LoopClosureViewer.h
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00001 /*
00002 Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef LOOPCLOSUREVIEWER_H_
00029 #define LOOPCLOSUREVIEWER_H_
00030 
00031 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
00032 
00033 #include <rtabmap/core/Parameters.h>
00034 #include <rtabmap/core/Transform.h>
00035 #include <rtabmap/core/Signature.h>
00036 #include <opencv2/opencv.hpp>
00037 #include <QWidget>
00038 
00039 class Ui_loopClosureViewer;
00040 
00041 namespace rtabmap {
00042 
00043 class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
00044 
00045         Q_OBJECT
00046 
00047 public:
00048         LoopClosureViewer(QWidget * parent);
00049         virtual ~LoopClosureViewer();
00050 
00051         void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA
00052 
00053         const Signature & sA() const {return sA_;}
00054         const Signature & sB() const {return sB_;}
00055 
00056 public slots:
00057         void setDecimation(int decimation) {decimation_ = decimation;}
00058         void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
00059         void setSamples(int samples) {samples_ = samples;}
00060         void updateView(const Transform & AtoB = Transform());
00061 
00062 protected:
00063         virtual void showEvent(QShowEvent * event);
00064 
00065 private:
00066         Ui_loopClosureViewer * ui_;
00067 
00068         Signature sA_;
00069         Signature sB_;
00070         Transform transform_;
00071 
00072         int decimation_;
00073         float maxDepth_;
00074         int samples_;
00075 };
00076 
00077 } /* namespace rtabmap */
00078 #endif /* LOOPCLOSUREVIEWER_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Fri Aug 28 2015 12:51:31