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Multi component view (#1729)

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* Multi component view implemented except for rotations. Rotations can cause segfaults.

* Implemented: handling rotations and applied rotations on optimized poses. Addition of a notion of main component (for saves in db) abd a node selection tool.

* New feature: merge component using selected nodes

* Refactored with suggestions.

* Fixing QSet error on older Qt versions

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Pierre ELIS
2026-08-01 08:33:53 -07:00
committed by GitHub
co-authored by matlabbe
parent d9f3337f97
commit bef4eaf679
11 changed files with 1525 additions and 441 deletions
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guilib/src/GraphViewer.cpp
+71 -1
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@@ -342,6 +342,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_orientationENU(false),
_mouseTracking(false),
_viewPlane(XY),
_interactionMode(HandMode),
_ensureFrameVisible(true),
_previousMousePos(-1,-1),
_initialMousePos(-1,-1),
@@ -388,6 +389,7 @@ void GraphViewer::setupGraphicsScene()
_zoomOverlayItem->setVisible(false);
_zoomOverlayItem->setAcceptedMouseButtons(Qt::NoButton);
_zoomOverlayItem->setAcceptHoverEvents(false);
connect(this->scene(), &QGraphicsScene::selectionChanged, this, &GraphViewer::nodesSelected);
_world = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
_root = (QGraphicsItem *)this->scene()->addEllipse(QRectF(-0.0001,-0.0001,0.0001,0.0001));
@@ -664,6 +666,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
item->setZValue(iter->first<0?21:20);
item->setColor(color);
item->setParentItem(_graphRoot);
item->setFlag(QGraphicsItem::ItemIsSelectable, iter->first>0 && _interactionMode == SelectionMode);
item->show();
_nodeItems.insert(iter->first, item);
++iter;
@@ -674,6 +677,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
// NodeItem exists for the pose, copy data and increase both iterators
UASSERT(iter->first == nter.key());
nter.value()->setColor(color); // reset color
nter.value()->setFlag(QGraphicsItem::ItemIsSelectable, iter->first > 0 && _interactionMode == SelectionMode);
nter.value()->setToolTipInfo(QString());
nter.value()->setZValue(iter->first<0?21:20);
nter.value()->setPose(iter->second, _viewPlane);
@@ -937,6 +941,7 @@ void GraphViewer::updateGTGraph(const std::map<int, Transform> & poses)
item->setZValue(20);
item->setColor(_gtPathColor);
item->setParentItem(_gtGraphRoot);
item->setFlag(QGraphicsItem::ItemIsSelectable, false);
item->setVisible(_nodeVisible);
_gtNodeItems.insert(iter->first, item);
}
@@ -1071,6 +1076,7 @@ void GraphViewer::updateGPSGraph(
item->setZValue(20);
item->setColor(_gpsPathColor);
item->setParentItem(_gpsGraphRoot);
item->setFlag(QGraphicsItem::ItemIsSelectable, false);
item->setVisible(_nodeVisible);
_gpsNodeItems.insert(iter->first, item);
}
@@ -1453,6 +1459,48 @@ void GraphViewer::highlightNode(int nodeId, int highlightIndex)
}
}
std::set<int> GraphViewer::getSelectedNodeIds()
{
std::set<int> ids;
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter != _nodeItems.end(); iter++)
{
if(iter.value() && iter.value()->isSelected())
ids.insert(iter.key());
}
return ids;
}
void GraphViewer::selectNodesFromIds(const std::set<int> & ids)
{
this->scene()->blockSignals(true);
for (QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter != _nodeItems.end(); ++iter)
{
if(iter.value() && iter.key()>0)
iter.value()->setSelected(ids.find(iter.key()) != ids.end());
}
this->scene()->blockSignals(false);
}
void GraphViewer::setInteractionMode(InteractionMode mode)
{
if(_interactionMode == mode)
{
return;
}
_interactionMode = mode;
this->setDragMode(mode == HandMode ? QGraphicsView::ScrollHandDrag : QGraphicsView::RubberBandDrag);
this->setRubberBandSelectionMode(Qt::IntersectsItemShape);
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter != _nodeItems.end(); iter++)
{
if(iter.key()>0 && iter.value())
{
iter.value()->setFlag(QGraphicsItem::ItemIsSelectable, mode == SelectionMode);
}
}
}
void GraphViewer::clearGraph()
{
qDeleteAll(_nodeItems);
@@ -1566,6 +1614,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("odom_cache_overlay", this->isOdomCacheOverlayVisible());
settings.setValue("orientation_ENU", this->isOrientationENU());
settings.setValue("view_plane", (int)this->getViewPlane());
settings.setValue("interaction_mode", (int)this->getInteractionMode());
settings.setValue("ensure_frame_visible", (int)this->isEnsureFrameVisible());
settings.setValue("fast_zoom_min_nodes", this->getFastZoomMinNodes());
if(!group.isEmpty())
@@ -1618,6 +1667,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setOdomCacheOverlayVisible(settings.value("odom_cache_overlay", this->isOdomCacheOverlayVisible()).toBool());
this->setOrientationENU(settings.value("orientation_ENU", this->isOrientationENU()).toBool());
this->setViewPlane((ViewPlane)settings.value("view_plane", (int)this->getViewPlane()).toInt());
this->setInteractionMode((InteractionMode)settings.value("interaction_mode", (int)this->getInteractionMode()).toInt());
this->setEnsureFrameVisible(settings.value("ensure_frame_visible", this->isEnsureFrameVisible()).toBool());
this->setFastZoomMinNodes(settings.value("fast_zoom_min_nodes", this->getFastZoomMinNodes()).toInt());
if(!group.isEmpty())
@@ -2087,6 +2137,7 @@ void GraphViewer::restoreDefaults()
setLocalPathVisible(true);
setGtGraphVisible(true);
setFastZoomMinNodes(0);
setInteractionMode(HandMode);
}
void GraphViewer::wheelEvent(QWheelEvent * event)
@@ -2123,7 +2174,7 @@ void GraphViewer::mouseMoveEvent(QMouseEvent * event)
{
QToolTip::hideText();
}
if (event->modifiers() & (Qt::ShiftModifier | Qt::ControlModifier) && event->buttons() & Qt::LeftButton) {
if (_interactionMode == HandMode && event->modifiers() & (Qt::ShiftModifier | Qt::ControlModifier) && event->buttons() & Qt::LeftButton) {
// same modifiers than 3D view, change zoom
if(_previousMousePos.y()!=0) {
qreal factor = (event->pos().y() - _previousMousePos.y() > 0) ? 0.98 : 1.02;
@@ -2200,6 +2251,25 @@ QIcon createIcon(const QColor & color)
return QIcon(pixmap);
}
QPointF GraphViewer::getNodeScenePosition(int id) const
{
NodeItem * item = _nodeItems.value(id, 0);
if(item)
{
return item->sceneBoundingRect().center();
}
return QPointF();
}
void GraphViewer::centerOnNode(int id)
{
QPointF center = this->getNodeScenePosition(id);
if(!center.isNull())
{
this->centerOn(center);
}
}
void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
QMenu menu;