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Functions | |
| void | addMap2Scene (lslgeneric::NDTMap< pcl::PointXYZ > &map, Eigen::Vector3d &origin, mrpt::opengl::COpenGLScenePtr scene) |
| void | addParticlesToWorld (mcl::CParticleFilter &pf, Eigen::Vector3d gt, Eigen::Vector3d dist_mean, Eigen::Vector3d odometry) |
| void | addPointCloud2Scene (mrpt::opengl::COpenGLScenePtr scene, pcl::PointCloud< pcl::PointXYZ >::Ptr points) |
| void | addPoseCovariance (double x, double y, Eigen::Matrix3d cov, mrpt::opengl::COpenGLScenePtr scene) |
| void | addScanToScene (mrpt::opengl::COpenGLScenePtr scene, Eigen::Vector3d orig, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud) |
| void | initializeScene () |
| mrpt::gui::CDisplayWindow3D | win3D ("2D NDT-MCL Visualization", 800, 600) |
Variables | |
| mrpt::opengl::CPointCloudColouredPtr | gl_particles = mrpt::opengl::CPointCloudColoured::Create() |
| mrpt::opengl::CPointCloudColouredPtr | gl_points = mrpt::opengl::CPointCloudColoured::Create() |
| mrpt::opengl::CGridPlaneXYPtr | plane = mrpt::opengl::CGridPlaneXY::Create() |
Function Documentation
| void addMap2Scene | ( | lslgeneric::NDTMap< pcl::PointXYZ > & | map, |
| Eigen::Vector3d & | origin, | ||
| mrpt::opengl::COpenGLScenePtr | scene | ||
| ) |
Draw the ellipses in the map to the scene
And plot the results
Definition at line 26 of file mcl_visualization.hpp.
| void addParticlesToWorld | ( | mcl::CParticleFilter & | pf, |
| Eigen::Vector3d | gt, | ||
| Eigen::Vector3d | dist_mean, | ||
| Eigen::Vector3d | odometry | ||
| ) |
Draw particles
Definition at line 93 of file mcl_visualization.hpp.
| void addPointCloud2Scene | ( | mrpt::opengl::COpenGLScenePtr | scene, |
| pcl::PointCloud< pcl::PointXYZ >::Ptr | points | ||
| ) |
Definition at line 80 of file mcl_visualization.hpp.
| void addPoseCovariance | ( | double | x, |
| double | y, | ||
| Eigen::Matrix3d | cov, | ||
| mrpt::opengl::COpenGLScenePtr | scene | ||
| ) |
Definition at line 54 of file mcl_visualization.hpp.
| void addScanToScene | ( | mrpt::opengl::COpenGLScenePtr | scene, |
| Eigen::Vector3d | orig, | ||
| pcl::PointCloud< pcl::PointXYZ >::Ptr | cloud | ||
| ) |
Add the laser scan to the scen
Definition at line 70 of file mcl_visualization.hpp.
| void initializeScene | ( | ) |
Definition at line 8 of file mcl_visualization.hpp.
| mrpt::gui::CDisplayWindow3D win3D | ( | "2D NDT-MCL Visualization" | , |
| 800 | , | ||
| 600 | |||
| ) |
Variable Documentation
| mrpt::opengl::CPointCloudColouredPtr gl_particles = mrpt::opengl::CPointCloudColoured::Create() |
Definition at line 4 of file mcl_visualization.hpp.
| mrpt::opengl::CPointCloudColouredPtr gl_points = mrpt::opengl::CPointCloudColoured::Create() |
Definition at line 3 of file mcl_visualization.hpp.
| mrpt::opengl::CGridPlaneXYPtr plane = mrpt::opengl::CGridPlaneXY::Create() |
Definition at line 2 of file mcl_visualization.hpp.