Detailed Description

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

Wrapper class that provides visualization of a network of poses that have been registered by many graphSLAM agents/robots.

Note: This is a dummy 4 template arguments version of the CMRVisualizer class just to silence GCC warnings on conversions. For implementation details users should see its specialized version that runs specifically for TMRSlamNodeAnnotations as the 3rd template argument.

Definition at line 36 of file CMRVisualizer.h.

#include <mrpt/graphs/CMRVisualizer.h>

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

Public Types
using	parent = CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >

using	GRAPH_T = mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >

Public Member Functions
	CMRVisualizer (const GRAPH_T &graph_in)

	~CMRVisualizer () override

void	drawNodePoints (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const override

void	drawEdges (mrpt::opengl::CSetOfObjects::Ptr &object, const mrpt::system::TParametersDouble *viz_params=nullptr) const override

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 NODE_ANNOTATIONS = mrpt::graphs::detail::TMRSlamNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

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

Definition at line 44 of file CMRVisualizer.h.

◆ parent

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS = mrpt::graphs::detail::TMRSlamNodeAnnotations, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>

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

Definition at line 42 of file CMRVisualizer.h.