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DbViewer: In graph view, nodes in latest working memory state are highlighted in red

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matlabbe
2018-12-13 13:24:57 -05:00
parent ccbc802fe6
commit 73004c643c
8 changed files with 99 additions and 9 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -193,6 +193,7 @@ private:
CloudViewer * stereoViewer_;
CloudViewer * occupancyGridViewer_;
QList<int> ids_;
std::set<int> lastWmIds_;
std::map<int, int> mapIds_;
std::map<int, int> weights_;
std::map<int, std::vector<int> > wmStates_;

5
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -61,14 +61,15 @@ public:
void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds);
const std::map<int, int> & mapIds,
const std::map<int, int> & weights = std::map<int, int>());
void updateGTGraph(const std::map<int, Transform> & poses);
void updateGPSGraph(
const std::map<int, Transform> & gpsMapPoses,
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);
void updatePosterior(const std::map<int, float> & posterior, float fixedMax = 0.0f, 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());