org.ros.android.view.visualization

Class Camera

java.lang.Object

org.ros.android.view.visualization.Camera

public class Camera
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
Camera(org.ros.rosjava_geometry.FrameTransformTree frameTransformTree)

Method Summary

Methods

Modifier and Type	Method and Description
void	apply(GL10 gl)
boolean	applyFrameTransform(GL10 gl, org.ros.rosjava_geometry.FrameName frame)
org.ros.rosjava_geometry.FrameName	getFrame()
double	getZoom()
void	jumpToFrame(org.ros.rosjava_geometry.FrameName frame) Changes the camera frame to the specified frame and aligns the camera with the new frame.
void	jumpToFrame(java.lang.String frame)
void	rotate(double focusX, double focusY, double deltaAngle) Rotates the camera round the specified coordinates.
void	setFrame(org.ros.rosjava_geometry.FrameName frame) Changes the camera frame to the specified frame.
void	setFrame(java.lang.String frame)
void	setViewport(Viewport viewport)
org.ros.rosjava_geometry.Vector3	toMetricCoordinates(int x, int y)
void	translate(double deltaX, double deltaY) Translates the camera.
void	zoom(double focusX, double focusY, double factor) Zooms the camera around the specified focus coordinates.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Camera

public Camera(org.ros.rosjava_geometry.FrameTransformTree frameTransformTree)

Method Detail

apply

public void apply(GL10 gl)

applyFrameTransform

public boolean applyFrameTransform(GL10 gl,
                          org.ros.rosjava_geometry.FrameName frame)

translate

public void translate(double deltaX,
             double deltaY)

Translates the camera.

Parameters:

deltaX - distance to move in x in pixels

deltaY - distance to move in y in pixels

rotate

public void rotate(double focusX,
          double focusY,
          double deltaAngle)

Rotates the camera round the specified coordinates.

Parameters:

focusX - the x coordinate to focus on

focusY - the y coordinate to focus on

deltaAngle - the camera will be rotated by deltaAngle radians

zoom

public void zoom(double focusX,
        double focusY,
        double factor)

Zooms the camera around the specified focus coordinates.

Parameters:

focusX - the x coordinate to focus on

focusY - the y coordinate to focus on

factor - the zoom will be scaled by this factor

getZoom

public double getZoom()

Returns:

the current zoom factor

toMetricCoordinates

public org.ros.rosjava_geometry.Vector3 toMetricCoordinates(int x,
                                                   int y)

Returns:

the metric coordinates of the provided pixel coordinates where the origin is the top left corner of the view

getFrame

public org.ros.rosjava_geometry.FrameName getFrame()

setFrame

public void setFrame(org.ros.rosjava_geometry.FrameName frame)

Changes the camera frame to the specified frame.

If possible, the camera will avoid jumping on the next frame.

Parameters:

frame - the new camera frame

setFrame

public void setFrame(java.lang.String frame)

See Also:

setFrame(FrameName)

jumpToFrame

public void jumpToFrame(org.ros.rosjava_geometry.FrameName frame)

Changes the camera frame to the specified frame and aligns the camera with the new frame.

Parameters:

frame - the new camera frame

jumpToFrame

public void jumpToFrame(java.lang.String frame)

See Also:

jumpToFrame(FrameName)

setViewport

public void setViewport(Viewport viewport)