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Fixes in Graphviz visualization of NonlinearFactorGraph - shift positions to start at 0,0 and add '!' charater in dot file to pin nodes

release/4.3a0
Richard Roberts 2013-01-02 19:27:34 +00:00
parent aab0961a08
commit 9ce9231e14
1 changed files with 20 additions and 1 deletions
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21
gtsam/nonlinear/NonlinearFactorGraph.cpp
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@ -103,6 +103,25 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
} }
}} getXY; }} getXY;
// Find bounds
double minX = numeric_limits<double>::infinity(), maxX = -numeric_limits<double>::infinity();
double minY = numeric_limits<double>::infinity(), maxY = -numeric_limits<double>::infinity();
BOOST_FOREACH(Key key, keys) {
if(values.exists(key)) {
boost::optional<Point2> xy = getXY(values.at(key), graphvizFormatting);
if(xy) {
if(xy->x() < minX)
minX = xy->x();
if(xy->x() > maxX)
maxX = xy->x();
if(xy->y() < minY)
minY = xy->y();
if(xy->y() > maxY)
maxY = xy->y();
}
}
}
// Create nodes for each variable in the graph // Create nodes for each variable in the graph
BOOST_FOREACH(Key key, keys) { BOOST_FOREACH(Key key, keys) {
// Label the node with the label from the KeyFormatter // Label the node with the label from the KeyFormatter
@ -110,7 +129,7 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
if(values.exists(key)) { if(values.exists(key)) {
boost::optional<Point2> xy = getXY(values.at(key), graphvizFormatting); boost::optional<Point2> xy = getXY(values.at(key), graphvizFormatting);
if(xy) if(xy)
stm << ", pos=\"" << xy->x() << "," << xy->y() << "\""; stm << ", pos=\"" << (xy->x() - minX) << "," << (xy->y() - minY) << "!\"";
} }
stm << "];\n"; stm << "];\n";
} }