added code to highlight selected nodes

introlab · Sep 23, 2024 · 331b346 · 331b346
1 parent 1554b4f
commit 331b346
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diff --git a/guilib/include/rtabmap/gui/GraphViewer.h b/guilib/include/rtabmap/gui/GraphViewer.h
@@ -129,7 +129,11 @@ class RTABMAP_GUI_EXPORT GraphViewer : public QGraphicsView {
 	void setNodeVisible(bool visible);
 	void setNodeRadius(float radius);
 	void setLinkWidth(float width);
+	void setNodeA(const int value);
+	void setNodeB(const int value);
 	void setNodeColor(const QColor & color);
+	void setNodeColorA(const QColor & color);
+	void setNodeColorB(const QColor & color);
 	void setNodeOdomCacheColor(const QColor & color);
 	void setCurrentGoalColor(const QColor & color);
 	void setNeighborColor(const QColor & color);
@@ -181,6 +185,8 @@ public Q_SLOTS:
 private:
 	QString _workingDirectory;
 	QColor _nodeColor;
+	QColor _nodeColorA;
+	QColor _nodeColorB;
 	QColor _nodeOdomCacheColor;
 	QColor _currentGoalColor;
 	QColor _neighborColor;
@@ -206,6 +212,8 @@ public Q_SLOTS:
 	QGraphicsItem * _localPathRoot;
 	QGraphicsItem * _gtGraphRoot;
 	QGraphicsItem * _gpsGraphRoot;
+	NodeItem* _currentNodeA;
+	NodeItem* _currentNodeB;
 	QMap<int, NodeItem*> _nodeItems;
 	QMultiMap<int, LinkItem*> _linkItems;
 	QMap<int, NodeItem*> _gtNodeItems;

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
@@ -4613,6 +4613,8 @@ void DatabaseViewer::graphLinkSelected(int from, int to)
 
 void DatabaseViewer::sliderAValueChanged(int value)
 {
+	ui_->graphViewer->setNodeA(ids_.at(value));
+
 	this->update(value,
 			ui_->spinBox_indexA,
 			ui_->label_parentsA,
@@ -4640,6 +4642,8 @@ void DatabaseViewer::sliderAValueChanged(int value)
 
 void DatabaseViewer::sliderBValueChanged(int value)
 {
+	ui_->graphViewer->setNodeB(ids_.at(value));
+
 	this->update(value,
 			ui_->spinBox_indexB,
 			ui_->label_parentsB,

diff --git a/guilib/src/GraphViewer.cpp b/guilib/src/GraphViewer.cpp
@@ -284,6 +284,8 @@ class LinkItem: public QGraphicsLineItem
 GraphViewer::GraphViewer(QWidget * parent) :
 		QGraphicsView(parent),
 		_nodeColor(Qt::blue),
+		_nodeColorA(Qt::yellow),
+		_nodeColorB(Qt::magenta),
 		_nodeOdomCacheColor(Qt::darkGreen),
 		_currentGoalColor(Qt::darkMagenta),
 		_neighborColor(Qt::blue),
@@ -321,6 +323,9 @@ GraphViewer::GraphViewer(QWidget * parent) :
 		_viewPlane(XY),
 		_ensureFrameVisible(true)
 {
+	_currentNodeA = nullptr;
+	_currentNodeB = nullptr;
+
 	this->setScene(new QGraphicsScene(this));
 	this->setDragMode(QGraphicsView::ScrollHandDrag);
 	_workingDirectory = QDir::homePath();
@@ -1459,6 +1464,38 @@ void GraphViewer::setNodeColor(const QColor & color)
 		iter.value()->setColor(_nodeColor);
 	}
 }
+void GraphViewer::setNodeColorA(const QColor & color)
+{
+	_nodeColorA = color;
+	QPen border = QPen(_nodeColorA);
+	if(_currentNodeA != nullptr)
+	{
+		if(_currentNodeA->id() != 0)
+		{	
+			if(_nodeItems.contains(_currentNodeA->id()))
+			{
+				border.setWidth(_linkWidth*100.0f);
+				_currentNodeA->setPen(border);
+			}
+		}
+	}	
+}
+void GraphViewer::setNodeColorB(const QColor & color)
+{
+	_nodeColorB = color;
+	QPen border = QPen(_nodeColorB);
+	if(_currentNodeB != nullptr)
+	{
+		if(_currentNodeB->id() != 0)
+		{	
+			if(_nodeItems.contains(_currentNodeB->id()))
+			{
+				border.setWidth(_linkWidth*100.0f);
+				_currentNodeB->setPen(border);
+			}
+		}
+	}	
+}
 void GraphViewer::setNodeOdomCacheColor(const QColor & color)
 {
 	_nodeOdomCacheColor = color;
@@ -1470,6 +1507,47 @@ void GraphViewer::setNodeOdomCacheColor(const QColor & color)
 		}
 	}
 }
+void GraphViewer::setNodeA(int value){
+
+	QPen border = QPen(_nodeColorA);
+	QMap<int, NodeItem*>::iterator iter = _nodeItems.find(value);
+	if(iter != _nodeItems.end()){
+		if(_currentNodeA != nullptr){
+			if(_currentNodeA->id() != 0)
+			{	
+				if(_nodeItems.contains(_currentNodeA->id()))
+				{
+					border.setWidth(0);
+					_currentNodeA->setPen(border);
+				}
+			}
+		}
+		_currentNodeA = iter.value();
+		border.setWidth(_linkWidth*100.0f);
+		_currentNodeA->setPen(QPen(border));
+	}
+}
+void GraphViewer::setNodeB(int value){
+
+	QPen border = QPen(_nodeColorB);
+	QMap<int, NodeItem*>::iterator iter = _nodeItems.find(value);
+
+	if(iter != _nodeItems.end()){
+		if(_currentNodeB != nullptr){
+			if(_currentNodeB->id() != 0)
+			{	
+				if(_nodeItems.contains(_currentNodeB->id()))
+				{
+					border.setWidth(0);
+					_currentNodeB->setPen(border);
+				}
+			}
+		}
+		_currentNodeB = iter.value();
+		border.setWidth(_linkWidth*100.0f);
+		_currentNodeB->setPen(QPen(border));
+	}
+}
 void GraphViewer::setCurrentGoalColor(const QColor & color)
 {
 	_currentGoalColor = color;