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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 18:40:46 -07:00
committed by GitHub
co-authored by Chuck Ellison matlabbe Alex Perez
parent 8c0e57bc52
commit 538bc681d4
4 changed files with 219 additions and 64 deletions
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guilib/src/GraphViewer.cpp
+99
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@@ -463,6 +463,9 @@ GraphViewer::GraphViewer(QWidget * parent) :
_odomCacheOverlay->setBrush(QBrush(QColor(255, 255, 255, 150)));
_odomCacheOverlay->setPen(QPen(Qt::NoPen));
_highlightedNodes.push_back(QPair<QColor, NodeItem*>(Qt::magenta, nullptr));
_highlightedNodes.push_back(QPair<QColor, NodeItem*>(Qt::yellow, nullptr));
this->restoreDefaults();
this->fitInView(this->sceneRect(), Qt::KeepAspectRatio);
@@ -702,6 +705,14 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
if(!iter.value()->isVisible())
{
for(int i=0; i<_highlightedNodes.size(); ++i)
{
if(_highlightedNodes[i].second && _highlightedNodes[i].second == iter.value())
{
_highlightedNodes[i].second = nullptr;
}
}
delete iter.value();
iter = _nodeItems.erase(iter);
}
@@ -1208,6 +1219,33 @@ void GraphViewer::updateLocalPath(const std::vector<int> & localPath)
_localPathRoot->setVisible(wasVisible);
}
void GraphViewer::highlightNode(int nodeId, int highlightIndex)
{
if(highlightIndex<0 || highlightIndex>_highlightedNodes.size())
{
UERROR("Unsupported highlight color index %d", highlightIndex);
return;
}
for(int i=0; i<_highlightedNodes.size(); ++i)
{
if(_highlightedNodes[i].second &&
(_highlightedNodes[i].second->id() == nodeId || i == highlightIndex))
{
// reset to normal color
_highlightedNodes[i].second->setColor(_nodeColor);
_highlightedNodes[i].second = nullptr;
}
}
QMap<int, NodeItem*>::iterator iter = _nodeItems.find(nodeId);
if(iter != _nodeItems.end())
{
iter.value()->setColor(_highlightedNodes[highlightIndex].first);
_highlightedNodes[highlightIndex].second = iter.value();
}
}
void GraphViewer::clearGraph()
{
qDeleteAll(_nodeItems);
@@ -1227,6 +1265,11 @@ void GraphViewer::clearGraph()
qDeleteAll(_gpsLinkItems);
_gpsLinkItems.clear();
for(int i=0; i<_highlightedNodes.size(); ++i)
{
_highlightedNodes[i].second=nullptr;
}
_root->resetTransform();
_worldMapRotation = 0.0f;
_referential->resetTransform();
@@ -1266,6 +1309,10 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("node_color", this->getNodeColor());
settings.setValue("node_odom_cache_color", this->getNodeOdomCacheColor());
settings.setValue("current_goal_color", this->getCurrentGoalColor());
for(int i=0; i<_highlightedNodes.size(); ++i)
{
settings.setValue(QString("highlighting_color_%1").arg(i), _highlightedNodes[i].first);
}
settings.setValue("neighbor_color", this->getNeighborColor());
settings.setValue("global_color", this->getGlobalLoopClosureColor());
settings.setValue("local_color", this->getLocalLoopClosureColor());
@@ -1312,6 +1359,10 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setNodeColor(settings.value("node_color", this->getNodeColor()).value<QColor>());
this->setNodeOdomCacheColor(settings.value("node_odom_cache_color", this->getNodeOdomCacheColor()).value<QColor>());
this->setCurrentGoalColor(settings.value("current_goal_color", this->getCurrentGoalColor()).value<QColor>());
for(int i=0; i<_highlightedNodes.size(); ++i)
{
this->setHighlightColor(settings.value(QString("highlighting_color_%1").arg(i), _highlightedNodes[i].first).value<QColor>(), i);
}
this->setNeighborColor(settings.value("neighbor_color", this->getNeighborColor()).value<QColor>());
this->setGlobalLoopClosureColor(settings.value("global_color", this->getGlobalLoopClosureColor()).value<QColor>());
this->setLocalLoopClosureColor(settings.value("local_color", this->getLocalLoopClosureColor()).value<QColor>());
@@ -1596,6 +1647,20 @@ void GraphViewer::setGPSColor(const QColor & color)
iter.value()->setColor(_gpsPathColor);
}
}
void GraphViewer::setHighlightColor(const QColor & color, int index)
{
if(index<0 || index > _highlightedNodes.size())
{
UERROR("Unsupported highlight color index %d", index);
return;
}
_highlightedNodes[index].first = color;
NodeItem * node = _highlightedNodes[index].second;
if(node != nullptr)
{
node->setColor(color);
}
}
void GraphViewer::setIntraSessionLoopColor(const QColor & color)
{
_loopIntraSessionColor = color;
@@ -1765,13 +1830,25 @@ void GraphViewer::restoreDefaults()
setNodeRadius(0.01f);
setLinkWidth(0.0f);
setNodeColor(Qt::blue);
setNodeOdomCacheColor(Qt::darkGreen);
setCurrentGoalColor(Qt::darkMagenta);
setHighlightColor(Qt::magenta, 0);
setHighlightColor(Qt::yellow, 1);
setNeighborColor(Qt::blue);
setGlobalLoopClosureColor(Qt::red);
setLocalLoopClosureColor(Qt::yellow);
setUserLoopClosureColor(Qt::red);
setVirtualLoopClosureColor(Qt::magenta);
setNeighborMergedColor(QColor(255,170,0));
setRejectedLoopClosureColor(Qt::black);
setLandmarkColor(Qt::darkGreen);
setLocalPathColor(Qt::cyan);
setGlobalPathColor(Qt::darkMagenta);
setGTColor(Qt::gray);
setGPSColor(Qt::darkCyan);
setIntraSessionLoopColor(Qt::red);
setInterSessionLoopColor(Qt::green);
setIntraInterSessionColorsEnabled(false);
setGridMapVisible(true);
setGraphVisible(true);
setGlobalPathVisible(true);
@@ -1853,6 +1930,12 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aChangeNodeColor = menu.addAction(createIcon(_nodeColor), tr("Set node color..."));
QAction * aChangeNodeOdomCacheColor = menu.addAction(createIcon(_nodeOdomCacheColor), tr("Set node odom cache color..."));
QAction * aChangeCurrentGoalColor = menu.addAction(createIcon(_currentGoalColor), tr("Set current goal color..."));
QMenu * menuChangeHighlightingColors = menu.addMenu(tr("Set node highlighting colors..."));
QVector<QAction*> aChangeHighlightingColors(_highlightedNodes.size());
for(int i=0; i<_highlightedNodes.size(); ++i) {
aChangeHighlightingColors[i] = menuChangeHighlightingColors->addAction(createIcon(_highlightedNodes[i].first), tr("Color %1...").arg(i+1));
aChangeHighlightingColors[i]->setIconVisibleInMenu(true);
}
aChangeNodeColor->setIconVisibleInMenu(true);
aChangeNodeOdomCacheColor->setIconVisibleInMenu(true);
aChangeCurrentGoalColor->setIconVisibleInMenu(true);
@@ -2050,6 +2133,13 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aRestoreDefaults = menu.addAction(tr("Restore defaults"));
QAction * r = menu.exec(event->globalPos());
int aChangeHighlightingColorIndex = 0;
for(int i=1; i<aChangeHighlightingColors.size(); ++i)
{
if(r == aChangeHighlightingColors[i]) {
aChangeHighlightingColorIndex = i;
}
}
if(r == aScreenShot)
{
if(_root)
@@ -2217,6 +2307,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
else if(r == aChangeNodeColor ||
r == aChangeNodeOdomCacheColor ||
r == aChangeCurrentGoalColor ||
r == aChangeHighlightingColors[aChangeHighlightingColorIndex] ||
r == aChangeNeighborColor ||
r == aChangeGlobalLoopColor ||
r == aChangeLocalLoopColor ||
@@ -2244,6 +2335,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
color = _currentGoalColor;
}
else if(r == aChangeHighlightingColors[aChangeHighlightingColorIndex])
{
color = _highlightedNodes[aChangeHighlightingColorIndex].first;
}
else if(r == aChangeGlobalLoopColor)
{
color = _loopClosureColor;
@@ -2316,6 +2411,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setCurrentGoalColor(color);
}
else if(r == aChangeHighlightingColors[aChangeHighlightingColorIndex])
{
this->setHighlightColor(color, aChangeHighlightingColorIndex);
}
else if(r == aChangeGlobalLoopColor)
{
this->setGlobalLoopClosureColor(color);