Visual Servoing Platform version 3.7.0
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vpView.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Le module "view.h" contient les Macros et les types
32 * des parametres de visualisation et de transformation 3D.
33 *
34 * Authors:
35 * Jean-Luc CORRE
36 */
37
38#ifndef vpView_H
39#define vpView_H
40
41#include <visp3/core/vpConfig.h>
42
43#ifndef DOXYGEN_SHOULD_SKIP_THIS
44
45#include "vpArit.h"
46#include "vpMy.h"
47
48/*
49 * Macros de numerotation des 6 plans de decoupage :
50 * - Les 6 plans de clipping definissent le volume canonique
51 * de la pyramide de vision dans lequel la scene est visible.
52 * - les 6 plans ont pour equations :
53 * Plan dessus : W = Y
54 * Plan dessous : -W = Y
55 * Plan droit : W = X
56 * Plan gauche : -W = X
57 * Plan arriere : W = Z
58 * Plan avant : W = 0
59 */
60#define PLANE_ABOVE 0
61#define PLANE_BELOW 1
62#define PLANE_RIGHT 2
63#define PLANE_LEFT 3
64#define PLANE_BACK 4
65#define PLANE_FRONT 5
66#define PLANE_NBR 6
67
68/*
69 * Macros de positionnement des points 4D :
70 * Le positionnement d'un point 4D dans l'espace de l'observateur virtuel
71 * se fait par rapport aux 6 plans de decoupage.
72 * A chaque point 4D on associe 6 bits, un par plan de decoupage.
73 */
74#define IS_INSIDE 0x00
75#define IS_ABOVE 0x01
76#define IS_BELOW 0x02
77#define IS_RIGHT 0x04
78#define IS_LEFT 0x08
79#define IS_BACK 0x10
80#define IS_FRONT 0x20
81
82#define vpDEFAULT_REMOVE IS_INSIDE
83
84#define PARALLEL 0
85#define PERSPECTIVE 1
86
87#define vpDEFAULT_EYE \
88 { \
89 0.0, 0.0, 1.0 \
90 }
91#define vpDEFAULT_TARGET \
92 { \
93 0.0, 0.0, 0.0 \
94 }
95#define vpDEFAULT_FOCAL 1.0
96#define vpDEFAULT_ANGLE 45.0
97#define vpDEFAULT_TWIST 0.0
98#define vpDEFAULT_SPEED 0.0
99#define vpDEFAULT_CAMERA \
100 { \
101 vpDEFAULT_EYE, vpDEFAULT_TARGET, vpDEFAULT_FOCAL, vpDEFAULT_ANGLE, vpDEFAULT_TWIST, vpDEFAULT_SPEED \
102 }
103
104#define vpDEFAULT_COP \
105 { \
106 0.0, 0.0, 1.0 \
107 }
108#define vpDEFAULT_VRP \
109 { \
110 0.0, 0.0, 0.0 \
111 }
112#define vpDEFAULT_VPN \
113 { \
114 0.0, 0.0, -1.0 \
115 }
116#define vpDEFAULT_VUP \
117 { \
118 0.0, 1.0, 0.0 \
119 }
120#define vpDEFAULT_VWD \
121 { \
122 -1.0, 1.0, -1.0, 1.0 \
123 }
124#define vpDEFAULT_DEPTH \
125 { \
126 0.0, 1.0 \
127 }
128#define vpDEFAULT_TYPE PERSPECTIVE
129
130#define vpDEFAULT_VIEW \
131 { \
132 vpDEFAULT_TYPE, vpDEFAULT_COP, vpDEFAULT_VRP, vpDEFAULT_VPN, vpDEFAULT_VUP, vpDEFAULT_VWD, vpDEFAULT_DEPTH \
133 }
134
135#define vpDEFAULT_WC \
136 { \
137 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 \
138 }
139
140BEGIN_VISP_NAMESPACE
141/*
142 * CAMERA PARAMETERS
143 * _________________
144 *
145 * La structure "Camera_parameters" definit les parametres de la camera.
146 * eye Position de l'oeil ou de la camera.
147 * target Position de la cible ou du point visee dans la scene.
148 * focal Distance eye-target
149 * angle Angle d'ouverture en degres.
150 * twist Angle de rotation sur l'axe de visee (eye,target) en degres.
151 * speed Vitesse sur l'axe de visee (eye,target).
152*/
153typedef struct
154{
155 Point3f eye; /* position de l'observateur */
156 Point3f target; /* point vise */
157 float focal; /* focale de la camera */
158 float angle; /* angle d'ouverture */
159 float twist; /* rotation sur l'axe de visee */
160 float speed; /* vitesse sur l'axe de visee */
161} Camera_parameters;
162
163typedef struct
164{
165 float umin, umax; /* bords gauche et droit */
166 float vmin, vmax; /* bords inferieur et superieur */
167} View_window;
168
169typedef struct
170{
171 float front; /* plan avant ("hither") */
172 float back; /* plan arriere ("yon") */
173} View_depth;
174
175typedef struct
176{
177 Type type; /* type de la projection */
178 Point3f cop; /* centre de projection */
179 Point3f vrp; /* point de reference de visee */
180 Vector vpn; /* vecteur nomal au plan */
181 Vector vup; /* vecteur indiquant le "haut" */
182 View_window vwd; /* fenetre de projection */
183 View_depth depth; /* profondeurs de decoupages */
184} View_parameters;
185END_VISP_NAMESPACE
186#endif
187#endif
BEGIN_VISP_NAMESPACE
Definition vpMbtDistanceCircle.cpp:55