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GUI: GraphView's referential updated with odometry events

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Mathieu Labbe
2015-02-17 17:53:44 -05:00
parent 2f6426f029
commit f708e7c040
3 changed files with 36 additions and 21 deletions
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32
guilib/src/GraphViewer.cpp
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@@ -162,7 +162,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_nodeRadius(0.01),
_linkWidth(0),
_gridMap(0),
_lastReferential(0),
_referential(0),
_gridCellSize(0.0f)
{
this->setScene(new QGraphicsScene(this));
@@ -181,16 +181,16 @@ GraphViewer::GraphViewer(QWidget * parent) :
item->setParentItem(_root);
// current pose
_lastReferential = new QGraphicsItemGroup();
this->scene()->addItem(_lastReferential);
_referential = new QGraphicsItemGroup();
this->scene()->addItem(_referential);
item = this->scene()->addLine(0,0,0,-0.5, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
_lastReferential->addToGroup(item);
_referential->addToGroup(item);
item = this->scene()->addLine(0,0,-0.5,0, QPen(QBrush(Qt::green), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
_lastReferential->addToGroup(item);
_referential->addToGroup(item);
_gridMap = this->scene()->addPixmap(QPixmap());
@@ -360,23 +360,21 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
(--_nodeItems.end()).value()->setColor(Qt::green);
}
if(poses.size())
{
Transform t = poses.rbegin()->second;
QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14());
_lastReferential->setTransform(qt);
}
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
if(poses.size() == 0 || wasEmpty)
if(wasEmpty)
{
this->fitInView(this->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
}
else
{
this->centerOn(_lastReferential);
}
}
void GraphViewer::updateReferentialPosition(const Transform & t)
{
QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14());
_referential->setTransform(qt);
this->ensureVisible(_referential);
}
void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin)
@@ -458,7 +456,7 @@ void GraphViewer::clearGraph()
_nodeItems.clear();
qDeleteAll(_linkItems);
_linkItems.clear();
_lastReferential->resetTransform();
_referential->resetTransform();
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
}