Class ViwlsGraphRvizPlotter

• Defined in File viwls-graph-plotter.h

Class Documentation

class visualization::ViwlsGraphRvizPlotter

Public Functions

ViwlsGraphRvizPlotter()

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

void visualizeMap(const vi_map::VIMap &map) const

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

void plotSlidingWindowLocalizationResult(const aslam::Transformation &T_G_B, size_t marker_id) const

void plotPartitioning(const vi_map::VIMap &map, const std::vector<pose_graph::VertexIdList> &partitioning) const

void plotPartitioning(const vi_map::VIMap &map, const std::vector<pose_graph::VertexIdList> &partitioning, const std::vector<visualization::Color> &colors) const

void plotVisualFramePartitioning(const vi_map::VIMap &map, const vi_map::FrameIdToFrameIdentifierMap &frame_to_frame_identifier_map, const std::vector<aslam::FrameIdList> &partitioning) const

void publishTF(aslam::Transformation T_G_I, const std::string &frame_id, const std::string &child_frame_id) const

void publishVertexPoseAsTF(const vi_map::VIMap &map, pose_graph::VertexId vertex_id) const

void publishEdges(const vi_map::VIMap &map, const vi_map::MissionIdList &missions) const

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

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

void publishVertices(const vi_map::VIMap &map, const vi_map::MissionIdList &missions) const

void publishVertices(const vi_map::VIMap &map, const pose_graph::VertexIdList &vertices) const

void publishBaseFrames(const vi_map::VIMap &map, const vi_map::MissionIdList &missions) const

void publishBaseFrames(const vi_map::VIMap &map, const vi_map::MissionBaseFrameIdList &baseframes) const

void publishLandmarks(const vi_map::VIMap &map, const vi_map::MissionIdList &missions) const

void publishLandmarks(const Eigen::Matrix3Xd &W_landmarks) const

void publishLandmarks(const Eigen::Matrix3Xd &W_landmarks, const visualization::Color &color, const std::string &topic) const

void publishAbsolute6DoFConstraints(const vi_map::VIMap &map, const pose_graph::VertexIdList &vertices) const

void publishAbsolute6DoFConstraints(const vi_map::VIMap &map, const vi_map::MissionIdList &missions) const

void appendLandmarksToSphereVector(const vi_map::VIMap &map, const vi_map::MissionIdList &missions, visualization::SphereVector *spheres) const

void appendLandmarksToSphereVector(const vi_map::VIMap &map, const pose_graph::VertexIdList &storing_vertices, const visualization::Color &color, visualization::SphereVector *spheres) const

void publishPosesInGlobalFrame(const aslam::TransformationVector &transformations) const

void publishStructureMatches(const Eigen::Vector3d &G_vertex_position, const Eigen::Matrix3Xd &G_landmarks) const

void publishCamPredictions(const vi_map_helpers::NearCameraPoseSampling &sampling, const std::vector<double> &predictions)

void visualizeSensorExtrinsics(const vi_map::VIMap &map)

void publishReferenceMap() const

void setReferenceMap(const vi_map::VIMap &map)

Public Members

ViwlsGraphRvizPlotter

Public Static Attributes

static const std::string kBaseframeTopic

static const std::string kBoundingBoxTopic

static const std::string kBoxTopic

static const std::string kCamPredictionTopic

static const std::string kEdgeTopic

static const std::string kLandmarkNormalsTopic

static const std::string kLandmarkPairsTopic

static const std::string kLandmarkTopic

static const std::string kLoopclosureTopic

static const std::string kMeshTopic

static const std::string kSensorExtrinsicsTopic

static const std::string kSlidingWindowLocalizationResultTopic

static const std::string kUniqueKeyFramesTopic

static const std::string kVertexPartitioningTopic

static const std::string kVertexTopic

static const std::string kAbsolute6DoFTopic