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GraphViewer: Added "hide/show graph nodes" menu action, added 1% border when exporting to SVG

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This commit is contained in:
matlabbe
2018-02-04 14:18:39 -05:00
parent 90ed9cd15c
commit 56df87e60c
2 changed files with 44 additions and 5 deletions
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2
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -113,6 +113,7 @@ public:
// setters
void setWorkingDirectory(const QString & path);
void setNodeVisible(bool visible);
void setNodeRadius(float radius);
void setLinkWidth(float width);
void setNodeColor(const QColor & color);
@@ -187,6 +188,7 @@ private:
QMultiMap<int, LinkItem*> _gpsLinkItems;
QMultiMap<int, LinkItem*> _localPathLinkItems;
QMultiMap<int, LinkItem*> _globalPathLinkItems;
bool _nodeVisible;
float _nodeRadius;
float _linkWidth;
QGraphicsPixmapItem * _gridMap;

47
guilib/src/GraphViewer.cpp
View File

@@ -234,6 +234,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_referential(0),
_originReferential(0),
_gridCellSize(0.0f),
_nodeVisible(true),
_localRadius(0),
_loopClosureOutlierThr(0),
_maxLinkLength(0.02f),
@@ -281,15 +282,15 @@ GraphViewer::GraphViewer(QWidget * parent) :
_gridMap->setParentItem(_root);
_graphRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_graphRoot->setZValue(2);
_graphRoot->setZValue(4);
_graphRoot->setParentItem(_root);
_globalPathRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_globalPathRoot->setZValue(3);
_globalPathRoot->setZValue(5);
_globalPathRoot->setParentItem(_root);
_localPathRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_localPathRoot->setZValue(4);
_localPathRoot->setZValue(6);
_localPathRoot->setParentItem(_root);
_gtGraphRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
@@ -297,7 +298,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_gtGraphRoot->setParentItem(_root);
_gpsGraphRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_gpsGraphRoot->setZValue(2);
_gpsGraphRoot->setZValue(3);
_gpsGraphRoot->setParentItem(_root);
this->restoreDefaults();
@@ -349,6 +350,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
item->setZValue(20);
item->setColor(_nodeColor);
item->setParentItem(_graphRoot);
item->setVisible(_nodeVisible);
_nodeItems.insert(iter->first, item);
}
}
@@ -565,6 +567,7 @@ void GraphViewer::updateGTGraph(const std::map<int, Transform> & poses)
item->setZValue(20);
item->setColor(_gtPathColor);
item->setParentItem(_gtGraphRoot);
item->setVisible(_nodeVisible);
_gtNodeItems.insert(iter->first, item);
}
@@ -694,6 +697,7 @@ void GraphViewer::updateGPSGraph(
item->setZValue(20);
item->setColor(_gpsPathColor);
item->setParentItem(_gpsGraphRoot);
item->setVisible(_nodeVisible);
_gpsNodeItems.insert(iter->first, item);
}
@@ -1141,6 +1145,22 @@ void GraphViewer::setWorkingDirectory(const QString & path)
{
_workingDirectory = path;
}
void GraphViewer::setNodeVisible(bool visible)
{
_nodeVisible = visible;
for(QMap<int, NodeItem*>::iterator iter=_nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
iter.value()->setVisible(_nodeVisible);
}
for(QMap<int, NodeItem*>::iterator iter=_gtNodeItems.begin(); iter!=_gtNodeItems.end(); ++iter)
{
iter.value()->setVisible(_nodeVisible);
}
for(QMap<int, NodeItem*>::iterator iter=_gpsNodeItems.begin(); iter!=_gpsNodeItems.end(); ++iter)
{
iter.value()->setVisible(_nodeVisible);
}
}
void GraphViewer::setNodeRadius(float radius)
{
_nodeRadius = radius;
@@ -1506,6 +1526,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
menu.addSeparator();
QAction * aShowHideGridMap;
QAction * aShowHideGraph;
QAction * aShowHideGraphNodes;
QAction * aShowHideOrigin;
QAction * aShowHideReferential;
QAction * aShowHideLocalRadius;
@@ -1554,6 +1575,14 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
aShowHideGraph = menu.addAction(tr("Show graph"));
}
if(_nodeVisible)
{
aShowHideGraphNodes = menu.addAction(tr("Hide graph nodes"));
}
else
{
aShowHideGraphNodes = menu.addAction(tr("Show graph nodes"));
}
if(_globalPathRoot->isVisible())
{
aShowHideGlobalPath = menu.addAction(tr("Hide global path"));
@@ -1590,6 +1619,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
aOrientationENU->setCheckable(true);
aOrientationENU->setChecked(_orientationENU);
aShowHideGraph->setEnabled(_nodeItems.size());
aShowHideGraphNodes->setEnabled(_nodeItems.size() && _graphRoot->isVisible());
aShowHideGlobalPath->setEnabled(_globalPathLinkItems.size());
aShowHideLocalPath->setEnabled(_localPathLinkItems.size());
aShowHideGtGraph->setEnabled(_gtNodeItems.size());
@@ -1656,7 +1686,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
svgGen.setFileName( targetDir + name );
svgGen.setSize(sceneSize);
svgGen.setViewBox(QRect(0, 0, sceneSize.width(), sceneSize.height()));
// add 1% border to make sure values are not cropped
int borderH = sceneSize.width()/100;
int borderV = sceneSize.height()/100;
svgGen.setViewBox(QRect(-borderH, -borderV, sceneSize.width()+borderH*2, sceneSize.height()+borderV*2));
svgGen.setTitle(tr("RTAB-Map graph"));
svgGen.setDescription(tr("RTAB-Map map and graph"));
@@ -1892,6 +1925,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setGraphVisible(!this->isGraphVisible());
}
else if(r == aShowHideGraphNodes)
{
this->setNodeVisible(!_nodeVisible);
}
else if(r == aShowHideGlobalPath)
{
this->setGlobalPathVisible(!this->isGlobalPathVisible());