libviewer

Collaboration diagram for libviewer:

Namespaces
	g2o
	g2o::opengl

Macros
#define	G2O_OPENGL_API

Functions
void	g2o::opengl::drawBox (GLfloat l, GLfloat w, GLfloat h)
void	g2o::opengl::drawPlane (GLfloat l, GLfloat w)
void	g2o::opengl::drawSphere (GLfloat radius)
void	g2o::opengl::drawEllipsoid (GLfloat r1, GLfloat r2, GLfloat r3)
void	g2o::opengl::drawCone (GLfloat radius, GLfloat height)
void	g2o::opengl::drawDisk (GLfloat radius)
void	g2o::opengl::drawCylinder (GLfloat radius, GLfloat height)
void	g2o::opengl::drawPyramid (GLfloat length, GLfloat height)
void	g2o::opengl::drawRangeRing (GLfloat range, GLfloat fov, GLfloat range_width)
void	g2o::opengl::drawSlice (GLfloat radius, GLfloat height, GLfloat fov, int slices_per_circle)
void	g2o::opengl::drawPoseBox ()
void	g2o::opengl::drawArrow2D (float len, float head_width, float head_len)
void	g2o::opengl::drawPoint (float pointSize)

Detailed Description

Macro Definition Documentation

#define G2O_OPENGL_API

Definition at line 44 of file opengl_primitives.h.

Function Documentation

void G2O_OPENGL_API g2o::opengl::drawArrow2D	(	float	len,
		float	head_width,
		float	head_len
	)

draw a 2D arrow along the x axis with the given len

Definition at line 59 of file opengl_primitives.cpp.

Referenced by g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::EdgeSE2WriteGnuplotAction::operator()(), and g2o::VertexSE3WriteGnuplotAction::operator()().

{
  glBegin(GL_LINES);
  glVertex2f(0.f, 0.f);
  glVertex2f(len, 0.f);
  glEnd();

  glNormal3f(0.f,0.f,1.f);
  glBegin(GL_TRIANGLES);
  glVertex2f(len, 0.f);
  glVertex2f(len - head_len,  0.5f*head_width);
  glVertex2f(len - head_len, -0.5f*head_width);
  glEnd();
}

void G2O_OPENGL_API g2o::opengl::drawBox	(	GLfloat	l,
		GLfloat	w,
		GLfloat	h
	)

draw a box that is centered in the current coordinate frame

Parameters

l	length of the box (x dimension)
w	width of the box (y dimension)
h	height of the box (z dimension)

Definition at line 108 of file opengl_primitives.cpp.

Referenced by g2o::opengl::drawPoseBox(), g2o::CacheSE3Offset::setOffsetParam(), and g2o::VertexTag::write().

{
  GLfloat sx = l*0.5f;
  GLfloat sy = w*0.5f;
  GLfloat sz = h*0.5f;

  glBegin(GL_QUADS);
  // bottom
  glNormal3f( 0.0f, 0.0f,-1.0f);
  glVertex3f(-sx, -sy, -sz);
  glVertex3f(-sx, sy, -sz);
  glVertex3f(sx, sy, -sz);
  glVertex3f(sx, -sy, -sz);
  // top
  glNormal3f( 0.0f, 0.0f,1.0f);
  glVertex3f(-sx, -sy, sz);
  glVertex3f(-sx, sy, sz);
  glVertex3f(sx, sy, sz);
  glVertex3f(sx, -sy, sz);
  // back
  glNormal3f(-1.0f, 0.0f, 0.0f);
  glVertex3f(-sx, -sy, -sz);
  glVertex3f(-sx, sy, -sz);
  glVertex3f(-sx, sy, sz);
  glVertex3f(-sx, -sy, sz);
  // front
  glNormal3f( 1.0f, 0.0f, 0.0f);
  glVertex3f(sx, -sy, -sz);
  glVertex3f(sx, sy, -sz);
  glVertex3f(sx, sy, sz);
  glVertex3f(sx, -sy, sz);
  // left
  glNormal3f( 0.0f, -1.0f, 0.0f);
  glVertex3f(-sx, -sy, -sz);
  glVertex3f(sx, -sy, -sz);
  glVertex3f(sx, -sy, sz);
  glVertex3f(-sx, -sy, sz);
  //right
  glNormal3f( 0.0f, 1.0f, 0.0f);
  glVertex3f(-sx, sy, -sz);
  glVertex3f(sx, sy, -sz);
  glVertex3f(sx, sy, sz);
  glVertex3f(-sx, sy, sz);
  glEnd();
}

void G2O_OPENGL_API g2o::opengl::drawCone	(	GLfloat	radius,
		GLfloat	height
	)

draw a cone

Definition at line 186 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

{
  glPushMatrix();
  glRotatef(-90.f, 1.f, 0.f, 0.f);
  glTranslatef(0.f, 0.f, - height/2.0f);
  gluCylinder(GLUWrapper::getQuadradic(), radius, 0.f, height, 32, 1);
  gluDisk(GLUWrapper::getQuadradic(), 0, radius, 32, 1);
  glPopMatrix();
}

void G2O_OPENGL_API g2o::opengl::drawCylinder	(	GLfloat	radius,
		GLfloat	height
	)

draw a (closed) cylinder

Parameters

radius	the radius of the cylinder
height	the height of the cylinder

Definition at line 196 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

{
  glPushMatrix();
  glRotatef(-90, 1.f, 0.f, 0.f);
  glTranslatef(0.f, 0.f, + height/2.0f);
  gluDisk(GLUWrapper::getQuadradic(), 0.f, radius, 32, 1);
  glTranslatef(0, 0, - height);
  gluCylinder(GLUWrapper::getQuadradic(), radius, radius, height, 32, 1);
  glRotatef(180, 1.f, 0.f, 0.f);
  gluDisk(GLUWrapper::getQuadradic(), 0, radius, 32, 1);
  glPopMatrix();
}

void G2O_OPENGL_API g2o::opengl::drawDisk

(

GLfloat

radius

)

draw a disk

Definition at line 209 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

{
  glRotatef(90, 0.f, 1.f, 0.f);
  gluDisk(GLUWrapper::getQuadradic(), 0, radius, 32, 1);
}

void G2O_OPENGL_API g2o::opengl::drawEllipsoid	(	GLfloat	r1,
		GLfloat	r2,
		GLfloat	r3
	)

draw a ellipsoid whose center is in the origin of the current coordinate frame

Parameters

r1	radius along x axis
r2	radius along y axis
r3	radius along z axis

Definition at line 173 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

{
  GLboolean hasNormalization = glIsEnabled(GL_NORMALIZE);
  if (!hasNormalization)
    glEnable(GL_NORMALIZE);
  glPushMatrix();
  glScalef(r1, r2, r3);
  gluSphere(GLUWrapper::getQuadradic(), 1.0f, 32, 32);
  glPopMatrix();
  if (!hasNormalization)
    glDisable(GL_NORMALIZE);
}

void G2O_OPENGL_API g2o::opengl::drawPlane	(	GLfloat	l,
		GLfloat	w
	)

draw a plane in x-y dimension with a height of zero

Parameters

l	length in x
w	width in y

Definition at line 154 of file opengl_primitives.cpp.

{
  GLfloat sx = l*0.5f;
  GLfloat sy = w*0.5f;

  glBegin(GL_QUADS);
  glNormal3f( 0.0f, 0.0f, 1.0f);
  glVertex3f(-sx, -sy, 0.f);
  glVertex3f(-sx, sy, 0.f);
  glVertex3f(sx, sy, 0.f);
  glVertex3f(sx, -sy, 0.f);
  glEnd();
}

void G2O_OPENGL_API g2o::opengl::drawPoint

(

float

pointSize

)

draw a point in the origin, having a size of pointSize

Definition at line 301 of file opengl_primitives.cpp.

Referenced by g2o::VertexPointXYWriteGnuplotAction::operator()(), and g2o::VertexPointXYZ::write().

                                 {
    glPointSize(pointSize);
    glBegin(GL_POINTS);
    glVertex3f(0,0,0);
    glEnd();
  }

void G2O_OPENGL_API g2o::opengl::drawPoseBox

(

)

draws a box used to represent a 6d pose

Definition at line 74 of file opengl_primitives.cpp.

References g2o::opengl::drawBox().

{
  glPushMatrix();
  glScalef(0.5f,1.f,1.f);
  glPushMatrix();
  glScalef(1.f,0.25f,0.5f);
  glTranslatef(-0.5f,0.5f,0.f);
  glColor3f(1.0f, 0.3f, 0.3f);
  drawBox(1.f, 1.f, 1.f);
  glPopMatrix();

  glPushMatrix();
  glScalef(1.f,0.25f,0.5f);
  glTranslatef(-0.5f,-0.5f,0.f);
  glColor3f(1.0f, 0.1f, 0.1f);
  drawBox(1.f, 1.f, 1.f);
  glPopMatrix();

  glPushMatrix();
  glScalef(1.f,0.25f,0.5f);
  glTranslatef(+0.5f,0.5f,0.f);
  glColor3f(0.3f, 0.3f, 1.0f);
  drawBox(1.f, 1.f, 1.f);
  glPopMatrix();

  glPushMatrix();
  glScalef(1.f,0.25f,0.5f);
  glTranslatef(+0.5f,-0.5f,0.f);
  glColor3f(0.1f, 0.1f, 1.f);
  drawBox(1.f, 1.f, 1.f);
  glPopMatrix();
  glPopMatrix();
}

void G2O_OPENGL_API g2o::opengl::drawPyramid	(	GLfloat	length,
		GLfloat	height
	)

draw a pyramid

Definition at line 215 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

Referenced by g2o::CacheCamera::updateImpl().

{
  glPushMatrix();
  glTranslatef(0.f, 0.f, - height/2.0f);
  glRotatef(45, 0.f, 0.f, 1.f);
  gluCylinder(GLUWrapper::getQuadradic(), length, 0.f, height, 4, 1);
  gluDisk(GLUWrapper::getQuadradic(), 0, length, 4, 1);
  glPopMatrix();
}

void G2O_OPENGL_API g2o::opengl::drawRangeRing	(	GLfloat	range,
		GLfloat	fov,
		GLfloat	range_width = 0.05
	)

draw a range ring

Parameters

range	the range (radius) of the partial ring
fov	Field Of View of the range sensor
range_width	specify how thick the ring should be drawn

Definition at line 225 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

{
  glPushMatrix();
  glRotatef((fov/2.0f) - 90, 0.f, 0.f, 1.f);
  gluPartialDisk(GLUWrapper::getQuadradic(), range, range + range_width, 32, 1, 0.f, fov);
  glPopMatrix();
}

void G2O_OPENGL_API g2o::opengl::drawSlice	(	GLfloat	radius,
		GLfloat	height,
		GLfloat	fov,
		int	slices_per_circle = 32
	)

draw a slice of a cylinder (approximated with slices_per_circle triangles for the complete circle)

Parameters

radius	the radius of the cylinder
height	the height of the cylinder
fov	the "fov" of the slice (om degree)
slices_per_circle	the number of triangle used to approximate the fulle circle

Definition at line 233 of file opengl_primitives.cpp.

References M_PI.

{
  double fov_rad = fov/180.*M_PI; // convert to rad
  int num_slices = int(slices_per_circle * (fov_rad / (2*M_PI))) + 1;
  double angle_step = fov_rad / num_slices;
  double angle_step_half = angle_step * 0.5;

  GLfloat height_half = height * 0.5f;
  GLfloat lower_z = -height_half;
  GLfloat upper_z =  height_half;

  GLfloat last_x = float(std::cos(-fov_rad * 0.5f) * radius);
  GLfloat last_y = float(std::sin(-fov_rad * 0.5f) * radius);

  glPushMatrix();
  glBegin(GL_TRIANGLES);
  glNormal3f((float)std::sin(-fov_rad * 0.5), (float)-std::cos(-fov_rad * 0.5), 0.f);
  glVertex3f(0.f, 0.f, upper_z);
  glVertex3f(0.f, 0.f, lower_z);
  glVertex3f(last_x, last_y, upper_z);
  glVertex3f(last_x, last_y, upper_z);
  glVertex3f(last_x, last_y, lower_z);
  glVertex3f(0.f, 0.f, lower_z);

  double start_angle = -0.5*fov_rad + angle_step;
  double angle       = start_angle;
  for (int i = 0; i < num_slices; ++i) {
    GLfloat x = float(std::cos(angle) * radius);
    GLfloat y = float(std::sin(angle) * radius);
    GLfloat front_normal_x = (float)std::cos(angle + angle_step_half);
    GLfloat front_normal_y = (float)std::sin(angle + angle_step_half);

    // lower triangle
    glNormal3f(0.f, 0.f, -1.f);
    glVertex3f(0.f, 0.f, lower_z);
    glVertex3f(x, y, lower_z);
    glVertex3f(last_x, last_y, lower_z);
    // upper
    glNormal3f(0.f, 0.f, 1.f);
    glVertex3f(0.f, 0.f, upper_z);
    glVertex3f(x, y, upper_z);
    glVertex3f(last_x, last_y, upper_z);
    //front rectangle (we use two triangles)
    glNormal3f(front_normal_x, front_normal_y, 0.f);
    glVertex3f(last_x, last_y, upper_z);
    glVertex3f(last_x, last_y, lower_z);
    glVertex3f(x, y, upper_z);
    glVertex3f(x, y, upper_z);
    glVertex3f(x, y, lower_z);
    glVertex3f(last_x, last_y, lower_z);

    last_x = x;
    last_y = y;
    angle += angle_step;
  }

  glNormal3f(float(-std::sin(fov_rad * 0.5)), float(std::cos(fov_rad * 0.5)), -0.f);
  glVertex3f(0.f, 0.f, upper_z);
  glVertex3f(0.f, 0.f, lower_z);
  glVertex3f(last_x, last_y, upper_z);
  glVertex3f(last_x, last_y, upper_z);
  glVertex3f(last_x, last_y, lower_z);
  glVertex3f(0.f, 0.f, lower_z);

  glEnd();
  glPopMatrix();
}

void G2O_OPENGL_API g2o::opengl::drawSphere

(

GLfloat

radius

)

draw a sphere whose center is in the origin of the current coordinate frame

Parameters

radius

the radius of the sphere

Definition at line 168 of file opengl_primitives.cpp.

References g2o::opengl::GLUWrapper::getQuadradic().

{
  gluSphere(GLUWrapper::getQuadradic(), radius, 32, 32);
}