localization_rviz_plugins Namespace Reference

Classes
class	DepthOdometryDisplay
class	ImuAugmentorDisplay
class	LocalizationGraphDisplay
class	LocalizationGraphPanel
class	PoseDisplay
class	SparseMappingDisplay

Typedefs
using	Calibration = gtsam::Cal3_S2
using	Camera = gtsam::PinholePose< Calibration >
using	SmartFactor = gtsam::RobustSmartProjectionPoseFactor< Calibration >

Functions
cv::Point2f	CvPoint (const Eigen::Vector2d &point)
Ogre::Vector3	ogrePosition (const gtsam::Pose3 &pose)
Ogre::Vector3	ogrePosition (const gtsam::Point3 &point)
Ogre::Quaternion	ogreQuaternion (const gtsam::Pose3 &pose)
boost::optional< gtsam::Pose3 >	currentFrameTFrame (const std::string &frame_id, const ros::Time timestamp, const rviz::DisplayContext &context)
std::unique_ptr< rviz::Axes >	axisFromPose (const gtsam::Pose3 &pose, const double scale, Ogre::SceneManager *scene_manager, Ogre::SceneNode *scene_node)
boost::optional< lc::CombinedNavState >	firstCombinedNavState (const graph_localizer::GraphLocalizer &graph_localizer, const gtsam::CombinedImuFactor *const imu_factor)
boost::optional< lc::CombinedNavState >	pimPredict (const graph_localizer::GraphLocalizer &graph_localizer, const gtsam::CombinedImuFactor *const imu_factor)
std::pair< Ogre::Quaternion, double >	getOrientationAndLength (const gtsam::Point3 &point_a, const gtsam::Point3 &point_b)

Typedef Documentation

Calibration

using localization_rviz_plugins::Calibration = typedef gtsam::Cal3_S2

Camera

using localization_rviz_plugins::Camera = typedef gtsam::PinholePose<Calibration>

SmartFactor

using localization_rviz_plugins::SmartFactor = typedef gtsam::RobustSmartProjectionPoseFactor<Calibration>

Function Documentation

axisFromPose()

std::unique_ptr< rviz::Axes > localization_rviz_plugins::axisFromPose	(	const gtsam::Pose3 &	pose,
		const double	scale,
		Ogre::SceneManager *	scene_manager,
		Ogre::SceneNode *	scene_node
	)

currentFrameTFrame()

boost::optional< gtsam::Pose3 > localization_rviz_plugins::currentFrameTFrame	(	const std::string &	frame_id,
		const ros::Time	timestamp,
		const rviz::DisplayContext &	context
	)

CvPoint()

cv::Point2f localization_rviz_plugins::CvPoint

(

const Eigen::Vector2d &

point

)

firstCombinedNavState()

boost::optional< localization_common::CombinedNavState > localization_rviz_plugins::firstCombinedNavState	(	const graph_localizer::GraphLocalizer &	graph_localizer,
		const gtsam::CombinedImuFactor *const	imu_factor
	)

getOrientationAndLength()

std::pair< Ogre::Quaternion, double > localization_rviz_plugins::getOrientationAndLength	(	const gtsam::Point3 &	point_a,
		const gtsam::Point3 &	point_b
	)

ogrePosition() [1/2]

Ogre::Vector3 localization_rviz_plugins::ogrePosition

(

const gtsam::Point3 &

point

)

ogrePosition() [2/2]

Ogre::Vector3 localization_rviz_plugins::ogrePosition

(

const gtsam::Pose3 &

pose

)

ogreQuaternion()

Ogre::Quaternion localization_rviz_plugins::ogreQuaternion

(

const gtsam::Pose3 &

pose

)

pimPredict()

boost::optional< localization_common::CombinedNavState > localization_rviz_plugins::pimPredict	(	const graph_localizer::GraphLocalizer &	graph_localizer,
		const gtsam::CombinedImuFactor *const	imu_factor
	)