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 36 of file run_g2o_viewer.h.

Member Function Documentation

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

static

Definition at line 52 of file run_g2o_viewer.cpp.

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

{
  std::string inputFilename;
  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();
  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;
}

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

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_viewer/run_g2o_viewer.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_viewer/run_g2o_viewer.cpp