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GraphViewer: Added intra/inter session loop closure color option.

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matlabbe
2015-05-22 15:06:05 -04:00
parent 8e26219e92
commit 85af9c4f01
5 changed files with 178 additions and 28 deletions
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guilib/src/DatabaseViewer.cpp
+12 -1
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@@ -476,6 +476,7 @@ bool DatabaseViewer::openDatabase(const QString & path)
loopLinks_.clear();
graphes_.clear();
poses_.clear();
mapIds_.clear();
links_.clear();
linksAdded_.clear();
linksRefined_.clear();
@@ -814,9 +815,19 @@ void DatabaseViewer::updateIds()
std::set<int> ids = memory_->getAllSignatureIds();
ids_ = QList<int>::fromStdList(std::list<int>(ids.begin(), ids.end()));
idToIndex_.clear();
mapIds_.clear();
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
Transform p;
int w;
std::string l;
double s;
std::vector<unsigned char> d;
int mapId;
memory_->getNodeInfo(ids_[i], p, mapId, w, l, s, d, true);
mapIds_.insert(std::make_pair(ids_[i], mapId));
}
poses_.clear();
@@ -2352,7 +2363,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
}
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
std::multimap<int, Link> links = updateLinksWithModifications(links_);
ui_->graphViewer->updateGraph(graph, links);
ui_->graphViewer->updateGraph(graph, links, mapIds_);
if(graph.size() && localMaps_.size() && ui_->graphViewer->isGridMapVisible())
{
float xMin, yMin;