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, Qt::WFlags flags=0)
	~Slam2DViewer ()
virtual void	draw ()
void	init ()

Public Attributes
SparseOptimizer *	graph
bool	drawCovariance

Detailed Description

Definition at line 28 of file slam2d_viewer.h.

Constructor & Destructor Documentation

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

Definition at line 131 of file slam2d_viewer.cpp.

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

g2o::Slam2DViewer::~Slam2DViewer

(

)

Definition at line 137 of file slam2d_viewer.cpp.

{
}

Member Function Documentation

void g2o::Slam2DViewer::draw ( )

virtual

Definition at line 141 of file slam2d_viewer.cpp.

References drawCovariance, g2o::BaseVertex< D, T >::estimate(), graph, and g2o::HyperGraph::vertices().

{
  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 (SparseOptimizer::VertexIDMap::iterator it = graph->vertices().begin(); it != graph->vertices().end(); ++it) {
      VertexSE2* v = dynamic_cast<VertexSE2*>(it->second);
      if (v) {
        // TODO
        //drawCov(v->estimate().translation(), v->uncertainty());
      }
    }
  }
}

void g2o::Slam2DViewer::init

(

)

Definition at line 180 of file slam2d_viewer.cpp.

References g2o::types_icp::init().

{
  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::null);

  // mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
  setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, ZOOM);
  setMouseBinding(Qt::NoModifier, Qt::MidButton, 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

bool g2o::Slam2DViewer::drawCovariance

Definition at line 38 of file slam2d_viewer.h.

Referenced by draw().

SparseOptimizer* g2o::Slam2DViewer::graph

Definition at line 37 of file slam2d_viewer.h.

Referenced by draw().

---

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

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/slam2d/slam2d_viewer.h
• /home/xuezhisd/CLionProjects/g2o/g2o/examples/slam2d/slam2d_viewer.cpp