentation for this class was generated from the following files:

• jwsc++/graphics/camera.h
• jwsc++/graphics/camera.cpp