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Graph viewer optimizations (#1616)

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* DbViewer: coloring graph based on env sensor value (e.g., wifi signal strength)

* GraphViewer optimizations

* Fixed link memory allocation

* refactor

* more optimizations

* mainwindow keypoints optimization

* MainWindow optimizations

* Shrink graphics scene on clearAll
This commit is contained in:
matlabbe
2025-11-16 18:56:55 -08:00
committed by GitHub
parent 82fb7ff5d2
commit e75baec73e
5 changed files with 579 additions and 490 deletions
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10
guilib/include/rtabmap/gui/GraphViewer.h
View File

@@ -119,8 +119,9 @@ public:
bool isReferentialVisible() const;
bool isLocalRadiusVisible() const;
float getLoopClosureOutlierThr() const {return _loopClosureOutlierThr;}
float getMaxLinkLength() const {return _maxLinkLength;}
float getMinLinkLength() const {return _minLinkLength;}
bool isGraphVisible() const;
bool isNodeVisible() const;
bool isGlobalPathVisible() const;
bool isLocalPathVisible() const;
bool isGtGraphVisible() const;
@@ -159,7 +160,7 @@ public:
void setReferentialVisible(bool visible);
void setLocalRadiusVisible(bool visible);
void setLoopClosureOutlierThr(float value);
void setMaxLinkLength(float value);
void setMinLinkLength(float value);
void setGraphVisible(bool visible);
void setGlobalPathVisible(bool visible);
void setLocalPathVisible(bool visible);
@@ -185,6 +186,9 @@ protected:
virtual void mousePressEvent(QMouseEvent * event);
virtual void contextMenuEvent(QContextMenuEvent * event);
private:
void setupGraphicsScene();
private:
QString _workingDirectory;
QColor _nodeColor;
@@ -238,7 +242,7 @@ private:
QGraphicsEllipseItem * _localRadius;
QGraphicsRectItem * _odomCacheOverlay;
float _loopClosureOutlierThr;
float _maxLinkLength;
float _minLinkLength;
bool _orientationENU;
bool _mouseTracking;
ViewPlane _viewPlane;