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

guilib/include/rtabmap/gui/GraphViewer.h

@@ -74,7 +74,9 @@ public:
 			const std::map<int, GPS> & gpsValues);
 	void updateReferentialPosition(const Transform & t);
 	void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
-	void updatePosterior(const std::map<int, float> & posterior, float fixedMax = 0.0f, int zValueOffset = 0);
+	// Use updateNodeColorByValue() instead with valueName="Posterior".
+	RTABMAP_DEPRECATED void updatePosterior(const std::map<int, float> & posterior, float fixedMax = 0.0f, int zValueOffset = 0);
+	void updateNodeColorByValue(const std::string & valueName, const std::map<int, float> & values, float fixedMax = 0.0f, bool invertedColorScale = false, int zValueOffset = 0);
 	void updateLocalPath(const std::vector<int> & localPath);
 	void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
 	void setCurrentGoalID(int id, const Transform & pose = Transform());
@@ -82,9 +84,10 @@ public:
 	void highlightNode(int nodeId, int highlightIndex);
 	void clearGraph();
 	void clearMap();
-	void clearPosterior();
+	// Use clearNodeColorByValue() instead.
+	RTABMAP_DEPRECATED void clearPosterior();
+	void clearNodeColorByValue();
 	void clearAll();
-
 	void saveSettings(QSettings & settings, const QString & group = "") const;
 	void loadSettings(QSettings & settings, const QString & group = "");
 

guilib/src/GraphViewer.cpp

@@ -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());
+			std::map<int,float>::const_iterator jter = values.find(iter.key());
-			if(jter != posterior.end())
+			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)
 	{

guilib/src/MainWindow.cpp

@@ -2620,19 +2620,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			if(_preferencesDialog->isPosteriorGraphView() &&
 			   stat.posterior().size())
 			{
-				_ui->graphicsView_graphView->updatePosterior(stat.posterior());
+				_ui->graphicsView_graphView->updateNodeColorByValue("Posterior", stat.posterior());
 			}
 			else if(_preferencesDialog->isRGBDMode())
 			{
 				if(_preferencesDialog->isWordsCountGraphView() &&
 						_cachedWordsCount.size())
 				{
-					_ui->graphicsView_graphView->updatePosterior(_cachedWordsCount, (float)_preferencesDialog->getKpMaxFeatures());
+					_ui->graphicsView_graphView->updateNodeColorByValue("Visual Words", _cachedWordsCount, (float)_preferencesDialog->getKpMaxFeatures());
 				}
 				else if(_preferencesDialog->isLocalizationsCountGraphView() &&
 						_cachedLocalizationsCount.size())
 				{
-					_ui->graphicsView_graphView->updatePosterior(_cachedLocalizationsCount, 1.0f);
+					_ui->graphicsView_graphView->updateNodeColorByValue("Re-Localization Count", _cachedLocalizationsCount, 1.0f);
 				}
 			}
 			if(_preferencesDialog->isRelocalizationColorOdomCacheGraphView() && !stat.odomCachePoses().empty())
@@ -2653,7 +2653,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 						colors.insert(std::make_pair(iter->first, 240)); //red
 					}
 				}
-				_ui->graphicsView_graphView->updatePosterior(colors, 240);
+				_ui->graphicsView_graphView->updateNodeColorByValue("Re-Localized", colors, 240);
 			}
 			// update local path on the graph view
 			_ui->graphicsView_graphView->updateLocalPath(stat.localPath());
@@ -4771,7 +4771,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 				_preferencesDialog->isRGBDMode()&&
 				_cachedWordsCount.size())
 			{
-				_ui->graphicsView_graphView->updatePosterior(_cachedWordsCount, (float)_preferencesDialog->getKpMaxFeatures());
+				_ui->graphicsView_graphView->updateNodeColorByValue("Visual Words", _cachedWordsCount, (float)_preferencesDialog->getKpMaxFeatures());
 			}
 
 			_progressDialog->appendText("Updating the 3D map cloud... done.");
@@ -4922,7 +4922,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 		}
 		if(!_preferencesDialog->isPosteriorGraphView() && _ui->graphicsView_graphView->isVisible())
 		{
-			_ui->graphicsView_graphView->clearPosterior();
+			_ui->graphicsView_graphView->clearNodeColorByValue();
 		}
 	}