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GraphView: added Maximum link length option

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This commit is contained in:
matlabbe
2015-10-29 09:53:35 -04:00
parent 47d98b2912
commit dc20327a18
2 changed files with 26 additions and 8 deletions
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5
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -94,7 +94,8 @@ public:
bool isOriginVisible() const;
bool isReferentialVisible() const;
bool isLocalRadiusVisible() const;
float getLoopClosureOutlierThr() const;
float getLoopClosureOutlierThr() const {return _loopClosureOutlierThr;}
float getMaxLinkLength() const {return _maxLinkLength;}
// setters
void setWorkingDirectory(const QString & path);
@@ -119,6 +120,7 @@ public:
void setReferentialVisible(bool visible);
void setLocalRadiusVisible(bool visible);
void setLoopClosureOutlierThr(float value);
void setMaxLinkLength(float value);
signals:
void configChanged();
@@ -159,6 +161,7 @@ private:
float _gridCellSize;
QGraphicsEllipseItem * _localRadius;
float _loopClosureOutlierThr;
float _maxLinkLength;
};
} /* namespace rtabmap */

29
guilib/src/GraphViewer.cpp
View File

@@ -187,13 +187,14 @@ GraphViewer::GraphViewer(QWidget * parent) :
_loopInterSessionColor(Qt::green),
_intraInterSessionColors(false),
_root(0),
_nodeRadius(0.01),
_nodeRadius(0.01f),
_linkWidth(0),
_gridMap(0),
_referential(0),
_gridCellSize(0.0f),
_localRadius(0),
_loopClosureOutlierThr(0)
_loopClosureOutlierThr(0),
_maxLinkLength(0.02f)
{
this->setScene(new QGraphicsScene(this));
this->setDragMode(QGraphicsView::ScrollHandDrag);
@@ -324,7 +325,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
interSessionClosure = mapIds.at(jterA->first) != mapIds.at(jterB->first);
}
if(poseA.getDistance(poseB) > 0.005)
if(poseA.getDistance(poseB) > _maxLinkLength)
{
if(linkItem == 0)
{
@@ -454,6 +455,8 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
QRectF rect = this->scene()->itemsBoundingRect();
this->fitInView(rect.adjusted(-rect.width()/2.0f, -rect.height()/2.0f, rect.width()/2.0f, rect.height()/2.0f), Qt::KeepAspectRatio);
}
UDEBUG("_nodeItems=%d, _linkItems=%d", _nodeItems.size(), _linkItems.size());
}
void GraphViewer::updateReferentialPosition(const Transform & t)
@@ -700,6 +703,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("referential_visible", this->isReferentialVisible());
settings.setValue("local_radius_visible", this->isLocalRadiusVisible());
settings.setValue("loop_closure_outlier_thr", this->getLoopClosureOutlierThr());
settings.setValue("max_link_length", this->getMaxLinkLength());
if(!group.isEmpty())
{
settings.endGroup();
@@ -733,6 +737,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setLocalRadiusVisible(settings.value("local_radius_visible", this->isLocalRadiusVisible()).toBool());
this->setIntraInterSessionColorsEnabled(settings.value("intra_inter_session_colors_enabled", this->isIntraInterSessionColorsEnabled()).toBool());
this->setLoopClosureOutlierThr(settings.value("loop_closure_outlier_thr", this->getLoopClosureOutlierThr()).toDouble());
this->setMaxLinkLength(settings.value("max_link_length", this->getMaxLinkLength()).toDouble());
if(!group.isEmpty())
{
settings.endGroup();
@@ -755,10 +760,6 @@ bool GraphViewer::isLocalRadiusVisible() const
{
return _localRadius->isVisible();
}
float GraphViewer::getLoopClosureOutlierThr() const
{
return _loopClosureOutlierThr;
}
void GraphViewer::setWorkingDirectory(const QString & path)
{
@@ -958,6 +959,10 @@ void GraphViewer::setLoopClosureOutlierThr(float value)
{
_loopClosureOutlierThr = value;
}
void GraphViewer::setMaxLinkLength(float value)
{
_maxLinkLength = value;
}
void GraphViewer::restoreDefaults()
{
@@ -1049,6 +1054,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
menu.addSeparator();
QAction * aSetNodeSize = menu.addAction(tr("Set node radius..."));
QAction * aSetLinkSize = menu.addAction(tr("Set link width..."));
QAction * aChangeMaxLinkLength = menu.addAction(tr("Set maximum link length..."));
menu.addSeparator();
QAction * aShowHideGridMap;
QAction * aShowHideOrigin;
@@ -1179,6 +1185,15 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
setLoopClosureOutlierThr(value);
}
}
else if(r == aChangeMaxLinkLength)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Maximum link length to be shown"), tr("Value (m)"), _maxLinkLength, 0.0, 1000.0, 3, &ok);
if(ok)
{
setMaxLinkLength(value);
}
}
else if(r == aChangeNodeColor ||
r == aChangeCurrentGoalColor ||
r == aChangeNeighborColor ||