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10 #ifndef opengl_CCamera_H
11 #define opengl_CCamera_H
20 class COpenGLViewport;
48 void setPointingAt(
float x,
float y,
float z) { m_pointingX=x; m_pointingY=y; m_pointingZ=z; }
50 template <
class POSEORPOINT>
55 m_pointingZ=p.is3DPoseOrPoint() ? p.m_coords[2] : 0;
73 void setProjectiveModel(
bool v=
true) { m_projectiveModel=v; }
74 void setOrthogonal(
bool v=
true) { m_projectiveModel=!v; }
87 void setProjectiveFOVdeg(
float ang) { m_projectiveFOVdeg=ang; }
88 float getProjectiveFOVdeg()
const {
return m_projectiveFOVdeg; }
void setAzimuthDegrees(float ang)
void setPointingAt(const POSEORPOINT &p)
float getZoomDistance() const
The base class of 3D objects that can be directly rendered through OpenGL.
double z
X,Y,Z coordinates.
float m_projectiveFOVdeg
Field-of-View in degs, only when projectiveModel=true (default=30 deg).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool m_6DOFMode
If set to true, camera pose is used when rendering the viewport.
void setPointingAt(float x, float y, float z)
float getPointingAtX() const
float getPointingAtZ() const
void set6DOFMode(bool v)
Set 6DOFMode, if enabled camera is set according to its pose (default=false).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...
virtual ~CCamera()
Private, virtual destructor: only can be deleted from smart pointers.
void setZoomDistance(float z)
void setPointingAt(const mrpt::math::TPoint3D &p)
#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...
float getPointingAtY() const
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setElevationDegrees(float ang)
bool m_projectiveModel
If set to true (default), camera model is projective, otherwise, it's orthogonal.
A viewport within a COpenGLScene, containing a set of OpenGL objects to render.
bool isProjective() const
float getAzimuthDegrees() const
bool isOrthogonal() const
void render() const MRPT_OVERRIDE
Render does nothing here.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
float getElevationDegrees() const
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