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https://github.com/introlab/rtabmap.git
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matlabbe
e75baec73e
* 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
255 lines
10 KiB
C++
255 lines
10 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RTABMAP_GRAPHVIEWER_H_
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#define RTABMAP_GRAPHVIEWER_H_
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#include "rtabmap/gui/rtabmap_gui_export.h" // DLL export/import defines
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#include <QGraphicsView>
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#include <QtCore/QMap>
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#include <QtCore/QSettings>
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#include <rtabmap/core/Link.h>
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#include <rtabmap/core/GPS.h>
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#include <opencv2/opencv.hpp>
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#include <map>
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#include <set>
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#include <vector>
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class QGraphicsItem;
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class QGraphicsPixmapItem;
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class QGraphicsItemGroup;
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namespace rtabmap {
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class NodeItem;
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class LinkItem;
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class RTABMAP_GUI_EXPORT GraphViewer : public QGraphicsView {
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Q_OBJECT;
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public:
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enum ViewPlane {XY, XZ, YZ};
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public:
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GraphViewer(QWidget * parent = 0);
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virtual ~GraphViewer();
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void setWorldMapRotation(const float & theta);
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float getWorldMapRotation() const {return _worldMapRotation;}
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void updateGraph(const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & constraints,
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const std::map<int, int> & mapIds,
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const std::map<int, int> & weights = std::map<int, int>(),
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const std::set<int> & odomCacheIds = std::set<int>());
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void updateGTGraph(const std::map<int, Transform> & poses);
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void updateGPSGraph(
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const std::map<int, Transform> & gpsMapPoses,
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const std::map<int, GPS> & gpsValues);
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void updateReferentialPosition(const Transform & t);
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void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
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// Use updateNodeColorByValue() instead with valueName="Posterior".
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RTABMAP_DEPRECATED void updatePosterior(const std::map<int, float> & posterior, float fixedMax = 0.0f, int zValueOffset = 0);
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void updateNodeColorByValue(const std::string & valueName, const std::map<int, float> & values, float fixedMax = 0.0f, bool invertedColorScale = false, int zValueOffset = 0);
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void updateNodeColorByValue(const std::string & valueName, const std::map<int, float> & values, float fixedMin, float fixedMax, bool invertedColorScale = false, unsigned short hueMin=0, unsigned short hueMax=180, int zValueOffset = 0);
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void updateLocalPath(const std::vector<int> & localPath);
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void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
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void setCurrentGoalID(int id, const Transform & pose = Transform());
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void setNodeInfo(int id, const QString & info);
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void setLocalRadius(float radius);
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void highlightNode(int nodeId, int highlightIndex);
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void clearGraph();
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void clearMap();
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// Use clearNodeColorByValue() instead.
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RTABMAP_DEPRECATED void clearPosterior();
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void clearNodeColorByValue();
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void clearAll();
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void saveSettings(QSettings & settings, const QString & group = "") const;
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void loadSettings(QSettings & settings, const QString & group = "");
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//getters
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const QString & getWorkingDirectory() const {return _workingDirectory;}
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float getNodeRadius() const {return _nodeRadius;}
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float getLinkWidth() const {return _linkWidth;}
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const QColor & getNodeColor() const {return _nodeColor;}
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const QColor & getNodeOdomCacheColor() const {return _nodeOdomCacheColor;}
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const QColor & getCurrentGoalColor() const {return _currentGoalColor;}
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const QColor & getNeighborColor() const {return _neighborColor;}
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const QColor & getGlobalLoopClosureColor() const {return _loopClosureColor;}
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const QColor & getLocalLoopClosureColor() const {return _loopClosureLocalColor;}
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const QColor & getUserLoopClosureColor() const {return _loopClosureUserColor;}
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const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
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const QColor & getNeighborMergedColor() const {return _neighborMergedColor;}
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const QColor & getRejectedLoopClosureColor() const {return _loopClosureRejectedColor;}
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const QColor & getLocalPathColor() const {return _localPathColor;}
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const QColor & getGlobalPathColor() const {return _globalPathColor;}
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const QColor & getGTColor() const {return _gtPathColor;}
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const QColor & getGPSColor() const {return _gpsPathColor;}
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const QColor & getIntraSessionLoopColor() const {return _loopIntraSessionColor;}
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const QColor & getInterSessionLoopColor() const {return _loopInterSessionColor;}
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bool isIntraInterSessionColorsEnabled() const {return _intraInterSessionColors;}
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bool isGridMapVisible() const;
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bool isOriginVisible() const;
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bool isReferentialVisible() const;
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bool isLocalRadiusVisible() const;
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float getLoopClosureOutlierThr() const {return _loopClosureOutlierThr;}
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float getMinLinkLength() const {return _minLinkLength;}
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bool isGraphVisible() const;
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bool isNodeVisible() const;
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bool isGlobalPathVisible() const;
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bool isLocalPathVisible() const;
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bool isGtGraphVisible() const;
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bool isGPSGraphVisible() const;
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bool isOdomCacheOverlayVisible() const;
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bool isOrientationENU() const;
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ViewPlane getViewPlane() const;
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bool isEnsureFrameVisible() const;
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// setters
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void setWorkingDirectory(const QString & path);
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void setNodeVisible(bool visible);
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void setNodeRadius(float radius);
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void setLinkWidth(float width);
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void setNodeColor(const QColor & color);
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void setNodeOdomCacheColor(const QColor & color);
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void setCurrentGoalColor(const QColor & color);
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void setNeighborColor(const QColor & color);
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void setGlobalLoopClosureColor(const QColor & color);
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void setLocalLoopClosureColor(const QColor & color);
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void setUserLoopClosureColor(const QColor & color);
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void setVirtualLoopClosureColor(const QColor & color);
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void setNeighborMergedColor(const QColor & color);
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void setLandmarkColor(const QColor & color);
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void setRejectedLoopClosureColor(const QColor & color);
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void setLocalPathColor(const QColor & color);
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void setGlobalPathColor(const QColor & color);
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void setGTColor(const QColor & color);
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void setGPSColor(const QColor & color);
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void setHighlightColor(const QColor & color, int index);
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void setIntraSessionLoopColor(const QColor & color);
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void setInterSessionLoopColor(const QColor & color);
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void setIntraInterSessionColorsEnabled(bool enabled);
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void setGridMapVisible(bool visible);
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void setOriginVisible(bool visible);
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void setReferentialVisible(bool visible);
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void setLocalRadiusVisible(bool visible);
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void setLoopClosureOutlierThr(float value);
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void setMinLinkLength(float value);
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void setGraphVisible(bool visible);
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void setGlobalPathVisible(bool visible);
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void setLocalPathVisible(bool visible);
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void setGtGraphVisible(bool visible);
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void setGPSGraphVisible(bool visible);
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void setOdomCacheOverlayVisible(bool visible);
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void setOrientationENU(bool enabled);
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void setViewPlane(ViewPlane plane);
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void setEnsureFrameVisible(bool visible);
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Q_SIGNALS:
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void configChanged();
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void mapShownRequested();
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void nodeSelected(int);
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void linkSelected(int, int);
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public Q_SLOTS:
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void restoreDefaults();
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protected:
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virtual void wheelEvent ( QWheelEvent * event );
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virtual void mouseMoveEvent(QMouseEvent * event);
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virtual void mousePressEvent(QMouseEvent * event);
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virtual void contextMenuEvent(QContextMenuEvent * event);
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private:
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void setupGraphicsScene();
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private:
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QString _workingDirectory;
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QColor _nodeColor;
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QColor _nodeOdomCacheColor;
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QColor _currentGoalColor;
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QColor _neighborColor;
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QColor _loopClosureColor;
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QColor _loopClosureLocalColor;
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QColor _loopClosureUserColor;
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QColor _loopClosureVirtualColor;
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QColor _neighborMergedColor;
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QColor _landmarkColor;
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QColor _loopClosureRejectedColor;
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QColor _localPathColor;
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QColor _globalPathColor;
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QColor _gtPathColor;
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QColor _gpsPathColor;
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QColor _loopIntraSessionColor;
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QColor _loopInterSessionColor;
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bool _intraInterSessionColors;
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float _worldMapRotation;
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QGraphicsItem * _world;
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QGraphicsItem * _root;
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QGraphicsItem * _graphRoot;
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QGraphicsItem * _globalPathRoot;
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QGraphicsItem * _localPathRoot;
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QGraphicsItem * _gtGraphRoot;
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QGraphicsItem * _gpsGraphRoot;
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QMap<int, NodeItem*> _nodeItems;
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QMultiMap<int, LinkItem*> _linkItems;
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QMap<int, NodeItem*> _gtNodeItems;
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QMap<int, NodeItem*> _gpsNodeItems;
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QMultiMap<int, LinkItem*> _gtLinkItems;
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QMultiMap<int, LinkItem*> _gpsLinkItems;
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QMultiMap<int, LinkItem*> _localPathLinkItems;
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QMultiMap<int, LinkItem*> _globalPathLinkItems;
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QVector<QPair<QColor, NodeItem*> > _highlightedNodes;
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bool _nodeVisible;
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float _nodeRadius;
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float _linkWidth;
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QGraphicsPixmapItem * _gridMap;
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QGraphicsItemGroup * _referential;
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QGraphicsItemGroup * _referentialXY;
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QGraphicsItemGroup * _referentialXZ;
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QGraphicsItemGroup * _referentialYZ;
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QGraphicsItemGroup * _originReferential;
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QGraphicsItemGroup * _originReferentialXY;
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QGraphicsItemGroup * _originReferentialXZ;
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QGraphicsItemGroup * _originReferentialYZ;
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float _gridCellSize;
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QGraphicsEllipseItem * _localRadius;
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QGraphicsRectItem * _odomCacheOverlay;
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float _loopClosureOutlierThr;
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float _minLinkLength;
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bool _orientationENU;
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bool _mouseTracking;
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ViewPlane _viewPlane;
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bool _ensureFrameVisible;
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QPoint _previousMousePos;
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};
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} /* namespace rtabmap */
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#endif /* GRAPHVIEWER_H_ */
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