opengl_primitives.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
//
// This file is part of g2o.
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
// 
// You should have received a copy of the GNU General Public License
// along with g2o.  If not, see <http://www.gnu.org/licenses/>.

#ifndef G2O_OPENGL_PRIMITIVES_H
#define G2O_OPENGL_PRIMITIVES_H

// @{

#include "opengl_wrapper.h"

#include "g2o/config.h"

#ifdef _MSC_VER
#  ifdef G2O_SHARED_LIBS
#    ifdef opengl_helper_EXPORTS
#      define G2O_OPENGL_API __declspec(dllexport)
#    else
#      define G2O_OPENGL_API __declspec(dllimport)
#    endif
#  else
#    define G2O_OPENGL_API
#  endif
#else
#  define G2O_OPENGL_API
#endif

namespace g2o {
namespace opengl {

void G2O_OPENGL_API drawBox(GLfloat l, GLfloat w, GLfloat h);

void G2O_OPENGL_API drawPlane(GLfloat l, GLfloat w);

void G2O_OPENGL_API drawSphere(GLfloat radius);

void G2O_OPENGL_API drawEllipsoid(GLfloat r1, GLfloat r2, GLfloat r3);

void G2O_OPENGL_API drawCone(GLfloat radius, GLfloat height);

void G2O_OPENGL_API drawDisk(GLfloat radius);

void G2O_OPENGL_API drawCylinder(GLfloat radius, GLfloat height);

void G2O_OPENGL_API drawPyramid(GLfloat length, GLfloat height);

void G2O_OPENGL_API drawRangeRing(GLfloat range, GLfloat fov, GLfloat range_width = 0.05);

void G2O_OPENGL_API drawSlice(GLfloat radius, GLfloat height, GLfloat fov, int slices_per_circle = 32);

void G2O_OPENGL_API drawPoseBox();

void G2O_OPENGL_API drawArrow2D(float len, float head_width, float head_len);

void G2O_OPENGL_API drawPoint(float  pointSize);


// @}

#define POSE_VERTEX_COLOR 0.5f,0.5f,0.8f
#define POSE_PARAMETER_COLOR 0.5f,0.5f,0.8f
#define POSE_EDGE_COLOR 0.4f,0.4f,0.7f
#define POSE_EDGE_GHOST_COLOR 0.4f,0.4f,0.7f

#define LANDMARK_VERTEX_COLOR 0.8f,0.5f,0.3f
#define LANDMARK_EDGE_COLOR   0.7f,0.4f,0.2f
#define LANDMARK_EDGE_GHOST_COLOR   0.7f,0.4f,0.2f


} // end namespace
} // end namespace

#endif