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Rtabmap: Added getPathNextPoses() and getPathNextNodes(). Local path is sent over statistics.

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GUI: local path is shown in GraphViewer. Now handling stereo odometry data.
This commit is contained in:
Mathieu Labbe
2015-02-03 11:09:10 -05:00
parent ee0051a585
commit ee885321aa
8 changed files with 168 additions and 23 deletions
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guilib/src/GraphViewer.h
+4
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@@ -55,6 +55,7 @@ public:
const std::multimap<int, Link> & constraints);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
void updateLocalPath(const std::vector<int> & localPath);
void clearGraph();
void clearMap();
void clearPosterior();
@@ -70,6 +71,7 @@ public:
const QColor & getLocalLoopClosureColor() const {return _loopClosureLocalColor;}
const QColor & getUserLoopClosureColor() const {return _loopClosureUserColor;}
const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
const QColor & getLocalPathColor() const {return _pathColor;}
bool isGridMapVisible() const;
// setters
@@ -82,6 +84,7 @@ public:
void setLocalLoopClosureColor(const QColor & color);
void setUserLoopClosureColor(const QColor & color);
void setVirtualLoopClosureColor(const QColor & color);
void setLocalPathColor(const QColor & color);
void setGridMapVisible(bool visible);
signals:
@@ -102,6 +105,7 @@ private:
QColor _loopClosureLocalColor;
QColor _loopClosureUserColor;
QColor _loopClosureVirtualColor;
QColor _pathColor;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _linkItems;