Function mrpt::opengl::depthAndVisibleInView

Function Documentation

std::tuple<double, bool, bool> mrpt::opengl::depthAndVisibleInView(const RenderableProxy *proxy, const TRenderMatrices &objState, const mrpt::poses::CPose3D &objPose, bool skipCullChecks)

Computes the eye-view depth of a proxy, and whether any part of its bounding box is visible by the camera in the current state.

Parameters:

  • proxy – The renderable proxy to check

  • objState – Current render matrices (for view frustum)

  • objPose – The object’s world pose

  • skipCullChecks – If true, skip frustum culling (always return visible)

Returns:

Tuple of:

  • double: Depth of representative point (for sorting)

  • bool: visible (at least partially in view frustum)

  • bool: fully visible (entire bbox inside frustum)