i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed issue 4

Browse Source
This commit is contained in:
Mathieu Labbe
2015-02-18 14:15:46 -05:00
parent 240b5ce9c6
commit 4439ca607f
3 changed files with 60 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
guilib/src/GraphViewer.cpp
View File

@@ -173,16 +173,20 @@ GraphViewer::GraphViewer(QWidget * parent) :
_root = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
// add referential
_originReferential = new QGraphicsItemGroup();
this->scene()->addItem(_originReferential); // ownership transfered
QGraphicsLineItem * item = this->scene()->addLine(0,0,0,-1, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
_originReferential->addToGroup(item);
item = this->scene()->addLine(0,0,-1,0, QPen(QBrush(Qt::green), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
_originReferential->addToGroup(item);
// current pose
_referential = new QGraphicsItemGroup();
this->scene()->addItem(_referential);
this->scene()->addItem(_referential); // ownership transfered
item = this->scene()->addLine(0,0,0,-0.5, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
@@ -483,6 +487,14 @@ bool GraphViewer::isGridMapVisible() const
{
return _gridMap->isVisible();
}
bool GraphViewer::isOriginVisible() const
{
return _originReferential->isVisible();
}
bool GraphViewer::isReferentialVisible() const
{
return _referential->isVisible();
}
void GraphViewer::setWorkingDirectory(const QString & path)
{
@@ -587,6 +599,14 @@ void GraphViewer::setGridMapVisible(bool visible)
{
_gridMap->setVisible(visible);
}
void GraphViewer::setOriginVisible(bool visible)
{
_originReferential->setVisible(visible);
}
void GraphViewer::setReferentialVisible(bool visible)
{
_referential->setVisible(visible);
}
void GraphViewer::restoreDefaults()
{
@@ -657,6 +677,8 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aSetLinkSize = menu.addAction(tr("Set link width..."));
menu.addSeparator();
QAction * aShowHideGridMap;
QAction * aShowHideOrigin;
QAction * aShowHideReferential;
if(_gridMap->isVisible())
{
aShowHideGridMap = menu.addAction(tr("Hide grid map"));
@@ -665,6 +687,22 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
aShowHideGridMap = menu.addAction(tr("Show grid map"));
}
if(_originReferential->isVisible())
{
aShowHideOrigin = menu.addAction(tr("Hide origin referential"));
}
else
{
aShowHideOrigin = menu.addAction(tr("Show origin referential"));
}
if(_referential->isVisible())
{
aShowHideReferential = menu.addAction(tr("Hide current referential"));
}
else
{
aShowHideReferential = menu.addAction(tr("Show current referential"));
}
menu.addSeparator();
QAction * aRestoreDefaults = menu.addAction(tr("Restore defaults"));
@@ -689,11 +727,14 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
bool isPNG = r == aScreenShotPNG;
QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + (isPNG?".png":".svg"));
//_root->setScale(this->transform().m11()); // current view
if(_gridCellSize)
{
_root->setScale(1.0f/_gridCellSize); // grid map precision (for 5cm grid cell, x20 to have 1pix/5cm)
}
else
{
_root->setScale(this->transform().m11()); // current view
}
this->scene()->clearSelection(); // Selections would also render to the file
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
@@ -829,6 +870,14 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setGridMapVisible(!this->isGridMapVisible());
}
else if(r == aShowHideOrigin)
{
this->setOriginVisible(!this->isOriginVisible());
}
else if(r == aShowHideReferential)
{
this->setReferentialVisible(!this->isReferentialVisible());
}
else if(r == aRestoreDefaults)
{
this->restoreDefaults();