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Node highlighting addition to previous pull request (#1348)

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* Clicking Nodes\Links brings them up in viewer

* Removed duplicated feature, kept spin box and single click node event. Removed unrelated border option crashing.

* added code to highlight selected nodes

* Refactored: merged A-B functions into single one, fixed highlighted node color not reset after selecting another node, highlighting also when changing constraint sliders, change node color instead of border, added menu options to change color (added to settings).

* cleanup

* Fixed duplicates in neighbor and loop closure sliders, fixed WM checkbox not visible.

* Fixed forward neighbors slider scrolling showing only one color.

---------

Co-authored-by: Chuck Ellison <charles.c.ellison@erdc.dren.mil>
Co-authored-by: matlabbe <matlabbe@gmail.com>
Co-authored-by: Alex Perez <alex.s.perez@erdc.dren.mil>
This commit is contained in:
Charles Ellison
2024-09-28 20:40:46 -05:00
committed by GitHub
parent 8c0e57bc52
commit 538bc681d4
4 changed files with 219 additions and 64 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -198,6 +198,7 @@ private:
int to);
std::multimap<int, rtabmap::Link> updateLinksWithModifications(
const std::multimap<int, rtabmap::Link> & edgeConstraints);
void updateNeighborsSlider(int from = 0, int to = 0);
void updateLoopClosuresSlider(int from = 0, int to = 0);
void updateCovariances(const QList<Link> & links);
void refineLinks(const QList<Link> & links);

3
guilib/include/rtabmap/gui/GraphViewer.h
View File

@@ -79,6 +79,7 @@ public:
void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
void setCurrentGoalID(int id, const Transform & pose = Transform());
void setLocalRadius(float radius);
void highlightNode(int nodeId, int highlightIndex);
void clearGraph();
void clearMap();
void clearPosterior();
@@ -144,6 +145,7 @@ public:
void setGlobalPathColor(const QColor & color);
void setGTColor(const QColor & color);
void setGPSColor(const QColor & color);
void setHighlightColor(const QColor & color, int index);
void setIntraSessionLoopColor(const QColor & color);
void setInterSessionLoopColor(const QColor & color);
void setIntraInterSessionColorsEnabled(bool enabled);
@@ -214,6 +216,7 @@ private:
QMultiMap<int, LinkItem*> _gpsLinkItems;
QMultiMap<int, LinkItem*> _localPathLinkItems;
QMultiMap<int, LinkItem*> _globalPathLinkItems;
QVector<QPair<QColor, NodeItem*> > _highlightedNodes;
bool _nodeVisible;
float _nodeRadius;
float _linkWidth;