Class ViwlsGraphRvizPlotter¶
Defined in File viwls-graph-plotter.h
Class Documentation¶
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class visualization::ViwlsGraphRvizPlotter¶
Public Functions
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ViwlsGraphRvizPlotter()¶
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void visualizeMap(const vi_map::VIMap &map, bool publish_baseframes, bool publish_vertices, bool publish_edges, bool publish_landmarks, bool publish_absolute_6dof_constraints) const¶
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void visualizeMissions(const vi_map::VIMap &map, const vi_map::MissionIdList &mission_ids, bool publish_baseframes, bool publish_vertices, bool publish_edges, bool publish_landmarks, bool publish_absolute_6dof_constraints) const¶
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void plotSlidingWindowLocalizationResult(const aslam::Transformation &T_G_B, size_t marker_id) const¶
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void plotPartitioning(const vi_map::VIMap &map, const std::vector<pose_graph::VertexIdList> &partitioning) const¶
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void plotPartitioning(const vi_map::VIMap &map, const std::vector<pose_graph::VertexIdList> &partitioning, const std::vector<visualization::Color> &colors) const¶
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void plotVisualFramePartitioning(const vi_map::VIMap &map, const vi_map::FrameIdToFrameIdentifierMap &frame_to_frame_identifier_map, const std::vector<aslam::FrameIdList> &partitioning) const¶
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void publishTF(aslam::Transformation T_G_I, const std::string &frame_id, const std::string &child_frame_id) const¶
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void publishEdges(const vi_map::VIMap &map, const vi_map::MissionIdList &missions, pose_graph::Edge::EdgeType edge_type, const visualization::Color &color, const bool wait_for_subscriber = false) const¶
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void publishEdges(const vi_map::VIMap &map, const pose_graph::EdgeIdList &edges, const visualization::Color &color, unsigned int marker_id, const std::string &topic_extension, const bool wait_for_subscriber = false) const¶
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void publishBaseFrames(const vi_map::VIMap &map, const vi_map::MissionBaseFrameIdList &baseframes) const¶
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void publishLandmarks(const Eigen::Matrix3Xd &W_landmarks) const¶
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void publishLandmarks(const Eigen::Matrix3Xd &W_landmarks, const visualization::Color &color, const std::string &topic) const¶
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void publishAbsolute6DoFConstraints(const vi_map::VIMap &map, const pose_graph::VertexIdList &vertices) const¶
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void publishAbsolute6DoFConstraints(const vi_map::VIMap &map, const vi_map::MissionIdList &missions) const¶
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void appendLandmarksToSphereVector(const vi_map::VIMap &map, const vi_map::MissionIdList &missions, visualization::SphereVector *spheres) const¶
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void appendLandmarksToSphereVector(const vi_map::VIMap &map, const pose_graph::VertexIdList &storing_vertices, const visualization::Color &color, visualization::SphereVector *spheres) const¶
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void publishPosesInGlobalFrame(const aslam::TransformationVector &transformations) const¶
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void publishStructureMatches(const Eigen::Vector3d &G_vertex_position, const Eigen::Matrix3Xd &G_landmarks) const¶
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void publishReferenceMap() const¶
Public Members
- ViwlsGraphRvizPlotter
Public Static Attributes
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static const std::string kBaseframeTopic¶
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static const std::string kBoundingBoxTopic¶
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static const std::string kBoxTopic¶
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static const std::string kCamPredictionTopic¶
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static const std::string kEdgeTopic¶
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static const std::string kLandmarkNormalsTopic¶
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static const std::string kLandmarkPairsTopic¶
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static const std::string kLandmarkTopic¶
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static const std::string kLoopclosureTopic¶
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static const std::string kMeshTopic¶
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static const std::string kSensorExtrinsicsTopic¶
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static const std::string kSlidingWindowLocalizationResultTopic¶
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static const std::string kUniqueKeyFramesTopic¶
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static const std::string kVertexPartitioningTopic¶
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static const std::string kVertexTopic¶
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static const std::string kAbsolute6DoFTopic¶
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ViwlsGraphRvizPlotter()¶