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For factor graph graphviz output, added options to change the graph scale and manually specify factor positions

release/4.3a0
Richard Roberts 2013-01-08 16:30:38 +00:00
parent ca4cf782f2
commit 4f4898beb1
2 changed files with 12 additions and 3 deletions
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10
gtsam/nonlinear/NonlinearFactorGraph.cpp
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@ -129,7 +129,7 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
if(values.exists(key)) {
boost::optional<Point2> xy = getXY(values.at(key), graphvizFormatting);
if(xy)
stm << ", pos=\"" << (xy->x() - minX) << "," << (xy->y() - minY) << "!\"";
stm << ", pos=\"" << graphvizFormatting.scale*(xy->x() - minX) << "," << graphvizFormatting.scale*(xy->y() - minY) << "!\"";
}
stm << "];\n";
}
@ -150,7 +150,13 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
size_t i = 0;
BOOST_FOREACH(const vector<Key>& factorKeys, structure) {
// Make each factor a dot
stm << " factor" << i << "[label=\"\", shape=point];\n";
stm << " factor" << i << "[label=\"\", shape=point";
{
map<size_t, Point2>::const_iterator pos = graphvizFormatting.factorPositions.find(i);
if(pos != graphvizFormatting.factorPositions.end())
stm << ", pos=\"" << graphvizFormatting.scale*(pos->second.x() - minX) << "," << graphvizFormatting.scale*(pos->second.y() - minY) << "!\"";
}
stm << "];\n";
// Make factor-variable connections
BOOST_FOREACH(Key key, factorKeys) {

5
gtsam/nonlinear/NonlinearFactorGraph.h
View File

@ -21,6 +21,7 @@
#pragma once
#include <gtsam/geometry/Point2.h>
#include <gtsam/inference/SymbolicFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
@ -37,12 +38,14 @@ namespace gtsam {
Axis paperVerticalAxis; ///< The world axis assigned to the vertical paper axis
double figureWidthInches; ///< The figure width on paper in inches
double figureHeightInches; ///< The figure height on paper in inches
double scale; ///< Scale all positions to reduce / increase density
bool mergeSimilarFactors; ///< Merge multiple factors that have the same connectivity
std::map<size_t, Point2> factorPositions; ///< (optional for each factor) Manually specify factor "dot" positions.
/// Default constructor sets up robot coordinates. Paper horizontal is robot Y,
/// paper vertical is robot X. Default figure size of 5x5 in.
GraphvizFormatting() :
paperHorizontalAxis(Y), paperVerticalAxis(X),
figureWidthInches(5), figureHeightInches(5),
figureWidthInches(5), figureHeightInches(5), scale(1),
mergeSimilarFactors(false) {}
};