i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

GraphViewer: deprecating updatePosterior(), replaced by more general function updateNodeColorByValue()

Browse Source
This commit is contained in:
matlabbe
2025-04-16 13:41:17 -07:00
parent ccb6ce67d5
commit 3d968da30f
3 changed files with 42 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/GraphViewer.cpp
+30 -7
View File
@@ -92,7 +92,7 @@ public:
}
virtual ~NodeItem() {}
void setColor(const QColor & color)
void setColor(const QColor & color, const QString & valueName = QString(), float value = 0.0f)
{
QPen p = this->pen();
p.setColor(color);
@@ -104,6 +104,9 @@ public:
QPen pen = _line->pen();
pen.setColor(QColor(255-color.red(), 255-color.green(), 255-color.blue()));
_line->setPen(pen);
_valueName = valueName;
_value = value;
}
void setRadius(float radius)
@@ -144,14 +147,22 @@ public:
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
{
QString msg;
if(_weight>=0)
{
this->setToolTip(QString("%1 [map=%2, w=%3] %4").arg(_id).arg(_mapId).arg(_weight).arg(_pose.prettyPrint().c_str()));
msg = QString("%1 [map=%2, w=%3]\n%4").arg(_id).arg(_mapId).arg(_weight).arg(_pose.prettyPrint().c_str());
}
else
{
this->setToolTip(QString("%1 [map=%2] %3").arg(_id).arg(_mapId).arg(_pose.prettyPrint().c_str()));
msg = QString("%1 [map=%2]\n%3").arg(_id).arg(_mapId).arg(_pose.prettyPrint().c_str());
}
if(!_valueName.isEmpty())
{
msg += QString("\n%1=%2").arg(_valueName).arg(_value);
}
this->setToolTip(msg);
this->setScale(2);
QGraphicsEllipseItem::hoverEnterEvent(event);
}
@@ -168,6 +179,8 @@ private:
int _weight;
Transform _pose;
QGraphicsLineItem * _line;
QString _valueName;
float _value;
};
class NodeGPSItem: public NodeItem
@@ -1071,11 +1084,16 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
}
void GraphViewer::updatePosterior(const std::map<int, float> & posterior, float max, int zValueOffset)
{
updateNodeColorByValue("Posterior Prob", posterior, max, false, zValueOffset);
}
void GraphViewer::updateNodeColorByValue(const std::string & valueName, const std::map<int, float> & values, float max, bool invertedColorScale, int zValueOffset)
{
//find max
if(max <= 0.0f)
{
for(std::map<int, float>::const_iterator iter = posterior.begin(); iter!=posterior.end(); ++iter)
for(std::map<int, float>::const_iterator iter = values.begin(); iter!=values.end(); ++iter)
{
if(iter->first > 0 && iter->second>max)
{
@@ -1087,11 +1105,11 @@ void GraphViewer::updatePosterior(const std::map<int, float> & posterior, float
{
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
std::map<int,float>::const_iterator jter = posterior.find(iter.key());
if(jter != posterior.end())
std::map<int,float>::const_iterator jter = values.find(iter.key());
if(jter != values.end())
{
float v = jter->second>max?max:jter->second;
iter.value()->setColor(QColor::fromHsvF((1-v/max)*240.0f/360.0f, 1, 1, 1)); //0=red 240=blue
iter.value()->setColor(QColor::fromHsvF(( invertedColorScale ? v/max : 1-v/max )*240.0f/360.0f, 1, 1, 1), valueName.c_str(), jter->second); //0=red 240=blue
iter.value()->setZValue(iter.value()->zValue()+zValueOffset);
}
}
@@ -1286,6 +1304,11 @@ void GraphViewer::clearMap()
}
void GraphViewer::clearPosterior()
{
clearNodeColorByValue();
}
void GraphViewer::clearNodeColorByValue()
{
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{