Utils.hh File Reference

#include <vector>
#include <memory>
#include <gz/math/Helpers.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <gz/math/Vector2.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/Pose3.hh>
#include "gz/rendering/Camera.hh"
#include "gz/rendering/config.hh"
#include "gz/rendering/Export.hh"
#include "gz/rendering/GraphicsAPI.hh"
#include "gz/rendering/RayQuery.hh"
#include "gz/rendering/Image.hh"

Go to the source code of this file.

Namespaces
namespace	gz
namespace	gz::rendering
	Rendering classes and function useful in robot applications.

Functions
Image	convertRGBToBayer (const Image &_image, PixelFormat _bayerFormat)
	convert an RGB image data into bayer image data
GraphicsAPI	defaultGraphicsAPI ()
	Convenience function to get the default graphics API based on current platform.
gz::math::Matrix3d	projectionToCameraIntrinsic (const gz::math::Matrix4d &_projectionMatrix, double _width, double _height)
	Convert a given camera projection matrix to an intrinsics matrix. Intrinsics matrix is different from the matrix returned by Camera::ProjectionMatrix(), which is used by OpenGL internally. The matrix returned contains the camera calibrated values.
float	screenScalingFactor ()
	Get the screen scaling factor.
math::Vector3d	screenToPlane (const math::Vector2i &_screenPos, const CameraPtr &_camera, const RayQueryPtr &_rayQuery, const float _offset=0.0)
	Retrieve the point on a plane at z = 0 in the 3D scene hit by a ray cast from the given 2D screen coordinates.
math::Vector3d	screenToScene (const math::Vector2i &_screenPos, const CameraPtr &_camera, const RayQueryPtr &_rayQuery, float _maxDistance=10.0)
	Retrieve the first point on a surface in the 3D scene hit by a ray cast from the given 2D screen coordinates.
math::Vector3d	screenToScene (const math::Vector2i &_screenPos, const CameraPtr &_camera, const RayQueryPtr &_rayQuery, RayQueryResult &_rayResult, float _maxDistance=10.0)
	Retrieve the first point on a surface in the 3D scene hit by a ray cast from the given 2D screen coordinates.
gz::math::AxisAlignedBox	transformAxisAlignedBox (const gz::math::AxisAlignedBox &_box, const gz::math::Pose3d &_pose)
	Transform a bounding box.