PoseViewer Class Reference

Public Member Functions
	PoseViewer ()
void	publishFullStateAsCallback (const okvis::Time &, const okvis::kinematics::Transformation &T_WS, const Eigen::Matrix< double, 9, 1 > &speedAndBiases, const Eigen::Matrix< double, 3, 1 > &)
void	display ()

Static Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW static constexpr const double	imageSize = 500.0

Private Member Functions
cv::Point2d	convertToImageCoordinates (const cv::Point2d &pointInMeters) const
void	drawPath ()

Private Attributes
cv::Mat	_image
std::vector< cv::Point2d >	_path
std::vector< double >	_heights
double	_scale = 1.0
double	_min_x = -0.5
double	_min_y = -0.5
double	_min_z = -0.5
double	_max_x = 0.5
double	_max_y = 0.5
double	_max_z = 0.5
const double	_frameScale = 0.2
std::atomic_bool	drawing_
std::atomic_bool	showing_

Constructor & Destructor Documentation

PoseViewer::PoseViewer ( )

inline

Member Function Documentation

cv::Point2d PoseViewer::convertToImageCoordinates ( const cv::Point2d &  pointInMeters ) const

inlineprivate

void PoseViewer::display ( )

inline

void PoseViewer::drawPath ( )

inlineprivate

void PoseViewer::publishFullStateAsCallback ( const okvis::Time &  , const okvis::kinematics::Transformation &  T_WS, const Eigen::Matrix< double, 9, 1 > &  speedAndBiases, const Eigen::Matrix< double, 3, 1 > &    )

inline

Member Data Documentation

const double PoseViewer::_frameScale = 0.2

private

std::vector<double> PoseViewer::_heights

private

cv::Mat PoseViewer::_image

private

double PoseViewer::_max_x = 0.5

private

double PoseViewer::_max_y = 0.5

private

double PoseViewer::_max_z = 0.5

private

double PoseViewer::_min_x = -0.5

private

double PoseViewer::_min_y = -0.5

private

double PoseViewer::_min_z = -0.5

private

std::vector<cv::Point2d> PoseViewer::_path

private

double PoseViewer::_scale = 1.0

private

std::atomic_bool PoseViewer::drawing_

private

EIGEN_MAKE_ALIGNED_OPERATOR_NEW static constexpr const double PoseViewer::imageSize = 500.0

static

std::atomic_bool PoseViewer::showing_

private

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The documentation for this class was generated from the following file:

• okvis/okvis_apps/src/okvis_app_synchronous.cpp