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0.18.3: added landmarks (graph optimization, localization, navigation)

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matlabbe
2018-12-07 18:29:41 -05:00
parent b771aa00e0
commit 200ec8e5db
35 changed files with 1509 additions and 709 deletions
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6
guilib/src/GraphViewer.cpp
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@@ -355,7 +355,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
iter.value()->hide();
iter.value()->setColor(_nodeColor); // reset color
iter.value()->setColor(iter.key()<0?QColor(255-_nodeColor.red(), 255-_nodeColor.green(), 255-_nodeColor.blue()):_nodeColor); // reset color
}
for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
@@ -378,8 +378,8 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
const Transform & pose = iter->second;
NodeItem * item = new NodeItem(iter->first, uContains(mapIds, iter->first)?mapIds.at(iter->first):-1, pose, _nodeRadius);
this->scene()->addItem(item);
item->setZValue(20);
item->setColor(_nodeColor);
item->setZValue(iter->first<0?21:20);
item->setColor(iter->first<0?QColor(255-_nodeColor.red(), 255-_nodeColor.green(), 255-_nodeColor.blue()):_nodeColor);
item->setParentItem(_graphRoot);
item->setVisible(_nodeVisible);
_nodeItems.insert(iter->first, item);