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GraphView: added optional overlay to better see odometry cache constraints. rtabmap: keep global loop closure id in statistics when proximity is detected on same node.

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This commit is contained in:
matlabbe
2022-02-03 21:58:36 -05:00
parent 6f8f6d4d8e
commit 32ad92e2d2
4 changed files with 166 additions and 57 deletions
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9
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -65,7 +65,8 @@ public:
void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds,
const std::map<int, int> & weights = std::map<int, int>());
const std::map<int, int> & weights = std::map<int, int>(),
const std::set<int> & odomCacheIds = std::set<int>());
void updateGTGraph(const std::map<int, Transform> & poses);
void updateGPSGraph(
const std::map<int, Transform> & gpsMapPoses,
@@ -90,6 +91,7 @@ public:
float getNodeRadius() const {return _nodeRadius;}
float getLinkWidth() const {return _linkWidth;}
const QColor & getNodeColor() const {return _nodeColor;}
const QColor & getNodeOdomCacheColor() const {return _nodeOdomCacheColor;}
const QColor & getCurrentGoalColor() const {return _currentGoalColor;}
const QColor & getNeighborColor() const {return _neighborColor;}
const QColor & getGlobalLoopClosureColor() const {return _loopClosureColor;}
@@ -116,6 +118,7 @@ public:
bool isLocalPathVisible() const;
bool isGtGraphVisible() const;
bool isGPSGraphVisible() const;
bool isOdomCacheOverlayVisible() const;
bool isOrientationENU() const;
ViewPlane getViewPlane() const;
@@ -125,6 +128,7 @@ public:
void setNodeRadius(float radius);
void setLinkWidth(float width);
void setNodeColor(const QColor & color);
void setNodeOdomCacheColor(const QColor & color);
void setCurrentGoalColor(const QColor & color);
void setNeighborColor(const QColor & color);
void setGlobalLoopClosureColor(const QColor & color);
@@ -152,6 +156,7 @@ public:
void setLocalPathVisible(bool visible);
void setGtGraphVisible(bool visible);
void setGPSGraphVisible(bool visible);
void setOdomCacheOverlayVisible(bool visible);
void setOrientationENU(bool enabled);
void setViewPlane(ViewPlane plane);
@@ -169,6 +174,7 @@ protected:
private:
QString _workingDirectory;
QColor _nodeColor;
QColor _nodeOdomCacheColor;
QColor _currentGoalColor;
QColor _neighborColor;
QColor _loopClosureColor;
@@ -215,6 +221,7 @@ private:
QGraphicsItemGroup * _originReferentialYZ;
float _gridCellSize;
QGraphicsEllipseItem * _localRadius;
QGraphicsRectItem * _odomCacheOverlay;
float _loopClosureOutlierThr;
float _maxLinkLength;
bool _orientationENU;