6 #ifndef CNOID_UTIL_SCENE_CAMERAS_H 7 #define CNOID_UTIL_SCENE_CAMERAS_H 26 template<
class Scalar,
int Mode,
int Options>
27 static Eigen::Matrix<Scalar, 3, 1>
right(
const Eigen::Transform<Scalar, 3, Mode, Options>& T){
28 return T.linear().col(0);
30 template<
class Scalar,
int Mode,
int Options>
31 static Eigen::Matrix<Scalar, 3, 1>
direction(
const Eigen::Transform<Scalar, 3, Mode, Options>& T){
32 return -T.linear().col(2);
34 template<
class Scalar,
int Mode,
int Options>
35 static Eigen::Matrix<Scalar, 3, 1>
up(
const Eigen::Transform<Scalar, 3, Mode, Options>& T){
36 return T.linear().col(1);
44 #ifdef CNOID_BACKWARD_COMPATIBILITY 45 double nearDistance()
const {
return nearDistance_; }
46 void setNearDistance(
double d) { nearDistance_ = d; }
47 double farDistance()
const {
return farDistance_; }
48 void setFarDistance(
double d) { farDistance_ = d; }
52 double nearClipDistance_;
53 double farClipDistance_;
69 static double fovy(
double aspectRatio,
double fieldOfView);
71 double fovy(
double aspectRatio)
const {
89 double height()
const {
return height_; }
static Eigen::Matrix< Scalar, 3, 1 > right(const Eigen::Transform< Scalar, 3, Mode, Options > &T)
Definition: SceneCameras.h:27
ref_ptr< SgOrthographicCamera > SgOrthographicCameraPtr
Definition: SceneCameras.h:95
ref_ptr< SgCamera > SgCameraPtr
Definition: SceneCameras.h:55
Definition: SceneGraph.h:394
void setFarClipDistance(double d)
Definition: SceneCameras.h:42
static Eigen::Matrix< Scalar, 3, 1 > direction(const Eigen::Transform< Scalar, 3, Mode, Options > &T)
Definition: SceneCameras.h:31
Definition: SceneCameras.h:14
static double fovy(double aspectRatio, double fieldOfView)
Definition: SceneCameras.cpp:80
Eigen::Affine3d Affine3
Definition: EigenTypes.h:64
double fovy(double aspectRatio) const
Definition: SceneCameras.h:71
Definition: Referenced.h:128
static Eigen::Matrix< Scalar, 3, 1 > up(const Eigen::Transform< Scalar, 3, Mode, Options > &T)
Definition: SceneCameras.h:35
Definition: SceneGraph.h:56
ref_ptr< SgPerspectiveCamera > SgPerspectiveCameraPtr
Definition: SceneCameras.h:78
double height() const
Definition: SceneCameras.h:89
void setFieldOfView(double fov)
Definition: SceneCameras.h:67
Definition: SceneCameras.h:58
void setNearClipDistance(double d)
Definition: SceneCameras.h:40
void setHeight(double h)
Definition: SceneCameras.h:90
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: SceneCameras.h:81
double fieldOfView() const
Definition: SceneCameras.h:66
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
double nearClipDistance() const
Definition: SceneCameras.h:39
Definition: SceneVisitor.h:15
double farClipDistance() const
Definition: SceneCameras.h:41
Definition: SceneGraph.h:79