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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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guilib/src/DatabaseViewer.cpp
+8 -3
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@@ -394,11 +394,10 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->toolButton_constraint, SIGNAL(clicked(bool)), this, SLOT(editConstraint()));
connect(ui_->checkBox_enableForAll, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintButtons()));
ui_->horizontalSlider_iterations->setTracking(false);
ui_->horizontalSlider_iterations->setTracking(true);
ui_->horizontalSlider_iterations->setEnabled(false);
ui_->spinBox_optimizationsFrom->setEnabled(false);
connect(ui_->horizontalSlider_iterations, SIGNAL(valueChanged(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->horizontalSlider_iterations, SIGNAL(sliderMoved(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->comboBox_optimizationFlavor, SIGNAL(activated(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
@@ -7104,6 +7103,7 @@ void DatabaseViewer::updateConstraintButtons()
void DatabaseViewer::sliderIterationsValueChanged(int value)
{
UDEBUG("sender=%s value=%d currentValue = %d", sender()?sender()->objectName().toStdString().c_str():"NA", value, ui_->horizontalSlider_iterations->value());
if(dbDriver_ && value >=0 && value < (int)graphes_.size())
{
std::map<int, rtabmap::Transform> graph = uValueAt(graphes_, value);
@@ -7284,6 +7284,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
break;
}
ui_->graphViewer->updateNodeColorByValue(legend, colors, 0.0f, 0.0f, invertedColor, 0, hueMax, 1);
UDEBUG("Updated node color based on env sensor %d", (int)curentType);
}
else if(ui_->checkBox_wmState->isEnabled() &&
ui_->checkBox_wmState->isChecked() &&
@@ -7306,6 +7307,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
{
ui_->graphViewer->updateNodeColorByValue("In WM", colors, 1, false, 1);
}
UDEBUG("Updated node color based working memory state");
}
QGraphicsRectItem * rectScaleItem = 0;
ui_->graphViewer->clearMap();
@@ -7509,13 +7511,16 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
}
#endif
}
ui_->graphViewer->fitInView(ui_->graphViewer->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
if(rectScaleItem != 0)
{
ui_->graphViewer->fitInView(rectScaleItem, Qt::KeepAspectRatio);
ui_->graphViewer->scene()->removeItem(rectScaleItem);
delete rectScaleItem;
}
else {
ui_->graphViewer->fitInView(ui_->graphViewer->sceneRect(), Qt::KeepAspectRatio);
}
ui_->graphViewer->update();
ui_->label_iterations->setNum(value);