raisin::CameraFrustum

class · #include <rayrai/CameraFrustum.hpp>

Visual helper that renders camera frustum edges.

The frustum mesh is updated from either a rayrai Camera or a raisim DepthCamera and rendered using a Visuals instance.

Constructors & destructor

CameraFrustum

CameraFrustum(
    std::shared_ptr<Visuals> visual,
    std::shared_ptr<OpenGLMesh> mesh)

Construct a frustum helper with a visual and mesh.

Parameters

Parameter	Description
visual	Visuals object used for rendering.
mesh	OpenGL line mesh representing the frustum edges.

Public member functions

updateFromCamera

void updateFromCamera(const Camera &camera)

Update frustum mesh from a rayrai camera.

Handles both perspective (vertical FOV from Camera::zoom) and orthographic (Camera::orthoScale) projections. The drawn far distance is clamped to 10 m. Requires a current OpenGL context (the mesh is re-uploaded).

Parameters

Parameter	Description
camera	Source camera.

updateFromDepthCamera

void updateFromDepthCamera(raisim::DepthCamera &depthCam)

Update frustum mesh from a raisim depth camera.

Calls depthCam.updatePose() first. The sensor's horizontal FOV is read as radians, or as degrees when it exceeds pi. The drawn far distance is clamped to 10 m. Requires a current OpenGL context.

Parameters

Parameter	Description
depthCam	Source depth camera.

updatePerspective

void updatePerspective(
    const glm::vec3 &position,
    const glm::quat &orientation,
    float horizontalFov,
    float aspect,
    float nearDistance,
    float farDistance)

Update a perspective frustum from an explicit world-space sensor pose.

The sensor convention is local +X forward and local +Z up, matching RaiSim RGB and depth cameras.

Parameters

Parameter	Description
position	Sensor position in world coordinates.
orientation	Sensor-to-world orientation (normalized internally; identity if degenerate).
horizontalFov	Horizontal field of view in radians, clamped to (0, ~179 deg).
aspect	Image width divided by image height.
nearDistance	Near-plane distance.
farDistance	Far-plane distance used to size the visualization.

setColor

void setColor(const glm::vec4 &color)

Set the frustum color.

Parameters

Parameter	Description
color	RGBA color.

setDetectable

void setDetectable(bool detectable)

Set the capture/detection render category on the frustum visual.

Camera frustums are usually viewer-only helpers and should normally remain non-detectable so they do not appear in external-camera or generated capture images. Set this to true only when the frustum helper itself should be included by detectable-only visualization passes.

Parameters

Parameter	Description
detectable	True to include the frustum visual in detectable-only render passes; false to keep it viewer-only for those passes.

See also VisualCategory

getVisual

std::shared_ptr<Visuals> getVisual() const

Get the underlying Visuals object.

Returns Shared pointer to the visual.