Struct PointersVisualization

• Defined in File visualization.hpp

Struct Documentation

struct PointersVisualization

Collection of visualization update buffers and lookup callbacks.

Public Functions

PointersVisualization() = default

Default constructor.

Public Members

set_t<point_id_t>::shared_ptr newPoints

Points that should be created in the visualization.

set_t<point_id_t>::shared_ptr updatePoints

Points that should be updated in the visualization.

set_t<point_id_t>::shared_ptr hidePoint

Points that should be hidden in the visualization.

set_t<cell_id_t>::shared_ptr newCells

Cells that should be created in the visualization.

set_t<cell_id_t>::shared_ptr updateCells

Cells that should be updated in the visualization.

set_t<keyframe_id_t>::shared_ptr newKeyframes

Keyframes that should be created in the visualization.

set_t<keyframe_id_t>::shared_ptr updateKeyframes

Keyframes that should be updated in the visualization.

set_t<keyframe_id_t>::shared_ptr deleteKeyframes

Keyframes that should be removed from the visualization.

set_t<keyframe_id_t::pair>::shared_ptr newKeyframeConnections

New keyframe-connection pairs to display.

set_t<keyframe_id_t::pair>::shared_ptr updatedKeyframeConnections

Existing keyframe-connection pairs that changed.

set_t<keyframe_id_t::pair>::shared_ptr deletedKeyframeConnections

Keyframe-connection pairs that should be removed.

vector_t<vector_t<size_t>>::shared_ptr keyframePerFrame

Mapping of frame index to visible keyframe indices.

vector_t<dictionary_t<uint8_t, int>>::shared_ptr keyframeCriteria

Per-keyframe criteria metadata used by the renderer.

std::function<output_t<slam_mer::point3d_t>(point_id_t)> get_point

Callback to fetch a point by ID.

Param point_id_t:

Point identifier requested by the visualization layer.

Return:

Point payload or failure information for that identifier.

std::function<output_t<slam_mer::pose_t>(keyframe_id_t)> get_keyframe

Callback to fetch a keyframe pose by ID.

Param keyframe_id_t:

Keyframe identifier requested by the renderer.

Return:

Pose payload or failure information for that keyframe.

std::function<slam_mer::cell3d_t(cell_id_t)> get_cell

Callback to fetch a cell by ID.

Param cell_id_t:

Cell identifier requested for visualization update.

Return:

Cell data associated with the requested identifier.

std::function<slam_mer::neighbor_t::vector(point_id_t)> get_neighbors

Callback to fetch neighbors of a point.

Param point_id_t:

Point identifier whose neighbor list is requested.

Return:

Neighbor descriptors linked to the requested point.

std::function<slam_mer::time_stamp_t(keyframe_id_t)> get_keyframe_timeStamp

Callback to fetch the timestamp of a keyframe.

Param keyframe_id_t:

Keyframe identifier whose timestamp is requested.

Return:

Timestamp associated with the requested keyframe.