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Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.

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This commit is contained in:
Mathieu Labbe
2015-05-03 18:16:55 -04:00
parent abb7eb15ac
commit d7030e0e38
28 changed files with 927 additions and 366 deletions
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77
guilib/src/GraphViewer.cpp
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@@ -158,6 +158,7 @@ private:
GraphViewer::GraphViewer(QWidget * parent) :
QGraphicsView(parent),
_nodeColor(Qt::blue),
_currentGoalColor(Qt::darkMagenta),
_neighborColor(Qt::blue),
_loopClosureColor(Qt::red),
_loopClosureLocalColor(Qt::yellow),
@@ -170,7 +171,8 @@ GraphViewer::GraphViewer(QWidget * parent) :
_linkWidth(0),
_gridMap(0),
_referential(0),
_gridCellSize(0.0f)
_gridCellSize(0.0f),
_localRadius(0)
{
this->setScene(new QGraphicsScene(this));
this->setDragMode(QGraphicsView::ScrollHandDrag);
@@ -203,12 +205,19 @@ GraphViewer::GraphViewer(QWidget * parent) :
item->setParentItem(_root);
_referential->addToGroup(item);
_localRadius = this->scene()->addEllipse(-0.0001,-0.0001,0.0001,0.0001);
_localRadius->setZValue(1);
_localRadius->setParentItem(_root);
_localRadius->setVisible(false);
_localRadius->setPen(QPen(Qt::DashLine));
_gridMap = this->scene()->addPixmap(QPixmap());
_gridMap->setZValue(0);
_gridMap->setParentItem(_root);
this->restoreDefaults();
this->fitInView(this->sceneRect(), Qt::KeepAspectRatio);
}
GraphViewer::~GraphViewer()
@@ -247,7 +256,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
const Transform & pose = iter->second;
NodeItem * item = new NodeItem(iter->first, pose, _nodeRadius);
this->scene()->addItem(item);
item->setZValue(2);
item->setZValue(20);
item->setColor(_nodeColor);
item->setParentItem(_root);
_nodeItems.insert(iter->first, item);
@@ -334,7 +343,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
item->setColor(_loopClosureColor);
}
this->scene()->addItem(item);
item->setZValue(1);
item->setZValue(10);
item->setParentItem(_root);
_linkItems.insert(idFrom, item);
}
@@ -384,6 +393,7 @@ void GraphViewer::updateReferentialPosition(const Transform & t)
{
QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14());
_referential->setTransform(qt);
_localRadius->setTransform(qt);
this->ensureVisible(_referential);
}
@@ -456,13 +466,31 @@ void GraphViewer::setGlobalPath(const std::vector<std::pair<int, Transform> > &
item->setPen(p);
item->setColor(_globalPathColor);
this->scene()->addItem(item);
item->setZValue(1);
item->setZValue(15);
item->setParentItem(_root);
_globalPathLinkItems.insert(idFrom, item);
}
}
}
void GraphViewer::setCurrentGoalID(int id)
{
NodeItem * node = _nodeItems.value(id, 0);
if(node)
{
node->setColor(_currentGoalColor);
}
else
{
UWARN("Curent goal %d not found in the graph", id);
}
}
void GraphViewer::setLocalRadius(float radius)
{
_localRadius->setRect(-radius, -radius, radius*2, radius*2);
}
void GraphViewer::updateLocalPath(const std::vector<int> & localPath)
{
if(localPath.size() > 1)
@@ -497,6 +525,7 @@ void GraphViewer::clearGraph()
qDeleteAll(_globalPathLinkItems);
_globalPathLinkItems.clear();
_referential->resetTransform();
_localRadius->resetTransform();
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
}
@@ -530,6 +559,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("node_radius", (double)this->getNodeRadius());
settings.setValue("link_width", (double)this->getLinkWidth());
settings.setValue("node_color", this->getNodeColor());
settings.setValue("current_goal_color", this->getCurrentGoalColor());
settings.setValue("neighbor_color", this->getNeighborColor());
settings.setValue("global_color", this->getGlobalLoopClosureColor());
settings.setValue("local_color", this->getLocalLoopClosureColor());
@@ -540,6 +570,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("grid_visible", this->isGridMapVisible());
settings.setValue("origin_visible", this->isOriginVisible());
settings.setValue("referential_visible", this->isReferentialVisible());
settings.setValue("local_radius_visible", this->isLocalRadiusVisible());
if(!group.isEmpty())
{
settings.endGroup();
@@ -555,6 +586,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setNodeRadius(settings.value("node_radius", this->getNodeRadius()).toDouble());
this->setLinkWidth(settings.value("link_width", this->getLinkWidth()).toDouble());
this->setNodeColor(settings.value("node_color", this->getNodeColor()).value<QColor>());
this->setCurrentGoalColor(settings.value("current_goal_color", this->getCurrentGoalColor()).value<QColor>());
this->setNeighborColor(settings.value("neighbor_color", this->getNeighborColor()).value<QColor>());
this->setGlobalLoopClosureColor(settings.value("global_color", this->getGlobalLoopClosureColor()).value<QColor>());
this->setLocalLoopClosureColor(settings.value("local_color", this->getLocalLoopClosureColor()).value<QColor>());
@@ -565,6 +597,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setGridMapVisible(settings.value("grid_visible", this->isGridMapVisible()).toBool());
this->setOriginVisible(settings.value("origin_visible", this->isOriginVisible()).toBool());
this->setReferentialVisible(settings.value("referential_visible", this->isReferentialVisible()).toBool());
this->setLocalRadiusVisible(settings.value("local_radius_visible", this->isLocalRadiusVisible()).toBool());
if(!group.isEmpty())
{
settings.endGroup();
@@ -583,6 +616,10 @@ bool GraphViewer::isReferentialVisible() const
{
return _referential->isVisible();
}
bool GraphViewer::isLocalRadiusVisible() const
{
return _localRadius->isVisible();
}
void GraphViewer::setWorkingDirectory(const QString & path)
{
@@ -619,6 +656,10 @@ void GraphViewer::setNodeColor(const QColor & color)
iter.value()->setColor(_nodeColor);
}
}
void GraphViewer::setCurrentGoalColor(const QColor & color)
{
_currentGoalColor = color;
}
void GraphViewer::setNeighborColor(const QColor & color)
{
_neighborColor = color;
@@ -699,6 +740,10 @@ void GraphViewer::setReferentialVisible(bool visible)
{
_referential->setVisible(visible);
}
void GraphViewer::setLocalRadiusVisible(bool visible)
{
_localRadius->setVisible(visible);
}
void GraphViewer::restoreDefaults()
{
@@ -741,7 +786,9 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
menu.addSeparator();
QAction * aChangeNodeColor = menu.addAction(createIcon(_nodeColor), tr("Set node color..."));
QAction * aChangeCurrentGoalColor = menu.addAction(createIcon(_currentGoalColor), tr("Set current goal color..."));
aChangeNodeColor->setIconVisibleInMenu(true);
aChangeCurrentGoalColor->setIconVisibleInMenu(true);
// Links
QMenu * menuLink = menu.addMenu(tr("Set link color..."));
@@ -774,6 +821,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aShowHideGridMap;
QAction * aShowHideOrigin;
QAction * aShowHideReferential;
QAction * aShowHideLocalRadius;
if(_gridMap->isVisible())
{
aShowHideGridMap = menu.addAction(tr("Hide grid map"));
@@ -798,6 +846,14 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
aShowHideReferential = menu.addAction(tr("Show current referential"));
}
if(_localRadius->isVisible())
{
aShowHideLocalRadius = menu.addAction(tr("Hide local radius"));
}
else
{
aShowHideLocalRadius = menu.addAction(tr("Show local radius"));
}
menu.addSeparator();
QAction * aRestoreDefaults = menu.addAction(tr("Restore defaults"));
@@ -869,6 +925,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
return; // without emitting configChanged
}
else if(r == aChangeNodeColor ||
r == aChangeCurrentGoalColor ||
r == aChangeNeighborColor ||
r == aChangeGlobalLoopColor ||
r == aChangeLocalLoopColor ||
@@ -882,6 +939,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
color = _nodeColor;
}
else if(r == aChangeCurrentGoalColor)
{
color = _currentGoalColor;
}
else if(r == aChangeGlobalLoopColor)
{
color = _loopClosureColor;
@@ -918,6 +979,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setNodeColor(color);
}
else if(r == aChangeCurrentGoalColor)
{
this->setCurrentGoalColor(color);
}
else if(r == aChangeGlobalLoopColor)
{
this->setGlobalLoopClosureColor(color);
@@ -978,6 +1043,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setReferentialVisible(!this->isReferentialVisible());
}
else if(r == aShowHideLocalRadius)
{
this->setLocalRadiusVisible(!this->isLocalRadiusVisible());
}
else if(r == aRestoreDefaults)
{
this->restoreDefaults();