00001 #ifndef VSLAM_SYSTEM_VISUALIZATION_H 00002 #define VSLAM_SYSTEM_VISUALIZATION_H 00003 00004 #include <ros/ros.h> 00005 #include <sparse_bundle_adjustment/sba.h> 00006 #include <visualization_msgs/Marker.h> 00007 00008 namespace sba { 00009 00010 // draw the graph on rviz 00011 void drawGraph(const SysSBA &sba, const ros::Publisher &camera_pub, 00012 const ros::Publisher &point_pub, int decimation = 1, int bicolor = 0); 00013 00014 } // namespace sba 00015 00016 #endif