2D factor graph visualization
It would be really nice to have a way to visualize the constructed Factor Graph in 2D. Ideally, I would imagine it as the same sort of graph that we write on whiteboards to explain our work but with interactive information like for instance:
- Frame stateblocks
- Factor type
- Stateblock estimates
- Factor energy
- ...
It could be something interactive like hovering the mouse for instance. Basically, it would be like the Problem::print
function but easier to read for big graphs, nicely complementing the 3D visualization of rviz.
It would also be great to visualize experiments with the oncoming GraphManager.
[Edit]
Some serious candidate frameworks:
https://jchanvfx.github.io/NodeGraphQt/api/html/index.html
https://igraph.org/
http://www.graphviz.org/
Edited by Mederic Fourmy