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mrpt::opengl::graph_tools Namespace Reference


Detailed Description

Tool functions for graphs of pose constraints.

Functions

Tool functions for graphs of pose constraints
template<class CPOSE , class MAPIMPL >
CSetOfObjectsPtr OPENGL_IMPEXP graph_visualize (const mrpt::poses::CNetworkOfPoses< CPOSE, MAPIMPL > &g, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble())
 Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames.

Function Documentation

template<class CPOSE , class MAPIMPL >
CSetOfObjectsPtr OPENGL_IMPEXP mrpt::opengl::graph_tools::graph_visualize ( const mrpt::poses::CNetworkOfPoses< CPOSE, MAPIMPL > &  g,
const mrpt::utils::TParametersDouble extra_params = mrpt::utils::TParametersDouble() 
)

Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames.

Note that the "global" coordinates of each node are taken from mrpt::poses::CNetworkOfPoses::nodes, so if a node appears in "edges" but not in "nodes" it will be not displayed.

Parameters:
gThe graph
extra_paramsAn extra set of optional parameters (see below). List of accepted extra parameters (note that all are double values, booleans are emulated with 0 & !=0 values):
Parameter name Description Default value
show_ID_labels If set to !=0, show poses ID labels 0 (don't show)
show_ground_grid If set to !=0, create a gray grid on the ground level (mrpt::opengl::CGridPlaneXY). The extension of the grid is computed to cover the entire graph extension 1 (do show)
show_edges If set to !=0, draw lines between nodes with at least one edge between them. 1 (do show)
edge_color If show_edges is !=0, the color of those edges as a hexadecimal int value 0xAARRGGBB with Alpha+RGB color (Alpha=0xFF:opaque,0x00:transparent). 0x400000FF
edge_width If show_edges is !=0, the width of edge lines. 2.0
show_node_corners If set to !=0, draw a small 3D corner frame at each node (see mrpt::opengl::stock_objects::CornerXYZSimple). 1 (do show)
nodes_corner_scale If show_node_corners!=0, the size (length) of te corner lines. 0.7
nodes_point_size If set to !=0, draw a point of the given size (glPointSize) at each node. 0 (no points)
nodes_point_color If nodes_point_size!=0, set this value to a hexadecimal int value 0xRRGGBB with the desired RGB color of points. 0xA0A0A0 (light gray)
See also:
mrpt::poses::CNetworkOfPoses2D, mrpt::poses::CNetworkOfPoses3D, mrpt::poses::CNetworkOfPoses2DInf, mrpt::poses::CNetworkOfPoses3DInf



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