g2o::RunG2OViewer Class Reference

wrapper for running the g2o viewer More...

#include <run_g2o_viewer.h>

Static Public Member Functions
static int	run (int argc, char **argv, CommandArgs &arg)

Detailed Description

wrapper for running the g2o viewer

Definition at line 39 of file run_g2o_viewer.h.

Member Function Documentation

run()

int g2o::RunG2OViewer::run ( int  argc, char **  argv, CommandArgs &  arg  )

static

Definition at line 47 of file run_g2o_viewer.cpp.

                                                             {
  std::string inputFilename;
  std::string loadLookup;
  arg.param("renameTypes", loadLookup, "",
            "create a lookup for loading types into other types,\n\t "
            "TAG_IN_FILE=INTERNAL_TAG_FOR_TYPE,TAG2=INTERNAL2\n\t e.g., "
            "VERTEX_CAM=VERTEX_SE3:EXPMAP");
  arg.paramLeftOver("graph-input", inputFilename, "",
                    "graph file which will be processed", true);
  arg.parseArgs(argc, argv);
 
  MainWindow mw;
  mw.updateDisplayedSolvers();
  mw.updateRobustKernels();
  mw.show();
 
  // redirect the output that normally goes to cerr to the textedit in the
  // viewer
  StreamRedirect redirect(std::cerr, mw.plainTextEdit);
 
  // setting up the optimizer
  SparseOptimizer* optimizer = new SparseOptimizer();
  // Loading the input data
  if (loadLookup.size() > 0) {
    optimizer->setRenamedTypesFromString(loadLookup);
  }
  mw.viewer->graph = optimizer;
 
  // set up the GUI action
  GuiHyperGraphAction guiHyperGraphAction;
  guiHyperGraphAction.viewer = mw.viewer;
  // optimizer->addPostIterationAction(&guiHyperGraphAction);
  optimizer->addPreIterationAction(&guiHyperGraphAction);
 
  if (inputFilename.size() > 0) {
    mw.loadFromFile(QString::fromStdString(inputFilename));
  }
 
  QCoreApplication* myapp = QApplication::instance();
  while (mw.isVisible()) {
    guiHyperGraphAction.dumpScreenshots = mw.actionDump_Images->isChecked();
    if (myapp) myapp->processEvents();
    SleepThread::msleep(10);
  }
 
  delete optimizer;
  return 0;
}

References g2o::OptimizableGraph::addPreIterationAction(), g2o::GuiHyperGraphAction::dumpScreenshots, MainWindow::loadFromFile(), g2o::CommandArgs::param(), g2o::CommandArgs::paramLeftOver(), g2o::CommandArgs::parseArgs(), g2o::OptimizableGraph::setRenamedTypesFromString(), MainWindow::updateDisplayedSolvers(), MainWindow::updateRobustKernels(), and g2o::GuiHyperGraphAction::viewer.

Referenced by main().

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The documentation for this class was generated from the following files:

• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_viewer/run_g2o_viewer.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_viewer/run_g2o_viewer.cpp