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refactored GraphViewer

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Mathieu Labbe
2015-01-30 17:27:34 -05:00
parent 2872387d4c
commit 1fe2a9ed95
2 changed files with 21 additions and 59 deletions
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77
guilib/src/GraphViewer.cpp
View File

@@ -213,11 +213,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
iter.value()->hide();
iter.value()->setColor(_nodeColor); // reset color
}
for(QMultiMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
{
iter.value()->hide();
}
for(QMultiMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
iter.value()->hide();
}
@@ -255,28 +251,12 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
const Transform & poseA = jterA->second;
const Transform & poseB = jterB->second;
bool loopClosure = iter->second.type() != Link::kNeighbor;
bool added = false;
if(loopClosure && _loopLinkItems.contains(iter->first))
if(_linkItems.contains(iter->first))
{
QMultiMap<int, LinkItem*>::iterator itemIter = _loopLinkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _loopLinkItems.end())
{
if(itemIter.value()->to() == iter->second.to())
{
itemIter.value()->setPoses(poseA, poseB);
itemIter.value()->show();
added = true;
break;
}
++itemIter;
}
}
else if(!loopClosure && _neighborLinkItems.contains(iter->first))
{
QMultiMap<int, LinkItem*>::iterator itemIter = _neighborLinkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _neighborLinkItems.end())
QMultiMap<int, LinkItem*>::iterator itemIter = _linkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _linkItems.end())
{
if(itemIter.value()->to() == iter->second.to())
{
@@ -318,14 +298,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
this->scene()->addItem(item);
item->setZValue(1);
item->setParentItem(_root);
if(loopClosure)
{
_loopLinkItems.insert(iter->first, item);
}
else
{
_neighborLinkItems.insert(iter->first, item);
}
_linkItems.insert(iter->first, item);
}
}
}
@@ -343,24 +316,12 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
++iter;
}
}
for(QMultiMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end();)
for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end();)
{
if(!iter.value()->isVisible())
{
delete iter.value();
iter = _loopLinkItems.erase(iter);
}
else
{
++iter;
}
}
for(QMultiMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end();)
{
if(!iter.value()->isVisible())
{
delete iter.value();
iter = _neighborLinkItems.erase(iter);
iter = _linkItems.erase(iter);
}
else
{
@@ -435,10 +396,8 @@ void GraphViewer::clearGraph()
{
qDeleteAll(_nodeItems);
_nodeItems.clear();
qDeleteAll(_neighborLinkItems);
_neighborLinkItems.clear();
qDeleteAll(_loopLinkItems);
_loopLinkItems.clear();
qDeleteAll(_linkItems);
_linkItems.clear();
_lastReferential->resetTransform();
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
}
@@ -505,17 +464,21 @@ void GraphViewer::setNodeColor(const QColor & color)
void GraphViewer::setNeighborColor(const QColor & color)
{
_neighborColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_neighborLinkItems.begin(); iter!=_neighborLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
iter.value()->setColor(_neighborColor);
if(iter.value()->linkType() == Link::kNeighbor)
{
iter.value()->setColor(_neighborColor);
}
}
}
void GraphViewer::setGlobalLoopClosureColor(const QColor & color)
{
_loopClosureColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
if(iter.value()->linkType() != Link::kLocalSpaceClosure &&
if(iter.value()->linkType() != Link::kNeighbor &&
iter.value()->linkType() != Link::kLocalSpaceClosure &&
iter.value()->linkType() != Link::kLocalTimeClosure &&
iter.value()->linkType() != Link::kUserClosure &&
iter.value()->linkType() != Link::kVirtualClosure)
@@ -527,7 +490,7 @@ void GraphViewer::setGlobalLoopClosureColor(const QColor & color)
void GraphViewer::setLocalLoopClosureColor(const QColor & color)
{
_loopClosureLocalColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
if(iter.value()->linkType() == Link::kLocalSpaceClosure ||
iter.value()->linkType() == Link::kLocalTimeClosure)
@@ -539,7 +502,7 @@ void GraphViewer::setLocalLoopClosureColor(const QColor & color)
void GraphViewer::setUserLoopClosureColor(const QColor & color)
{
_loopClosureUserColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
if(iter.value()->linkType() == Link::kUserClosure)
{
@@ -550,7 +513,7 @@ void GraphViewer::setUserLoopClosureColor(const QColor & color)
void GraphViewer::setVirtualLoopClosureColor(const QColor & color)
{
_loopClosureVirtualColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter)
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
if(iter.value()->linkType() == Link::kVirtualClosure)
{

3
guilib/src/GraphViewer.h
View File

@@ -104,8 +104,7 @@ private:
QColor _loopClosureVirtualColor;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _neighborLinkItems;
QMultiMap<int, LinkItem*> _loopLinkItems;
QMultiMap<int, LinkItem*> _linkItems;
float _nodeRadius;
float _linkWidth;
QGraphicsPixmapItem * _gridMap;