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Visualization

Implement a basic structure for visualizing:

  • Trajectory: providing an implementation of the visualization of a FrameBase 2D/3D with position and orientation.
  • Map: providing an implementation of the visualization of a LandmarkBase 2D/3D with position and orientation.
  • Factors: providing an implementation of the visualization of frame-frame and frame-landmark factors.

This implementation should be specializable to derived classes (frames with velocity, different landmarks, etc).

The proposal is to work with 3 ros::MarkerArray. The above described visualization functions may be of the type: void visualizeXXX(MarkerArray& _marker_array), adding the number and types of markers that corresponds (text with id and a shape, for instance).

Probably, we want to implement it in different files but include this functionality in the same ROS node. Then we will be able to visualize after solving, for instance.