g2o::Slam2DViewer Class Reference

#include <slam2d_viewer.h>

Inheritance diagram for g2o::Slam2DViewer:

Collaboration diagram for g2o::Slam2DViewer:

Public Member Functions
	Slam2DViewer (QWidget *parent=NULL, const QGLWidget *shareWidget=0)
	~Slam2DViewer ()
virtual void	draw ()
void	init ()

Public Attributes
SparseOptimizer *	graph
bool	drawCovariance
g2o::SparseBlockMatrix< g2o::MatrixX >	covariances

Detailed Description

Definition at line 29 of file slam2d_viewer.h.

Constructor & Destructor Documentation

Slam2DViewer()

g2o::Slam2DViewer::Slam2DViewer	(	QWidget *	parent = NULL,
		const QGLWidget *	shareWidget = 0
	)

Definition at line 129 of file slam2d_viewer.cpp.

    : QGLViewer(parent, shareWidget), graph(0), drawCovariance(false) {}

~Slam2DViewer()

g2o::Slam2DViewer::~Slam2DViewer

(

)

Definition at line 132 of file slam2d_viewer.cpp.

{}

Member Function Documentation

draw()

void g2o::Slam2DViewer::draw ( )

virtual

Definition at line 134 of file slam2d_viewer.cpp.

                        {
  if (!graph) return;
 
  // drawing the graph
  glColor4f(0.00f, 0.67f, 1.00f, 1.f);
  glBegin(GL_TRIANGLES);
  for (SparseOptimizer::VertexIDMap::iterator it = graph->vertices().begin();
       it != graph->vertices().end(); ++it) {
    VertexSE2* v = dynamic_cast<VertexSE2*>(it->second);
    if (v) {
      drawSE2(v);
    }
  }
  glEnd();
 
  glColor4f(1.00f, 0.67f, 0.00f, 1.f);
  glPointSize(2.f);
  glBegin(GL_POINTS);
  for (SparseOptimizer::VertexIDMap::iterator it = graph->vertices().begin();
       it != graph->vertices().end(); ++it) {
    VertexPointXY* v = dynamic_cast<VertexPointXY*>(it->second);
    if (v) {
      glVertex3f(v->estimate()(0), v->estimate()(1), 0.f);
    }
  }
  glEnd();
  glPointSize(1.f);
 
  if (drawCovariance) {
    for (const auto& vertex_index : graph->vertices()) {
      VertexSE2* v = dynamic_cast<VertexSE2*>(vertex_index.second);
      if (!v || v->fixed()) continue;
      const g2o::MatrixX* covariance =
          covariances.block(v->hessianIndex(), v->hessianIndex());
      if (!covariance) continue;
      drawCov(v->estimate().translation(), *covariance);
    }
  }
}

References g2o::SparseBlockMatrix< MatrixType >::block(), covariances, drawCovariance, g2o::BaseVertex< D, T >::estimate(), g2o::OptimizableGraph::Vertex::fixed(), graph, g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::SE2::translation(), and g2o::HyperGraph::vertices().

init()

void g2o::Slam2DViewer::init

(

)

Definition at line 174 of file slam2d_viewer.cpp.

                        {
  QGLViewer::init();
 
  // some default settings i like
  glEnable(GL_LINE_SMOOTH);
  glEnable(GL_BLEND);
  glEnable(GL_DEPTH_TEST);
  glShadeModel(GL_SMOOTH);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
  setAxisIsDrawn();
 
  // don't save state
  setStateFileName(QString());
 
  // mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
  setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, ZOOM);
  setMouseBinding(Qt::NoModifier, Qt::MiddleButton, CAMERA, TRANSLATE);
#else
  setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
  setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
#endif
 
  // keyboard shortcuts
  setShortcut(CAMERA_MODE, 0);
  setShortcut(EXIT_VIEWER, 0);
  // setShortcut(SAVE_SCREENSHOT, 0);
 
  // replace camera
  qglviewer::Camera* oldcam = camera();
  qglviewer::Camera* cam = new StandardCamera();
  setCamera(cam);
  cam->setPosition(qglviewer::Vec(0., 0., 75.));
  cam->setUpVector(qglviewer::Vec(0., 1., 0.));
  cam->lookAt(qglviewer::Vec(0., 0., 0.));
  delete oldcam;
}

Member Data Documentation

covariances

g2o::SparseBlockMatrix<g2o::MatrixX> g2o::Slam2DViewer::covariances

Definition at line 39 of file slam2d_viewer.h.

Referenced by draw().

drawCovariance

bool g2o::Slam2DViewer::drawCovariance

Definition at line 38 of file slam2d_viewer.h.

Referenced by draw().

graph

SparseOptimizer* g2o::Slam2DViewer::graph

Definition at line 37 of file slam2d_viewer.h.

Referenced by draw().

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

• /build/reproducible-path/g2o-0~20230806/g2o/examples/slam2d/slam2d_viewer.h
• /build/reproducible-path/g2o-0~20230806/g2o/examples/slam2d/slam2d_viewer.cpp