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. |
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() |
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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.
g | The graph |
extra_params | An 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) |
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