GPU-Accelerated Coverage  0.1.0
Compute coverage tours for known environment with articulated objects on GPU
CameraPerspective.h
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30 
31 #ifndef INCLUDE_ARTICULATION_CAMERAPERSPECTIVE_H_
32 #define INCLUDE_ARTICULATION_CAMERAPERSPECTIVE_H_
33 
34 #include <gpu_coverage/AbstractCamera.h>
35 #include <assimp/scene.h>
36 
37 namespace gpu_coverage {
38 
39 class Node;
40 struct LocationsMVP;
41 
46 public:
53  CameraPerspective(const aiCamera * const camera, size_t id, Node * const node);
64  CameraPerspective(size_t id, const std::string& name, Node * const node, const float horFOV, const float aspect,
65  const float clipNear, const float clipFar);
66 
70  virtual ~CameraPerspective();
71 
76  void toDot(FILE *dot) const;
77 
78 protected:
79  const float horFOV;
80  const float aspect;
81  const float clipNear;
82  const float clipFar;
83 
84 };
85 
86 } /* namespace gpu_coverage */
87 
88 #endif /* INCLUDE_ARTICULATION_CAMERAPERSPECTIVE_H_ */
const float horFOV
Horizontal field of view in radians.
Definition: CameraPerspective.h:79
const float aspect
Aspect ratio of the camera image.
Definition: CameraPerspective.h:80
const float clipFar
Distance of the far clipping plane.
Definition: CameraPerspective.h:82
const float clipNear
Distance of the near clipping plane.
Definition: CameraPerspective.h:81
Scene graph node, corresponding to Assimp&#39;s aiNode.
Definition: Node.h:52
Perspective projection camera.
Definition: CameraPerspective.h:45
CameraPerspective(const aiCamera *const camera, size_t id, Node *const node)
Constructor from Assimp aiCamera.
Definition: AbstractCamera.h:41
virtual ~CameraPerspective()
Destructor.
Abstract superclass for all cameras.
Definition: AbstractCamera.h:48
void toDot(FILE *dot) const
Write Graphviz Dot node representing this camera to file for debugging.
const std::string name
Name of the camera for logging, see getName().
Definition: AbstractCamera.h:118
Node *const node
Scene graph node assigned to this camera, see getNode().
Definition: AbstractCamera.h:119