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DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength) (#1613)

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matlabbe
2025-11-16 11:37:47 -08:00
committed by GitHub
parent d1b5d62d21
commit 82fb7ff5d2
5 changed files with 542 additions and 358 deletions
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guilib/src/DatabaseViewer.cpp
+44 -1
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@@ -454,6 +454,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_alignScansCloudsWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->comboBox_env_sensor_graph_colormap, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(updateStatistics()));
// Graph view
@@ -1129,6 +1130,7 @@ bool DatabaseViewer::closeDatabase()
lastWmIds_.clear();
mapIds_.clear();
weights_.clear();
envSensors_.clear();
wmStates_.clear();
links_.clear();
linksAdded_.clear();
@@ -1806,6 +1808,7 @@ void DatabaseViewer::updateIds()
idToIndex_.clear();
mapIds_.clear();
weights_.clear();
envSensors_.clear();
wmStates_.clear();
odomPoses_.clear();
groundTruthPoses_.clear();
@@ -1912,6 +1915,7 @@ void DatabaseViewer::updateIds()
dbDriver_->getNodeInfo(ids_[i], p, mapId, w, l, s, g, v, gps, sensors);
mapIds_.insert(std::make_pair(ids_[i], mapId));
weights_.insert(std::make_pair(ids_[i], w));
envSensors_.insert(std::make_pair(ids_[i], sensors));
if(w>=0)
{
for(std::multimap<int, Link>::iterator iter=links.find(ids_[i]); iter!=links.end() && iter->first==ids_[i]; ++iter)
@@ -7242,7 +7246,46 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
ui_->graphViewer->updateGTGraph(groundTruthPoses_);
ui_->graphViewer->updateGPSGraph(gpsPoses_, gpsValues_);
ui_->graphViewer->updateGraph(graph, graphLinks_, mapIds_, weights_);
if(ui_->checkBox_wmState->isEnabled() &&
if(ui_->comboBox_env_sensor_graph_colormap->currentIndex() != 0)
{
std::map<int, float> colors;
EnvSensor::Type curentType = (EnvSensor::Type)ui_->comboBox_env_sensor_graph_colormap->currentIndex();
for(std::map<int, rtabmap::Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter)
{
auto jter = envSensors_.find(iter->first);
if(jter != envSensors_.end() && jter->second.find(curentType) != jter->second.end())
{
colors.insert(std::make_pair(iter->first, jter->second.at(curentType).value()));
}
}
std::string legend;
bool invertedColor = false;
unsigned char hueMax = 240; // blue
switch(curentType)
{
case EnvSensor::kWifiSignalStrength:
legend = "Wifi Signal Strength (dBm)";
invertedColor = true;
hueMax = 120; // green
break;
case EnvSensor::kAmbientTemperature:
legend = "Ambient Temperature (Celcius)";
break;
case EnvSensor::kAmbientAirPressure:
legend = "Ambient Air Pressure (hPa)";
break;
case EnvSensor::kAmbientLight:
legend = "Ambient Light / Illuminance (lx)";
break;
case EnvSensor::kAmbientRelativeHumidity:
legend = "Ambient Relative Humidity (%)";
break;
default:
break;
}
ui_->graphViewer->updateNodeColorByValue(legend, colors, 0.0f, 0.0f, invertedColor, 0, hueMax, 1);
}
else if(ui_->checkBox_wmState->isEnabled() &&
ui_->checkBox_wmState->isChecked() &&
!lastWmIds_.empty())
{