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GraphViewer: added loop closure outlier color option

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matlabbe
2015-09-03 14:33:28 -04:00
parent 198899ba32
commit 1c327e7b67
2 changed files with 116 additions and 67 deletions
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6
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -83,6 +83,7 @@ public:
const QColor & getLocalLoopClosureColor() const {return _loopClosureLocalColor;}
const QColor & getUserLoopClosureColor() const {return _loopClosureUserColor;}
const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
const QColor & getRejectedLoopClosureColor() const {return _loopClosureRejectedColor;}
const QColor & getLocalPathColor() const {return _localPathColor;}
const QColor & getGlobalPathColor() const {return _globalPathColor;}
const QColor & getIntraSessionLoopColor() const {return _loopIntraSessionColor;}
@@ -92,6 +93,7 @@ public:
bool isOriginVisible() const;
bool isReferentialVisible() const;
bool isLocalRadiusVisible() const;
float getLoopClosureOutlierThr() const;
// setters
void setWorkingDirectory(const QString & path);
@@ -104,6 +106,7 @@ public:
void setLocalLoopClosureColor(const QColor & color);
void setUserLoopClosureColor(const QColor & color);
void setVirtualLoopClosureColor(const QColor & color);
void setRejectedLoopClosureColor(const QColor & color);
void setLocalPathColor(const QColor & color);
void setGlobalPathColor(const QColor & color);
void setIntraSessionLoopColor(const QColor & color);
@@ -113,6 +116,7 @@ public:
void setOriginVisible(bool visible);
void setReferentialVisible(bool visible);
void setLocalRadiusVisible(bool visible);
void setLoopClosureOutlierThr(float value);
signals:
void configChanged();
@@ -133,6 +137,7 @@ private:
QColor _loopClosureLocalColor;
QColor _loopClosureUserColor;
QColor _loopClosureVirtualColor;
QColor _loopClosureRejectedColor;
QColor _localPathColor;
QColor _globalPathColor;
QColor _loopIntraSessionColor;
@@ -150,6 +155,7 @@ private:
QGraphicsItemGroup * _originReferential;
float _gridCellSize;
QGraphicsEllipseItem * _localRadius;
float _loopClosureOutlierThr;
};
} /* namespace rtabmap */