graph_manager.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
00005  *  Author: Qinghua Li, Yan Zhuang, Fei Yan
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Intelligent Robotics Lab, DLUT. nor the names
00020  *     of its contributors may be used to endorse or promote products
00021  *     derived from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00035  */
00036 
00037 /*
00038  * graph_manager.h
00039  *
00040  *  Created on: 2012.01.07
00041  *      Author: Qinghua Li (qinghua__li@163.com)
00042  */
00043 
00044 #ifndef GRAPH_MANAGER_H_
00045 #define GRAPH_MANAGER_H_
00046 
00047 #include <QObject>
00048 #include <QPainter>
00049 #include <QTextStream>
00050 #include "dlut_place_recognition/place_recognition.h"
00051 
00053 class GraphManager : public QObject
00054 {
00055   Q_OBJECT
00056   public:
00057     GraphManager ();
00058     ~GraphManager ();
00059 
00060   Q_SIGNALS:
00061     // User selected to reset the graph
00062     void reset();
00063 
00064     // Connect to these signals to show Bearing-Angle or features images
00065     void newLibBAImage(QImage);
00066     void newQueryBAImage(QImage);
00067     void newFeaturesImage(QImage);
00068 
00069     void setGUIStatus(QString message);
00070 
00071   public Q_SLOTS:
00072     // Load query or database point cloud 
00073     void loadData ();
00074     // Show the Bearing-Angle image
00075     void showBAImage ();
00076     // Extract the global spatial features of point cloud and SURF features of Bearing-Angle image,
00077     // then save to database
00078     void extractFeatures ();
00079     // Place recognition(the target of application)
00080     void placeRecognition ();
00081 
00082   public:
00083     // Draw the text on the Bearing-Angle or features image
00084     void drawQImageText (QImage &image, const QString &str);
00085 
00086     // Store the point cloud data
00087     static std::vector< std::vector<pcl::PointXYZ> > lib_cloud;
00088     static std::vector< std::vector<pcl::PointXYZ> > query_cloud;
00089 
00090   private:
00091     IplImage* BA_iplimage;
00092     int cloud_width, cloud_height;
00093 };
00094 
00095 #endif // GRAPH_MANAGER_H_


dlut_place_recognition
Author(s): Qinghua Li, Yan Zhuang, Fei Yan
autogenerated on Sun Oct 5 2014 23:29:57