Inheritance diagram for glim::InteractiveViewer:

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Collaboration diagram for glim::InteractiveViewer:

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Public Types
enum class	PickType { POINTS = 1 , FRAME = (1 << 1) , FACTOR = (1 << 2) }

enum class	FactorType { MATCHING_COST , BETWEEN , IMU }

Public Member Functions
virtual bool	ok () const override
	Check if the module is alive. (If it returns false, the system will be shutdown)

void	wait ()

void	stop ()

void	clear ()

Public Member Functions inherited from glim::ExtensionModule
virtual bool	needs_wait () const
	Check if the module is behind the main mapping process.

virtual void	at_exit (const std::string &dump_path)
	Called when the system is quitting.

Protected Member Functions
void	viewer_loop ()

virtual void	setup_ui ()

void	invoke (const std::function< void()> &task)

void	drawable_selection ()

void	on_click ()

void	context_menu ()

void	run_modals ()

void	update_viewer ()

void	odometry_on_new_frame (const EstimationFrame::ConstPtr &new_frame)

void	globalmap_on_insert_submap (const SubMap::ConstPtr &submap)

void	globalmap_on_update_submaps (const std::vector< SubMap::Ptr > &updated_submaps)

void	globalmap_on_smoother_update (gtsam_points::ISAM2Ext &isam2, gtsam::NonlinearFactorGraph &new_factors, gtsam::Values &new_values)

void	globalmap_on_smoother_update_result (gtsam_points::ISAM2Ext &isam2, const gtsam_points::ISAM2ResultExt &result)

Protected Attributes
std::atomic_bool	request_to_clear

std::atomic_bool	request_to_terminate

std::atomic_bool	kill_switch

std::thread	thread

int	num_threads

std::mutex	invoke_queue_mutex

std::vector< std::function< void()> >	invoke_queue

int	color_mode

float	coord_scale

float	sphere_scale

bool	draw_current

bool	draw_traj

bool	draw_points

bool	draw_factors

bool	draw_spheres

float	min_overlap

bool	cont_optimize

bool	enable_partial_rendering

int	partial_rendering_budget

double	point_size

bool	point_size_metric

bool	point_shape_circle

Eigen::Vector2f	z_range

double	points_alpha

double	factors_alpha

std::atomic_bool	needs_session_merge

Eigen::Vector4i	right_clicked_info

Eigen::Vector3f	right_clicked_pos

std::unique_ptr< ManualLoopCloseModal >	manual_loop_close_modal

std::unique_ptr< BundleAdjustmentModal >	bundle_adjustment_modal

std::unique_ptr< TrajectoryManager >	trajectory

std::vector< Eigen::Isometry3d >	submap_poses

std::vector< SubMap::ConstPtr >	submaps

std::vector< std::tuple< FactorType, std::uint64_t, std::uint64_t > >	global_factors

ConcurrentVector< gtsam_points::shared_ptr< gtsam::NonlinearFactor > >	new_factors

std::shared_ptr< spdlog::logger >	logger

Additional Inherited Members
Static Public Member Functions inherited from glim::ExtensionModule
static std::shared_ptr< ExtensionModule >	load_module (const std::string &so_name)
	Load an extension module from a dynamic library.

static void	export_classes (const std::string &so_name)
	Export classes (factors) from a dynamic library.

Member Function Documentation

◆ ok()

virtual bool glim::InteractiveViewer::ok ( ) const

overridevirtual

Check if the module is alive. (If it returns false, the system will be shutdown)

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