junjieChen0608 / G2OViz

A G2O graph visualizer for debugging purpose

Pre-requisite

You will need the following software installed in your system to use this project.

MongoDB

official installation guide

node.js

curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
sudo apt-get install -y nodejs

Install npm dependencies under G2OViz root directory

npm install

Things to note

• By default, the server uses "test-hdmap" as the MongoDB database, if you are using a different name for your database, you might want to change dbName in server.js.
• Collections under hdmap are bags, graphs, vertices.
• Server is listening to localhost: 8080.
• Server connects mongodb at localhost: 27017.

How to use this project

1. Make sure you are in root directory of G2OViz
2. run the node app

node server.js

in your terminal, if everything is corret, it will say "server running, listening to 8080" 3) open your favorite browser and go to http://localhost:8080/ 4) type in the graph name you want to render and choose a pose 5) click render button or hit enter key

Interact with the visualizer

• Rotate: left mouse button
• Pan: right mouse button
• Zoom: mouse scroll, or hold mouse scroll and move mouse back and forth
• Mode switch: press x on your keyboard to switch between control mode and select mode

What is control mode?

It allows you rotate, pan, and zoom the canvas.

And what about select mode?

It enables you to click on vertices and examine their details.