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9 #ifndef opengl_CFrustum_H
10 #define opengl_CFrustum_H
61 static CFrustumPtr Create(
float near_distance,
float far_distance,
float horz_FOV_degrees,
float vert_FOV_degrees,
float lineWidth = 1.5f,
bool draw_lines =
true,
bool draw_planes =
false );
71 void setNearFarPlanes(
const float near_distance,
const float far_distance);
77 void setHorzFOV(
const float fov_horz_degrees);
79 void setVertFOV(
const float fov_vert_degrees);
81 void setHorzFOVAsymmetric(
const float fov_horz_left_degrees,
const float fov_horz_right_degrees);
83 void setVertFOVAsymmetric(
const float fov_vert_down_degrees,
const float fov_vert_up_degrees);
105 CFrustum(
float near_distance,
float far_distance,
float horz_FOV_degrees,
float vert_FOV_degrees,
float lineWidth,
bool draw_lines,
bool draw_planes);
float m_fov_vert_up
Semi FOVs (in radians)
float getVertFOVUp() const
void setLineWidth(float width)
float getFarPlaneDistance() const
const mrpt::utils::TColor & getPlaneColor() const
mrpt::utils::TColor m_planes_color
A renderizable object suitable for rendering with OpenGL's display lists.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
float getVertFOVDown() const
float getLineWidth() const
float getHorzFOVLeft() const
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assyme...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
float m_fov_horz_right
Semi FOVs (in radians)
double RAD2DEG(const double x)
Radians to degrees.
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
float getHorzFOVRight() const
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
float getNearPlaneDistance() const
void setPlaneColor(const mrpt::utils::TColor &c)
Changes the color of the planes; to change color of lines, use CRenderizable base methods.
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