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refactored GraphViewer

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Mathieu Labbe
2015-01-30 17:27:34 -05:00
parent 2872387d4c
commit 1fe2a9ed95
2 changed files with 21 additions and 59 deletions
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guilib/src/GraphViewer.cpp
+20 -57
View File
@@ -213,11 +213,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
iter.value()->hide(); iter.value()->hide();
iter.value()->setColor(_nodeColor); // reset color iter.value()->setColor(_nodeColor); // reset color
} }
for(QMultiMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter) for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
iter.value()->hide();
}
for(QMultiMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end(); ++iter)
{ {
iter.value()->hide(); iter.value()->hide();
} }
@@ -255,28 +251,12 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{ {
const Transform & poseA = jterA->second; const Transform & poseA = jterA->second;
const Transform & poseB = jterB->second; const Transform & poseB = jterB->second;
bool loopClosure = iter->second.type() != Link::kNeighbor;
bool added = false; bool added = false;
if(loopClosure && _loopLinkItems.contains(iter->first)) if(_linkItems.contains(iter->first))
{ {
QMultiMap<int, LinkItem*>::iterator itemIter = _loopLinkItems.find(iter->first); QMultiMap<int, LinkItem*>::iterator itemIter = _linkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _loopLinkItems.end()) while(itemIter.key() == iter->first && itemIter != _linkItems.end())
{
if(itemIter.value()->to() == iter->second.to())
{
itemIter.value()->setPoses(poseA, poseB);
itemIter.value()->show();
added = true;
break;
}
++itemIter;
}
}
else if(!loopClosure && _neighborLinkItems.contains(iter->first))
{
QMultiMap<int, LinkItem*>::iterator itemIter = _neighborLinkItems.find(iter->first);
while(itemIter.key() == iter->first && itemIter != _neighborLinkItems.end())
{ {
if(itemIter.value()->to() == iter->second.to()) if(itemIter.value()->to() == iter->second.to())
{ {
@@ -318,14 +298,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
this->scene()->addItem(item); this->scene()->addItem(item);
item->setZValue(1); item->setZValue(1);
item->setParentItem(_root); item->setParentItem(_root);
if(loopClosure) _linkItems.insert(iter->first, item);
{
_loopLinkItems.insert(iter->first, item);
}
else
{
_neighborLinkItems.insert(iter->first, item);
}
} }
} }
} }
@@ -343,24 +316,12 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
++iter; ++iter;
} }
} }
for(QMultiMap<int, LinkItem*>::iterator iter = _loopLinkItems.begin(); iter!=_loopLinkItems.end();) for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end();)
{ {
if(!iter.value()->isVisible()) if(!iter.value()->isVisible())
{ {
delete iter.value(); delete iter.value();
iter = _loopLinkItems.erase(iter); iter = _linkItems.erase(iter);
}
else
{
++iter;
}
}
for(QMultiMap<int, LinkItem*>::iterator iter = _neighborLinkItems.begin(); iter!=_neighborLinkItems.end();)
{
if(!iter.value()->isVisible())
{
delete iter.value();
iter = _neighborLinkItems.erase(iter);
} }
else else
{ {
@@ -435,10 +396,8 @@ void GraphViewer::clearGraph()
{ {
qDeleteAll(_nodeItems); qDeleteAll(_nodeItems);
_nodeItems.clear(); _nodeItems.clear();
qDeleteAll(_neighborLinkItems); qDeleteAll(_linkItems);
_neighborLinkItems.clear(); _linkItems.clear();
qDeleteAll(_loopLinkItems);
_loopLinkItems.clear();
_lastReferential->resetTransform(); _lastReferential->resetTransform();
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
} }
@@ -505,17 +464,21 @@ void GraphViewer::setNodeColor(const QColor & color)
void GraphViewer::setNeighborColor(const QColor & color) void GraphViewer::setNeighborColor(const QColor & color)
{ {
_neighborColor = color; _neighborColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_neighborLinkItems.begin(); iter!=_neighborLinkItems.end(); ++iter) for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{ {
iter.value()->setColor(_neighborColor); if(iter.value()->linkType() == Link::kNeighbor)
{
iter.value()->setColor(_neighborColor);
}
} }
} }
void GraphViewer::setGlobalLoopClosureColor(const QColor & color) void GraphViewer::setGlobalLoopClosureColor(const QColor & color)
{ {
_loopClosureColor = color; _loopClosureColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter) for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{ {
if(iter.value()->linkType() != Link::kLocalSpaceClosure && if(iter.value()->linkType() != Link::kNeighbor &&
iter.value()->linkType() != Link::kLocalSpaceClosure &&
iter.value()->linkType() != Link::kLocalTimeClosure && iter.value()->linkType() != Link::kLocalTimeClosure &&
iter.value()->linkType() != Link::kUserClosure && iter.value()->linkType() != Link::kUserClosure &&
iter.value()->linkType() != Link::kVirtualClosure) iter.value()->linkType() != Link::kVirtualClosure)
@@ -527,7 +490,7 @@ void GraphViewer::setGlobalLoopClosureColor(const QColor & color)
void GraphViewer::setLocalLoopClosureColor(const QColor & color) void GraphViewer::setLocalLoopClosureColor(const QColor & color)
{ {
_loopClosureLocalColor = color; _loopClosureLocalColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter) for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{ {
if(iter.value()->linkType() == Link::kLocalSpaceClosure || if(iter.value()->linkType() == Link::kLocalSpaceClosure ||
iter.value()->linkType() == Link::kLocalTimeClosure) iter.value()->linkType() == Link::kLocalTimeClosure)
@@ -539,7 +502,7 @@ void GraphViewer::setLocalLoopClosureColor(const QColor & color)
void GraphViewer::setUserLoopClosureColor(const QColor & color) void GraphViewer::setUserLoopClosureColor(const QColor & color)
{ {
_loopClosureUserColor = color; _loopClosureUserColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter) for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{ {
if(iter.value()->linkType() == Link::kUserClosure) if(iter.value()->linkType() == Link::kUserClosure)
{ {
@@ -550,7 +513,7 @@ void GraphViewer::setUserLoopClosureColor(const QColor & color)
void GraphViewer::setVirtualLoopClosureColor(const QColor & color) void GraphViewer::setVirtualLoopClosureColor(const QColor & color)
{ {
_loopClosureVirtualColor = color; _loopClosureVirtualColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_loopLinkItems.begin(); iter!=_loopLinkItems.end(); ++iter) for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{ {
if(iter.value()->linkType() == Link::kVirtualClosure) if(iter.value()->linkType() == Link::kVirtualClosure)
{ {
guilib/src/GraphViewer.h
+1 -2
View File
@@ -104,8 +104,7 @@ private:
QColor _loopClosureVirtualColor; QColor _loopClosureVirtualColor;
QGraphicsItem * _root; QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems; QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _neighborLinkItems; QMultiMap<int, LinkItem*> _linkItems;
QMultiMap<int, LinkItem*> _loopLinkItems;
float _nodeRadius; float _nodeRadius;
float _linkWidth; float _linkWidth;
QGraphicsPixmapItem * _gridMap; QGraphicsPixmapItem * _gridMap;