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MapGraph rviz: added landmark color

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matlabbe
2020-08-21 11:16:43 -04:00
parent 86c10fccc7
commit c12123625d
2 changed files with 7 additions and 0 deletions
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src/rviz/MapGraphDisplay.cpp
+6
View File
@@ -59,6 +59,8 @@ MapGraphDisplay::MapGraphDisplay()
"Color to draw global loop closure links.", this );
color_local_property_ = new rviz::ColorProperty( "Local loop closure", Qt::yellow,
"Color to draw local loop closure links.", this );
color_landmark_property_ = new rviz::ColorProperty( "Landmark", Qt::darkGreen,
"Color to draw landmark links.", this );
color_user_property_ = new rviz::ColorProperty( "User", Qt::red,
"Color to draw user links.", this );
color_virtual_property_ = new rviz::ColorProperty( "Virtual", Qt::magenta,
@@ -157,6 +159,10 @@ void MapGraphDisplay::processMessage( const rtabmap_ros::MapGraph::ConstPtr& msg
{
color = color_local_property_->getOgreColor();
}
else if(iter->second.type() == rtabmap::Link::kLandmark)
{
color = color_landmark_property_->getOgreColor();
}
else
{
color = color_global_property_->getOgreColor();
src/rviz/MapGraphDisplay.h
+1
View File
@@ -79,6 +79,7 @@ private:
ColorProperty* color_neighbor_merged_property_;
ColorProperty* color_global_property_;
ColorProperty* color_local_property_;
ColorProperty* color_landmark_property_;
ColorProperty* color_user_property_;
ColorProperty* color_virtual_property_;
FloatProperty* alpha_property_;