mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS > Class Template Reference

Detailed Description

template<class CPOSE, class MAPS_IMPLEMENTATION, class EDGE_ANNOTATIONS>
class mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >

Definition at line 68 of file CMRVisualizer.h.

#include <mrpt/graphs/CMRVisualizer.h>

Inheritance diagram for mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >:

Public Types
using	parent = CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >
using	GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >

Public Member Functions
	CMRVisualizer (const GRAPH_T &graph_in)
	~CMRVisualizer ()
void	drawNodePoints (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const
void	drawEdges (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &object, mrpt::system::TParametersDouble viz_params) const
	Common visualization stuff for all derived classes. More...

Protected Member Functions
Work-splitting methods
Smaller functions that do add very specific parts to the visual representation Following functions take an optional TParametersDouble instance containing visualization parameters
virtual void	drawGroundGrid (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const
virtual void	drawNodeCorners (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const
virtual void	drawEdgeRelPoses (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const

Protected Attributes
bool	m_is_3D_graph
const GRAPH_T &	m_graph

Member Typedef Documentation

GRAPH_T

template<class CPOSE , class MAPS_IMPLEMENTATION , class EDGE_ANNOTATIONS >

using mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>

Definition at line 77 of file CMRVisualizer.h.

parent

template<class CPOSE , class MAPS_IMPLEMENTATION , class EDGE_ANNOTATIONS >

using mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::parent = CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS>

Definition at line 75 of file CMRVisualizer.h.

Constructor & Destructor Documentation

CMRVisualizer()

template<class CPOSE , class MAPS_IMPLEMENTATION , class EDGE_ANNOTATIONS >

mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::CMRVisualizer

(

const GRAPH_T &

graph_in

)

Definition at line 71 of file CMRVisualizer_impl.h.

~CMRVisualizer()

template<class CPOSE , class MAPS_IMPLEMENTATION , class EDGE_ANNOTATIONS >

mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::~CMRVisualizer ( )

default

Member Function Documentation

drawEdgeRelPoses()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations , EDGE_ANNOTATIONS >::drawEdgeRelPoses ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = nullptr  ) const

protectedvirtualinherited

Definition at line 204 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::stock_objects::CornerXYSimple(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::opengl::CSimpleLine::Create(), mrpt::opengl::CSetOfObjects::Create(), mrpt::system::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

drawEdges()

template<class CPOSE , class MAPS_IMPLEMENTATION , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = nullptr  ) const

virtual

Reimplemented from mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >.

Definition at line 166 of file CMRVisualizer_impl.h.

References ASSERTMSG_, mrpt::img::TColorManager::getNextTColorf(), mrpt::system::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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drawGroundGrid()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations , EDGE_ANNOTATIONS >::drawGroundGrid ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = nullptr  ) const

protectedvirtualinherited

Definition at line 89 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::CGridPlaneXY::Create(), mrpt::keep_max(), mrpt::keep_min(), mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

drawNodeCorners()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations , EDGE_ANNOTATIONS >::drawNodeCorners ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = nullptr  ) const

protectedvirtualinherited

Definition at line 160 of file CVisualizer_impl.h.

References ASSERTMSG_, mrpt::opengl::stock_objects::CornerXYSimple(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::format(), and mrpt::system::TParameters< T >::getWithDefaultVal().

drawNodePoints()

template<class CPOSE , class MAPS_IMPLEMENTATION , class EDGE_ANNOTATIONS >

void mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawNodePoints ( mrpt::opengl::CSetOfObjects::Ptr &  object, const mrpt::system::TParametersDouble *  viz_params = nullptr  ) const

virtual

Reimplemented from mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >.

Definition at line 84 of file CMRVisualizer_impl.h.

References ASSERTMSG_, mrpt::img::TColorManager::getNextTColorf(), mrpt::system::TParameters< T >::getWithDefaultVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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getAs3DObject()

void mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations , EDGE_ANNOTATIONS >::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  object, mrpt::system::TParametersDouble  viz_params  ) const

virtualinherited

Common visualization stuff for all derived classes.

Function delegates visualization tasks to the draw* methods according to the user preferences

Definition at line 39 of file CVisualizer_impl.h.

References mrpt::system::TParameters< T >::getWithDefaultVal().

Member Data Documentation

m_graph

const GRAPH_T& mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations , EDGE_ANNOTATIONS >::m_graph

protectedinherited

Definition at line 84 of file CVisualizer.h.

m_is_3D_graph

bool mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations , EDGE_ANNOTATIONS >::m_is_3D_graph

protectedinherited

Definition at line 83 of file CVisualizer.h.