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The graph is also sent in appearance-only mode. Added posterior hypotheses color on the graph view. Some minor fixes.

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matlabbe
2015-01-07 17:30:20 -05:00
parent a979216fc1
commit 7f7d05e243
11 changed files with 309 additions and 198 deletions
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guilib/src/GraphViewer.h
+4 -2
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@@ -51,8 +51,10 @@ public:
void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
void clearGraph();
void clearMap();
void clearPosterior();
void clearAll();
void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
@@ -68,8 +70,8 @@ private:
QColor _loopClosureColor;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMap<int, LinkItem*> _neighborLinkItems;
QMap<int, LinkItem*> _loopLinkItems;
QMultiMap<int, LinkItem*> _neighborLinkItems;
QMultiMap<int, LinkItem*> _loopLinkItems;
float _nodeRadius;
float _linkWidth;
QGraphicsPixmapItem * _gridMap;