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DbViewer: added option to align scans/clouds to ground truth for convenience

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matlabbe
2018-02-21 15:13:02 -05:00
parent 1bfde1f9f0
commit 93e1d732c9
3 changed files with 95 additions and 33 deletions
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8
guilib/src/GraphViewer.cpp
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@@ -286,11 +286,11 @@ GraphViewer::GraphViewer(QWidget * parent) :
_graphRoot->setParentItem(_root);
_globalPathRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_globalPathRoot->setZValue(5);
_globalPathRoot->setZValue(8);
_globalPathRoot->setParentItem(_root);
_localPathRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_localPathRoot->setZValue(6);
_localPathRoot->setZValue(9);
_localPathRoot->setParentItem(_root);
_gtGraphRoot = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
@@ -441,11 +441,12 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(_intraInterSessionColors)
{
linkItem->setColor(interSessionClosure?_loopInterSessionColor:_loopIntraSessionColor);
linkItem->setZValue(interSessionClosure?8:9);
linkItem->setZValue(interSessionClosure?6:7);
}
else
{
linkItem->setColor(_loopClosureLocalColor);
linkItem->setZValue(7);
}
}
else
@@ -458,6 +459,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
else
{
linkItem->setColor(_loopClosureColor);
linkItem->setZValue(9);
}
}