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

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This commit is contained in:
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/GraphViewer.h
+11 -1
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@@ -53,7 +53,8 @@ public:
virtual ~GraphViewer();
void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints);
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds);
void updateReferentialPosition(const Transform & t);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
@@ -82,6 +83,9 @@ public:
const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
const QColor & getLocalPathColor() const {return _localPathColor;}
const QColor & getGlobalPathColor() const {return _globalPathColor;}
const QColor & getIntraSessionLoopColor() const {return _loopIntraSessionColor;}
const QColor & getInterSessionLoopColor() const {return _loopInterSessionColor;}
bool isIntraInterSessionColorsEnabled() const {return _intraInterSessionColors;}
bool isGridMapVisible() const;
bool isOriginVisible() const;
bool isReferentialVisible() const;
@@ -100,6 +104,9 @@ public:
void setVirtualLoopClosureColor(const QColor & color);
void setLocalPathColor(const QColor & color);
void setGlobalPathColor(const QColor & color);
void setIntraSessionLoopColor(const QColor & color);
void setInterSessionLoopColor(const QColor & color);
void setIntraInterSessionColorsEnabled(bool enabled);
void setGridMapVisible(bool visible);
void setOriginVisible(bool visible);
void setReferentialVisible(bool visible);
@@ -126,6 +133,9 @@ private:
QColor _loopClosureVirtualColor;
QColor _localPathColor;
QColor _globalPathColor;
QColor _loopIntraSessionColor;
QColor _loopInterSessionColor;
bool _intraInterSessionColors;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _linkItems;