Class GraphVisualizer

Class Documentation

class GraphVisualizer

Public Functions

GraphVisualizer(const rclcpp::Node::SharedPtr node)

Constructor for class GraphVisualizer.

Parameters:

node –

~GraphVisualizer()
visualization_msgs::msg::MarkerArray create_marker_array(const rclcpp::Time &stamp, const g2o::SparseOptimizer *local_graph, const std::vector<VerticalPlanes> &x_plane_snapshot, const std::vector<VerticalPlanes> &y_plane_snapshot, const std::vector<HorizontalPlanes> &hort_plane_snapshot, std::vector<InfiniteRooms> x_infinite_room_snapshot, std::vector<InfiniteRooms> y_infinite_room_snapshot, std::vector<Rooms> room_snapshot, double loop_detector_radius, std::vector<KeyFrame::Ptr> keyframes, std::vector<Floors> floors_vec)

Creates a marker array.

Parameters:

  • stamp –

  • local_graph –

  • x_plane_snapshot –

  • y_plane_snapshot –

  • loop_detector_radius –

  • keyframes –

  • floors_vec –

Returns:

A MarkerArray message.

void create_compressed_graph(const rclcpp::Time &stamp, bool global_optimization, bool room_optimization, const g2o::SparseOptimizer *compressed_graph, const std::vector<VerticalPlanes> &x_plane_snapshot, const std::vector<VerticalPlanes> &y_plane_snapshot, const std::vector<HorizontalPlanes> &hort_plane_snapshot)

Create a compressed graph object.

Parameters:

  • stamp –

  • global_optimization –

  • room_optimization –

  • compressed_graph –

  • x_plane_snapshot –

  • y_plane_snapshot –

  • hort_plane_snapshot –