qglv Namespace Reference

Classes
class	DirectedEdges
class	Edges
class	KeyFrame
class	Odometry
class	Particles
class	Path
class	PotentialField
Typedefs
typedef std::shared_ptr < DirectedEdges >	DirectedEdgesPtr
typedef std::shared_ptr< Edges >	EdgesPtr
typedef std::shared_ptr< KeyFrame >	KeyFramePtr
typedef std::shared_ptr< Odometry >	OdometryPtr
typedef std::shared_ptr < Particles >	ParticlesPtr
typedef std::shared_ptr< Path >	PathPtr
typedef std::shared_ptr < PotentialField >	PotentialFieldPtr
Enumerations
enum	AxisColourScheme {   AxisColourRGB, AxisColourFadedBlue, AxisColourGolden, AxisColourGreen,   AxisColourBlue, AxisColourRed, AxisColourMagenta, AxisColourGray,   AxisColourWhite }
enum	Colour {   Blue, DimGray, Gray19, GoldenBrown,   Green, Magenta, Maroon, Orange,   Pink, Red, White, Yellow }
Functions
template<typename T >
void	arrow (const Sophus::SE3Group< T > &pose, const float &length, const float &radius=1.0)
void	colour (enum Colour colour, const float &alpha=1.0f)
	Emulates glColor4f, but with the qglv Colour enums.
GLUquadricObj *	glutFoo ()
void	line (const Eigen::Vector3f &p1, const Eigen::Vector3f &p2)
void	moveTo (const Sophus::SE3f &T)
void	normalisedValueToRGB (const float &value, float &r, float &g, float &b)
	Converts a float between 0.0 and 1.0 to rgb.
void	point (const Eigen::Vector3f &p, const float size=1.0f)
void	points (const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &p, const float size=1.0f)
template<typename T >
void	pose (const Sophus::SE3Group< T > &pose, const float &size, const float &width=1.0, const AxisColourScheme colour_scheme=AxisColourRGB)
void	seeWhatISee (const Sophus::SE3f &pose, const unsigned int &image_width, const unsigned int &image_height, const float &focal_length)
	Configure a gl viewport to see what a camera sees.
void	square (const float &width, const float &height)
void	text (const std::string &str, const Eigen::Vector3f &location)
template<typename T >
void	translate (const Eigen::Matrix< T, 3, 1 > &v)
void	vertex (const Eigen::Vector3f &p)

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Typedef Documentation

typedef std::shared_ptr<DirectedEdges> qglv::DirectedEdgesPtr

Definition at line 92 of file edges.hpp.

typedef std::shared_ptr<Edges> qglv::EdgesPtr

Definition at line 91 of file edges.hpp.

typedef std::shared_ptr<KeyFrame> qglv::KeyFramePtr

Definition at line 128 of file keyframes.hpp.

typedef std::shared_ptr<Odometry> qglv::OdometryPtr

Definition at line 54 of file odometry.hpp.

typedef std::shared_ptr<Particles> qglv::ParticlesPtr

Definition at line 59 of file particles.hpp.

typedef std::shared_ptr<Path> qglv::PathPtr

Definition at line 65 of file path.hpp.

typedef std::shared_ptr<PotentialField> qglv::PotentialFieldPtr

Definition at line 93 of file potential_field.hpp.

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Enumeration Type Documentation

enum qglv::AxisColourScheme

Enumerator:

AxisColourRGB
AxisColourFadedBlue
AxisColourGolden
AxisColourGreen
AxisColourBlue
AxisColourRed
AxisColourMagenta
AxisColourGray
AxisColourWhite

Definition at line 36 of file colours.hpp.

enum qglv::Colour

Enumerator:

Blue
DimGray
Gray19
GoldenBrown
Green
Magenta
Maroon
Orange
Pink
Red
White
Yellow

Definition at line 21 of file colours.hpp.

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Function Documentation

template<typename T >

void qglv::arrow	(	const Sophus::SE3Group< T > &	pose,
		const float &	length,
		const float &	radius = 1.0
	)

The arrow part of the code here comes from libqglviewer.h. We could use QGLViewer::drawArrow() directly, but this removes a dependency on it. To apply a colour, call glColour first:

 glColour(gl::Blue);
 arrow(pose, length, radius);

Definition at line 40 of file arrow.hpp.

void qglv::colour	(	enum Colour	colour,
		const float &	alpha = 1.0f
	)

Emulates glColor4f, but with the qglv Colour enums.

Parameters:

colour
alpha

Definition at line 22 of file colours.cpp.

GLUquadricObj * qglv::glutFoo

(

)

libqglviewer has a bug which prevents from running without linking to glut. Since g++ also strips that dependency from our binaries if there are no other glut operations, we need at least one 'dummy' glut operation in this library.

Definition at line 20 of file glut.cpp.

void qglv::line	(	const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2
	)

Definition at line 21 of file geometry.cpp.

void qglv::moveTo

(

const Sophus::SE3f &

T

)

Calls the appropriate glTranslatef and glRotatef for a given sophus transform.

Definition at line 23 of file helpers.cpp.

void qglv::normalisedValueToRGB	(	const float &	value,
		float &	r,
		float &	g,
		float &	b
	)

Converts a float between 0.0 and 1.0 to rgb.

If it happens to fall outside that range, it just resets the value to the appropriate boundary value.

Parameters:

value	: normalised value (should be between 0.0 and 1.0)
r
g
b

Definition at line 66 of file colours.cpp.

void qglv::point	(	const Eigen::Vector3f &	p,
		const float	size = 1.0f
	)

Definition at line 28 of file geometry.cpp.

void qglv::points	(	const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &	p,
		const float	size = 1.0f
	)

Definition at line 39 of file geometry.cpp.

template<typename T >

void qglv::pose	(	const Sophus::SE3Group< T > &	pose,
		const float &	size,
		const float &	width = 1.0,
		const AxisColourScheme	colour_scheme = AxisColourRGB
	)

Definition at line 31 of file pose.hpp.

void qglv::seeWhatISee	(	const Sophus::SE3f &	pose,
		const unsigned int &	image_width,
		const unsigned int &	image_height,
		const float &	focal_length
	)

Configure a gl viewport to see what a camera sees.

This makes the gluPerspective, gluLookat calls appropriate for configuring a camera's point of view.

It does the fovy, aspect ratio calculations underneath given the simpler camera/image parameters.

https://www.opengl.org/archives/resources/faq/technical/viewing.htm

Definition at line 40 of file helpers.cpp.

void qglv::square	(	const float &	width,
		const float &	height
	)

The square is pinned with its lower left corner attached to the origin of the current opengl frame and is aligned with the x-y plane of that frame.

Parameters:

width
height

Definition at line 59 of file geometry.cpp.

void qglv::text	(	const std::string &	str,
		const Eigen::Vector3f &	location
	)

Definition at line 24 of file text.cpp.

template<typename T >

void qglv::translate

(

const Eigen::Matrix< T, 3, 1 > &

v

)

[inline]

Definition at line 31 of file helpers.hpp.

void qglv::vertex

(

const Eigen::Vector3f &

p

)

Definition at line 54 of file geometry.cpp.