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Clicking Nodes\Links brings them up in viewer
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Chuck Ellison committed Sep 17, 2024
1 parent 24ca562 commit ddb9b54
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Showing 5 changed files with 247 additions and 3 deletions.
3 changes: 3 additions & 0 deletions guilib/include/rtabmap/gui/DatabaseViewer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,7 @@ class RTABMAP_GUI_EXPORT DatabaseViewer : public QMainWindow
bool openDatabase(const QString & path, const ParametersMap & overridenParameters = ParametersMap());
bool isSavedMaximized() const {return savedMaximized_;}
void showCloseButton(bool visible = true);
int idToIndex(int id);

protected:
virtual void showEvent(QShowEvent* anEvent);
Expand Down Expand Up @@ -133,6 +134,8 @@ private Q_SLOTS:
void graphLinkSelected(int, int);
void sliderAValueChanged(int);
void sliderBValueChanged(int);
void spinBoxAValueChanged(int);
void spinBoxBValueChanged(int);
void sliderAMoved(int);
void sliderBMoved(int);
void update3dView();
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8 changes: 8 additions & 0 deletions guilib/include/rtabmap/gui/GraphViewer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QGraphicsView>
#include <QtCore/QMap>
#include <QtCore/QSettings>
#include <QtWidgets/QSlider>
#include <QtWidgets/QSpinBox>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/GPS.h>
#include "rtabmap/gui/DatabaseViewer.h"
#include <opencv2/opencv.hpp>
#include <map>
#include <set>
Expand Down Expand Up @@ -125,12 +128,16 @@ class RTABMAP_GUI_EXPORT GraphViewer : public QGraphicsView {
bool isEnsureFrameVisible() const;

// setters
void setDatabase(DatabaseViewer* db_);
void setSlider_A(QSlider *slider_A);
void setSlider_B(QSlider *slider_B);
void setWorkingDirectory(const QString & path);
void setNodeVisible(bool visible);
void setNodeRadius(float radius);
void setLinkWidth(float width);
void setNodeColor(const QColor & color);
void setNodeOdomCacheColor(const QColor & color);
void highlightCurrentNode(int value);
void setCurrentGoalColor(const QColor & color);
void setNeighborColor(const QColor & color);
void setGlobalLoopClosureColor(const QColor & color);
Expand Down Expand Up @@ -235,6 +242,7 @@ public Q_SLOTS:
bool _mouseTracking;
ViewPlane _viewPlane;
bool _ensureFrameVisible;
NodeItem* previousNode;
};

} /* namespace rtabmap */
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117 changes: 115 additions & 2 deletions guilib/src/DatabaseViewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -351,6 +351,12 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->horizontalSlider_B, SIGNAL(valueChanged(int)), this, SLOT(sliderBValueChanged(int)));
connect(ui_->horizontalSlider_A, SIGNAL(sliderMoved(int)), this, SLOT(sliderAMoved(int)));
connect(ui_->horizontalSlider_B, SIGNAL(sliderMoved(int)), this, SLOT(sliderBMoved(int)));

ui_->spinBox_A->setEnabled(false);
ui_->spinBox_B->setEnabled(false);
connect(ui_->spinBox_A, SIGNAL(valueChanged(int)), this, SLOT(spinBoxAValueChanged(int)));
connect(ui_->spinBox_B, SIGNAL(valueChanged(int)), this, SLOT(spinBoxBValueChanged(int)));

connect(ui_->toolButton_edit_priorA, SIGNAL(clicked(bool)), this, SLOT(editConstraint()));
connect(ui_->toolButton_edit_priorB, SIGNAL(clicked(bool)), this, SLOT(editConstraint()));
connect(ui_->toolButton_remove_priorA, SIGNAL(clicked(bool)), this, SLOT(rejectConstraint()));
Expand Down Expand Up @@ -848,6 +854,9 @@ bool DatabaseViewer::openDatabase(const QString & path, const ParametersMap & ov
}
databaseFileName_ = UFile::getName(path.toStdString());
ui_->graphViewer->setWorkingDirectory(pathDatabase_);
ui_->graphViewer->setDatabase(this);
ui_->graphViewer->setSlider_A(ui_->horizontalSlider_A);
ui_->graphViewer->setSlider_B(ui_->horizontalSlider_B);

// look if there are saved parameters
ParametersMap parameters = dbDriver_->getLastParameters();
Expand Down Expand Up @@ -1151,11 +1160,19 @@ bool DatabaseViewer::closeDatabase()
ui_->horizontalSlider_A->setMaximum(0);
ui_->horizontalSlider_B->setEnabled(false);
ui_->horizontalSlider_B->setMaximum(0);
ui_->label_idA->setText("NaN");
ui_->label_idB->setText("NaN");
sliderAValueChanged(0);
sliderBValueChanged(0);

ui_->spinBox_A->setEnabled(false);
ui_->spinBox_A->setMaximum(0);
ui_->spinBox_B->setEnabled(false);
ui_->spinBox_B->setMaximum(0);
spinBoxAValueChanged(0);
spinBoxBValueChanged(0);

ui_->label_idA->setText("NaN");
ui_->label_idB->setText("NaN");

constraintsViewer_->clear();
constraintsViewer_->refreshView();

Expand Down Expand Up @@ -2130,11 +2147,24 @@ void DatabaseViewer::updateIds()
ui_->horizontalSlider_B->setSliderPosition(0);
sliderAValueChanged(0);
sliderBValueChanged(0);

ui_->spinBox_A->setMinimum(0);
ui_->spinBox_B->setMinimum(0);
ui_->spinBox_A->setMaximum(ids_.size()-1);
ui_->spinBox_B->setMaximum(ids_.size()-1);
ui_->spinBox_A->setEnabled(true);
ui_->spinBox_B->setEnabled(true);
spinBoxAValueChanged(0);
spinBoxBValueChanged(0);
}
else
{
ui_->horizontalSlider_A->setEnabled(false);
ui_->horizontalSlider_B->setEnabled(false);

ui_->spinBox_A->setEnabled(false);
ui_->spinBox_B->setEnabled(false);

ui_->label_idA->setText("NaN");
ui_->label_idB->setText("NaN");
}
Expand Down Expand Up @@ -4592,6 +4622,10 @@ void DatabaseViewer::graphLinkSelected(int from, int to)

void DatabaseViewer::sliderAValueChanged(int value)
{
ui_->spinBox_A->blockSignals(true);
ui_->spinBox_A->setValue(value);
ui_->spinBox_A->blockSignals(false);

this->update(value,
ui_->label_indexA,
ui_->label_parentsA,
Expand Down Expand Up @@ -4619,6 +4653,10 @@ void DatabaseViewer::sliderAValueChanged(int value)

void DatabaseViewer::sliderBValueChanged(int value)
{
ui_->spinBox_B->blockSignals(true);
ui_->spinBox_B->setValue(value);
ui_->spinBox_B->blockSignals(false);

this->update(value,
ui_->label_indexB,
ui_->label_parentsB,
Expand All @@ -4644,6 +4682,71 @@ void DatabaseViewer::sliderBValueChanged(int value)
true);
}

void DatabaseViewer::spinBoxAValueChanged(int value)
{
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_A->blockSignals(false);

this->update(value,
ui_->label_indexA,
ui_->label_parentsA,
ui_->label_childrenA,
ui_->label_weightA,
ui_->label_labelA,
ui_->label_stampA,
ui_->graphicsView_A,
ui_->label_idA,
ui_->label_mapA,
ui_->label_poseA,
ui_->label_optposeA,
ui_->label_velA,
ui_->label_calibA,
ui_->label_scanA,
ui_->label_gravityA,
ui_->label_priorA,
ui_->toolButton_edit_priorA,
ui_->toolButton_remove_priorA,
ui_->label_gpsA,
ui_->label_gtA,
ui_->label_sensorsA,
true);
}

void DatabaseViewer::spinBoxBValueChanged(int value)
{
ui_->horizontalSlider_B->blockSignals(true);
ui_->horizontalSlider_B->setValue(value);
ui_->horizontalSlider_B->blockSignals(false);

this->update(value,
ui_->label_indexB,
ui_->label_parentsB,
ui_->label_childrenB,
ui_->label_weightB,
ui_->label_labelB,
ui_->label_stampB,
ui_->graphicsView_B,
ui_->label_idB,
ui_->label_mapB,
ui_->label_poseB,
ui_->label_optposeB,
ui_->label_velB,
ui_->label_calibB,
ui_->label_scanB,
ui_->label_gravityB,
ui_->label_priorB,
ui_->toolButton_edit_priorB,
ui_->toolButton_remove_priorB,
ui_->label_gpsB,
ui_->label_gtB,
ui_->label_sensorsB,
true);
}

int DatabaseViewer::idToIndex(int id){
return idToIndex_.value(id);
}

void DatabaseViewer::update(int value,
QLabel * labelIndex,
QLabel * labelParents,
Expand Down Expand Up @@ -6326,6 +6429,16 @@ void DatabaseViewer::updateConstraintView(
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);

ui_->spinBox_A->blockSignals(true);
ui_->spinBox_B->blockSignals(true);
if(link.from()>0)
ui_->spinBox_A->setValue(idToIndex_.value(link.from()));
if(link.to() > 0)
ui_->spinBox_B->setValue(idToIndex_.value(link.to()));
ui_->spinBox_A->blockSignals(false);
ui_->spinBox_B->blockSignals(false);

if(link.from()>0)
this->update(idToIndex_.value(link.from()),
ui_->label_indexA,
Expand Down
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