thicker lines and cmakefile changes to include dependencies on cerebro messages

Author: mpkuse

CMakeLists.txt

@@ -67,6 +67,11 @@ add_executable( keyframe_pose_graph_slam
         src/Worlds.cpp
         )
 
+
+# this is needed to indicate this this executable depends on the messages of the pkg.
+add_dependencies(keyframe_pose_graph_slam cerebro_generate_messages_cpp)
+
+
 add_executable( test_disjointset_imp src/test_disjointset.cpp )
 add_executable( test_bfs_imp src/test_bfs.cpp )
 

src/VizPoseGraph.cpp

@@ -72,7 +72,7 @@ void VizPoseGraph::publishNodesAsLineStrip( const vector<Matrix4d>& w_T_ci,
     RosMarkerUtils::init_line_marker( marker );
 
     marker.type = visualization_msgs::Marker::LINE_STRIP;
-    marker.scale.x *= 2;
+    marker.scale.x = 0.08;
     marker.ns = ns;
 
 
@@ -113,7 +113,7 @@ void VizPoseGraph::publishNodesAsLineStrip( const vector<Matrix4d>& w_T_ci,
     RosMarkerUtils::init_line_marker( marker );
 
     marker.type = visualization_msgs::Marker::LINE_STRIP;
-    marker.scale.x = 0.02;
+    marker.scale.x = 0.06;
 
     std_msgs::ColorRGBA C1;
     C1.r = r; C1.g=g; C1.b=b; C1.a = 0.8;
@@ -451,7 +451,7 @@ void VizPoseGraph::publishCameraVisualMarker( const Matrix4d& wTc, const string&
     RosMarkerUtils::init_camera_marker( marker2, 10 );
     RosMarkerUtils::setpose_to_marker( wTc, marker2 );
     RosMarkerUtils::setcolor_to_marker( r,g,b, marker2 );
-    marker2.scale.x = 0.02;
+    marker2.scale.x = 0.08;
     marker2.id = 0;
     marker2.ns = ns+string("_cam_visual");
     pub_pgraph.publish( marker2 );

src/Worlds.cpp

@@ -305,20 +305,20 @@ void Worlds::disjoint_set_status_image(cv::Mat& im_disp, bool enable_bubbles, bo
 {
 
 
-    im_disp = cv::Mat::zeros(cv::Size(400,100), CV_8UC3);
+    im_disp = cv::Mat::zeros(cv::Size(400,120), CV_8UC3);
 
     if( enable_bubbles ) {
         int uu = n_worlds(); //disjoint_set.element_count();
         // circles
-        cv::putText( im_disp, "Worlds:", cv::Point(5, 10), cv::FONT_HERSHEY_SIMPLEX,
-                0.6, cv::Scalar(255,255,255), 1.5 );
-        cv::putText( im_disp, "SetIDs of Worlds:", cv::Point(5, 65), cv::FONT_HERSHEY_SIMPLEX,
-                0.6, cv::Scalar(255,255,255), 1.5 );
+        cv::putText( im_disp, "Worlds:", cv::Point(5, 20), cv::FONT_HERSHEY_SIMPLEX,
+                0.9, cv::Scalar(255,255,255), 2. );
+        cv::putText( im_disp, "SetIDs of Worlds:", cv::Point(5, 80), cv::FONT_HERSHEY_SIMPLEX,
+                0.9, cv::Scalar(255,255,255), 2. );
         for( int i=0 ; i<uu; i++ ) {
             // World Colors
             cv::Scalar color = FalseColors::randomColor( i );
             // cout << color << endl;
-            cv::Point pt = cv::Point(20*i+15, 30);
+            cv::Point pt = cv::Point(20*i+15, 35);
             cv::circle( im_disp, pt, 10, color, -1 );
             cv::putText( im_disp, to_string(i), pt, cv::FONT_HERSHEY_SIMPLEX,
                     0.4, cv::Scalar(255,255,255), 1.5 );
@@ -327,7 +327,7 @@ void Worlds::disjoint_set_status_image(cv::Mat& im_disp, bool enable_bubbles, bo
             // Set Colors
             int setId =  find_setID_of_world_i( i );
             color = FalseColors::randomColor( setId );
-            pt = cv::Point(20*i+15, 85);
+            pt = cv::Point(20*i+15, 95);
             cv::circle( im_disp, pt, 10, color, -1 );
             cv::putText( im_disp, to_string(setId), pt, cv::FONT_HERSHEY_SIMPLEX,
                     0.4, cv::Scalar(255,255,255), 1.5 );

src/keyframe_pose_graph_slam_node.cpp

@@ -559,7 +559,7 @@ void opt_traj_publisher_colored_by_world( const NodeDataManager * manager, const
         RosMarkerUtils::init_line_marker( linelist_marker );
         linelist_marker.ns = "loopedges_on_opt_traj"; linelist_marker.id = 0;
         linelist_marker.color.r = 0.4;linelist_marker.color.g = 0.2;linelist_marker.color.b = 0.;linelist_marker.color.a = 1.;
-        linelist_marker.scale.x = 0.06;
+        linelist_marker.scale.x = 0.1;
 
         int nloopedgfes = manager->getEdgeLen();
         for( int it=0 ; it<nloopedgfes; it++ ) {