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) |
typedef std::shared_ptr<DirectedEdges> qglv::DirectedEdgesPtr |
typedef std::shared_ptr<Edges> qglv::EdgesPtr |
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 |
typedef std::shared_ptr<PotentialField> qglv::PotentialFieldPtr |
Definition at line 93 of file potential_field.hpp.
AxisColourRGB | |
AxisColourFadedBlue | |
AxisColourGolden | |
AxisColourGreen | |
AxisColourBlue | |
AxisColourRed | |
AxisColourMagenta | |
AxisColourGray | |
AxisColourWhite |
Definition at line 36 of file colours.hpp.
enum qglv::Colour |
Definition at line 21 of file colours.hpp.
void qglv::arrow | ( | const Sophus::SE3Group< T > & | pose, |
const float & | length, | ||
const float & | radius = 1.0 |
||
) |
void qglv::colour | ( | enum Colour | colour, |
const float & | alpha = 1.0f |
||
) |
Emulates glColor4f, but with the qglv Colour enums.
colour | |
alpha |
Definition at line 22 of file colours.cpp.
GLUquadricObj * qglv::glutFoo | ( | ) |
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.
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.
void qglv::pose | ( | const Sophus::SE3Group< T > & | pose, |
const float & | size, | ||
const float & | width = 1.0 , |
||
const AxisColourScheme | colour_scheme = AxisColourRGB |
||
) |
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.
width | |
height |
Definition at line 59 of file geometry.cpp.
void qglv::text | ( | const std::string & | str, |
const Eigen::Vector3f & | location | ||
) |
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.