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 "g2o/config.h"
#include "opengl_wrapper.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 drawCircle(GLfloat radius, int segments = 32);

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
 
}  // namespace opengl
}  // namespace g2o
 
#endif