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fixed strange ellipse shape in GraphView with Qt5

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matlabbe
2016-10-17 19:30:44 -04:00
parent 1853cfde9b
commit bcc6354c04
1 changed files with 21 additions and 21 deletions
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42
guilib/src/GraphViewer.cpp
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@@ -56,12 +56,12 @@ class NodeItem: public QGraphicsEllipseItem
public: public:
// in meter // in meter
NodeItem(int id, int mapId, const Transform & pose, float radius) : NodeItem(int id, int mapId, const Transform & pose, float radius) :
QGraphicsEllipseItem(QRectF(-radius,-radius,radius*2.0f,radius*2.0f)), QGraphicsEllipseItem(QRectF(-radius*100.0f,-radius*100.0f,radius*100.0f*2.0f,radius*100.0f*2.0f)),
_id(id), _id(id),
_mapId(mapId), _mapId(mapId),
_pose(pose) _pose(pose)
{ {
this->setPos(-pose.y(),-pose.x()); this->setPos(-pose.y()*100.0f,-pose.x()*100.0f);
this->setBrush(pen().color()); this->setBrush(pen().color());
this->setAcceptHoverEvents(true); this->setAcceptHoverEvents(true);
} }
@@ -78,7 +78,7 @@ public:
} }
const Transform & pose() const {return _pose;} const Transform & pose() const {return _pose;}
void setPose(const Transform & pose) {this->setPos(-pose.y(),-pose.x()); _pose=pose;} void setPose(const Transform & pose) {this->setPos(-pose.y()*100.0f,-pose.x()*100.0f); _pose=pose;}
protected: protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event ) virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
@@ -105,7 +105,7 @@ class LinkItem: public QGraphicsLineItem
public: public:
// in meter // in meter
LinkItem(int from, int to, const Transform & poseA, const Transform & poseB, const Link & link, bool interSessionClosure) : LinkItem(int from, int to, const Transform & poseA, const Transform & poseB, const Link & link, bool interSessionClosure) :
QGraphicsLineItem(-poseA.y(), -poseA.x(), -poseB.y(), -poseB.x()), QGraphicsLineItem(-poseA.y()*100.0f, -poseA.x()*100.0f, -poseB.y()*100.0f, -poseB.x()*100.0f),
_from(from), _from(from),
_to(to), _to(to),
_poseA(poseA), _poseA(poseA),
@@ -126,7 +126,7 @@ public:
void setPoses(const Transform & poseA, const Transform & poseB) void setPoses(const Transform & poseA, const Transform & poseB)
{ {
this->setLine(-poseA.y(), -poseA.x(), -poseB.y(), -poseB.x()); this->setLine(-poseA.y()*100.0f, -poseA.x()*100.0f, -poseB.y()*100.0f, -poseB.x()*100.0f);
_poseA = poseA; _poseA = poseA;
_poseB = poseB; _poseB = poseB;
} }
@@ -155,7 +155,7 @@ protected:
} }
this->setToolTip(str); this->setToolTip(str);
QPen pen = this->pen(); QPen pen = this->pen();
pen.setWidthF(pen.widthF()+0.02); pen.setWidthF(pen.widthF()+2);
this->setPen(pen); this->setPen(pen);
QGraphicsLineItem::hoverEnterEvent(event); QGraphicsLineItem::hoverEnterEvent(event);
} }
@@ -163,7 +163,7 @@ protected:
virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event ) virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event )
{ {
QPen pen = this->pen(); QPen pen = this->pen();
pen.setWidthF(pen.widthF()-0.02); pen.setWidthF(pen.widthF()-2);
this->setPen(pen); this->setPen(pen);
QGraphicsLineItem::hoverEnterEvent(event); QGraphicsLineItem::hoverEnterEvent(event);
} }
@@ -217,11 +217,11 @@ GraphViewer::GraphViewer(QWidget * parent) :
// add referential // add referential
_originReferential = new QGraphicsItemGroup(); _originReferential = new QGraphicsItemGroup();
this->scene()->addItem(_originReferential); // ownership transfered this->scene()->addItem(_originReferential); // ownership transfered
QGraphicsLineItem * item = this->scene()->addLine(0,0,0,-1, QPen(QBrush(Qt::red), _linkWidth)); QGraphicsLineItem * item = this->scene()->addLine(0,0,0,-100, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100); item->setZValue(100);
item->setParentItem(_root); item->setParentItem(_root);
_originReferential->addToGroup(item); _originReferential->addToGroup(item);
item = this->scene()->addLine(0,0,-1,0, QPen(QBrush(Qt::green), _linkWidth)); item = this->scene()->addLine(0,0,-100,0, QPen(QBrush(Qt::green), _linkWidth));
item->setZValue(100); item->setZValue(100);
item->setParentItem(_root); item->setParentItem(_root);
_originReferential->addToGroup(item); _originReferential->addToGroup(item);
@@ -229,11 +229,11 @@ GraphViewer::GraphViewer(QWidget * parent) :
// current pose // current pose
_referential = new QGraphicsItemGroup(); _referential = new QGraphicsItemGroup();
this->scene()->addItem(_referential); // ownership transfered this->scene()->addItem(_referential); // ownership transfered
item = this->scene()->addLine(0,0,0,-0.5, QPen(QBrush(Qt::red), _linkWidth)); item = this->scene()->addLine(0,0,0,-50, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100); item->setZValue(100);
item->setParentItem(_root); item->setParentItem(_root);
_referential->addToGroup(item); _referential->addToGroup(item);
item = this->scene()->addLine(0,0,-0.5,0, QPen(QBrush(Qt::green), _linkWidth)); item = this->scene()->addLine(0,0,-50,0, QPen(QBrush(Qt::green), _linkWidth));
item->setZValue(100); item->setZValue(100);
item->setParentItem(_root); item->setParentItem(_root);
_referential->addToGroup(item); _referential->addToGroup(item);
@@ -362,7 +362,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
//create a link item //create a link item
linkItem = new LinkItem(idFrom, idTo, poseA, poseB, iter->second, interSessionClosure); linkItem = new LinkItem(idFrom, idTo, poseA, poseB, iter->second, interSessionClosure);
QPen p = linkItem->pen(); QPen p = linkItem->pen();
p.setWidthF(_linkWidth); p.setWidthF(_linkWidth*100.0f);
linkItem->setPen(p); linkItem->setPen(p);
linkItem->setZValue(10); linkItem->setZValue(10);
this->scene()->addItem(linkItem); this->scene()->addItem(linkItem);
@@ -559,7 +559,7 @@ void GraphViewer::updateGTGraph(const std::map<int, Transform> & poses)
//create a link item //create a link item
linkItem = new LinkItem(iterPrevious->first, iter->first, previousPose, currentPose, Link(), 1); linkItem = new LinkItem(iterPrevious->first, iter->first, previousPose, currentPose, Link(), 1);
QPen p = linkItem->pen(); QPen p = linkItem->pen();
p.setWidthF(_linkWidth); p.setWidthF(_linkWidth*100.0f);
linkItem->setPen(p); linkItem->setPen(p);
linkItem->setZValue(10); linkItem->setZValue(10);
this->scene()->addItem(linkItem); this->scene()->addItem(linkItem);
@@ -618,7 +618,7 @@ void GraphViewer::updateGTGraph(const std::map<int, Transform> & poses)
void GraphViewer::updateReferentialPosition(const Transform & t) void GraphViewer::updateReferentialPosition(const Transform & t)
{ {
QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14()); QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24()*100.0f, -t.o14()*100.0f);
_referential->setTransform(qt); _referential->setTransform(qt);
_localRadius->setTransform(qt); _localRadius->setTransform(qt);
@@ -637,10 +637,10 @@ void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin,
_gridCellSize = resolution; _gridCellSize = resolution;
QImage image = uCvMat2QImage(map8U, false); QImage image = uCvMat2QImage(map8U, false);
_gridMap->resetTransform(); _gridMap->resetTransform();
_gridMap->setTransform(QTransform::fromScale(resolution, -resolution), true); _gridMap->setTransform(QTransform::fromScale(resolution*100.0f, -resolution*100.0f), true);
_gridMap->setRotation(90); _gridMap->setRotation(90);
_gridMap->setPixmap(QPixmap::fromImage(image)); _gridMap->setPixmap(QPixmap::fromImage(image));
_gridMap->setPos(-yMin, -xMin); _gridMap->setPos(-yMin*100.0f, -xMin*100.0f);
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
} }
else else
@@ -693,7 +693,7 @@ void GraphViewer::setGlobalPath(const std::vector<std::pair<int, Transform> > &
int idTo = globalPath[i+1].first; int idTo = globalPath[i+1].first;
LinkItem * item = new LinkItem(idFrom, idTo, globalPath[i].second, globalPath[i+1].second, Link(), false); LinkItem * item = new LinkItem(idFrom, idTo, globalPath[i].second, globalPath[i+1].second, Link(), false);
QPen p = item->pen(); QPen p = item->pen();
p.setWidthF(_linkWidth); p.setWidthF(_linkWidth*100.0f);
item->setPen(p); item->setPen(p);
item->setColor(_globalPathColor); item->setColor(_globalPathColor);
this->scene()->addItem(item); this->scene()->addItem(item);
@@ -772,7 +772,7 @@ void GraphViewer::updateLocalPath(const std::vector<int> & localPath)
//create a link item //create a link item
LinkItem * item = new LinkItem(idFrom, idTo, _nodeItems.value(idFrom)->pose(), _nodeItems.value(idTo)->pose(), Link(), false); LinkItem * item = new LinkItem(idFrom, idTo, _nodeItems.value(idFrom)->pose(), _nodeItems.value(idTo)->pose(), Link(), false);
QPen p = item->pen(); QPen p = item->pen();
p.setWidthF(_linkWidth); p.setWidthF(_linkWidth*100.0f);
item->setPen(p); item->setPen(p);
item->setColor(_localPathColor); item->setColor(_localPathColor);
this->scene()->addItem(item); this->scene()->addItem(item);
@@ -961,11 +961,11 @@ void GraphViewer::setNodeRadius(float radius)
_nodeRadius = radius; _nodeRadius = radius;
for(QMap<int, NodeItem*>::iterator iter=_nodeItems.begin(); iter!=_nodeItems.end(); ++iter) for(QMap<int, NodeItem*>::iterator iter=_nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{ {
iter.value()->setRect(-_nodeRadius, -_nodeRadius, _nodeRadius*2.0f, _nodeRadius*2.0f); iter.value()->setRect(-_nodeRadius*100.0f, -_nodeRadius*100.0f, _nodeRadius*100.0f*2.0f, _nodeRadius*100.0f*2.0f);
} }
for(QMap<int, NodeItem*>::iterator iter=_gtNodeItems.begin(); iter!=_gtNodeItems.end(); ++iter) for(QMap<int, NodeItem*>::iterator iter=_gtNodeItems.begin(); iter!=_gtNodeItems.end(); ++iter)
{ {
iter.value()->setRect(-_nodeRadius, -_nodeRadius, _nodeRadius*2.0f, _nodeRadius*2.0f); iter.value()->setRect(-_nodeRadius*100.0f, -_nodeRadius*100.0f, _nodeRadius*100.0f*2.0f, _nodeRadius*100.0f*2.0f);
} }
} }
void GraphViewer::setLinkWidth(float width) void GraphViewer::setLinkWidth(float width)
@@ -978,7 +978,7 @@ void GraphViewer::setLinkWidth(float width)
if(line) if(line)
{ {
QPen pen = line->pen(); QPen pen = line->pen();
pen.setWidthF(_linkWidth); pen.setWidthF(_linkWidth*100.0f);
line->setPen(pen); line->setPen(pen);
} }
} }