#include <RTABMapApp.h>

Inheritance diagram for RTABMapApp:

Public Member Functions
void	cancelProcessing ()
bool	exportMesh (float cloudVoxelSize, bool regenerateCloud, bool meshing, int textureSize, int textureCount, int normalK, bool optimized, float optimizedVoxelSize, int optimizedDepth, int optimizedMaxPolygons, float optimizedColorRadius, bool optimizedCleanWhitePolygons, int optimizedMinClusterSize, float optimizedMaxTextureDistance, int optimizedMinTextureClusterSize, bool blockRendering)
void	InitializeGLContent ()
void	onCreate (JNIEnv *env, jobject caller_activity)
void	onPause ()
void	onPointCloudAvailable (const TangoXYZij *xyz_ij)
void	onPoseAvailable (const TangoPoseData *pose)
void	onTangoEventAvailable (const TangoEvent *event)
bool	onTangoServiceConnected (JNIEnv *env, jobject iBinder)
void	OnTouchEvent (int touch_count, tango_gl::GestureCamera::TouchEvent event, float x0, float y0, float x1, float y1)
int	openDatabase (const std::string &databasePath, bool databaseInMemory, bool optimize, const std::string &databaseSource=std::string())
bool	postExportation (bool visualize)
int	postProcessing (int approach)
int	Render ()
void	resetMapping ()
	RTABMapApp ()
void	save (const std::string &databasePath)
void	setAppendMode (bool enabled)
void	setBackfaceCulling (bool enabled)
void	setBackgroundColor (float gray)
void	setCameraColor (bool enabled)
void	SetCameraType (tango_gl::GestureCamera::CameraType camera_type)
void	setCloudDensityLevel (int value)
void	setClusterRatio (float value)
void	setDataRecorderMode (bool enabled)
void	setFOV (float angle)
void	setFullResolution (bool enabled)
void	setGPS (const rtabmap::GPS &gps)
void	setGraphOptimization (bool enabled)
void	setGraphVisible (bool visible)
void	setGridRotation (float value)
void	setGridVisible (bool visible)
void	setLighting (bool enabled)
void	setLocalizationMode (bool enabled)
void	setMapCloudShown (bool shown)
int	setMappingParameter (const std::string &key, const std::string &value)
void	setMaxCloudDepth (float value)
void	setMaxGainRadius (float value)
void	setMeshAngleTolerance (float value)
void	setMeshRendering (bool enabled, bool withTexture)
void	setMeshTriangleSize (int value)
void	setMinCloudDepth (float value)
void	setNodesFiltering (bool enabled)
void	setOdomCloudShown (bool shown)
void	setOnlineBlending (bool enabled)
void	setOrthoCropFactor (float value)
void	setPausedMapping (bool paused)
void	setPointSize (float value)
void	setRawScanSaved (bool enabled)
void	setRenderingTextureDecimation (int value)
void	setScreenRotation (int displayRotation, int cameraRotation)
void	setSmoothing (bool enabled)
void	setTrajectoryMode (bool enabled)
void	SetViewPort (int width, int height)
void	setWireframe (bool enabled)
void	TangoResetMotionTracking ()
bool	writeExportedMesh (const std::string &directory, const std::string &name)
	~RTABMapApp ()
Protected Member Functions
virtual bool	handleEvent (UEvent *event)
Private Member Functions
std::vector< pcl::Vertices >	filterOrganizedPolygons (const std::vector< pcl::Vertices > &polygons, int cloudSize) const
std::vector< pcl::Vertices >	filterPolygons (const std::vector< pcl::Vertices > &polygons, int cloudSize) const
void	gainCompensation (bool full=false)
rtabmap::ParametersMap	getRtabmapParameters ()
bool	smoothMesh (int id, Mesh &mesh)
Private Attributes
bool	appendMode_
float	backgroundColor_
bool	bilateralFilteringOnNextRender_
std::map< std::string, float >	bufferedStatsData_
rtabmap::CameraTango *	camera_
bool	cameraColor_
bool	cameraJustInitialized_
bool	clearSceneOnNextRender_
int	cloudDensityLevel_
float	clusterRatio_
std::map< int, Mesh >	createdMeshes_
bool	dataRecorderMode_
bool	exportedMeshUpdated_
bool	exporting_
bool	filterPolygonsOnNextRender_
bool	fullResolution_
int	gainCompensationOnNextRender_
bool	graphOptimization_
int	lastDrawnCloudsCount_
double	lastPoseEventTime_
double	lastPostRenderEventTime_
bool	localizationMode_
LogHandler *	logHandler_
Scene	main_scene_
rtabmap::ParametersMap	mappingParameters_
rtabmap::Transform	mapToOdom_
float	maxCloudDepth_
float	maxGainRadius_
float	meshAngleToleranceDeg_
int	meshDecimation_
boost::mutex	meshesMutex_
int	meshTrianglePix_
float	minCloudDepth_
bool	nodesFiltering_
bool	odomCloudShown_
std::list< rtabmap::OdometryEvent >	odomEvents_
boost::mutex	odomMutex_
bool	openingDatabase_
pcl::TextureMesh::Ptr	optMesh_
int	optRefId_
rtabmap::Transform *	optRefPose_
cv::Mat	optTexture_
bool	paused_
std::list< rtabmap::Transform >	poseEvents_
boost::mutex	poseMutex_
bool	postProcessing_
rtabmap::ProgressionStatus	progressionStatus_
std::map< int, rtabmap::Transform >	rawPoses_
bool	rawScanSaved_
boost::mutex	renderingMutex_
int	renderingTextureDecimation_
float	renderingTime_
rtabmap::Rtabmap *	rtabmap_
std::list < rtabmap::RtabmapEvent * >	rtabmapEvents_
boost::mutex	rtabmapMutex_
rtabmap::RtabmapThread *	rtabmapThread_
USemaphore	screenshotReady_
bool	smoothing_
std::pair < rtabmap::RtabmapEventInit::Status, std::string >	status_
bool	takeScreenshotOnNextRender_
int	totalPoints_
int	totalPolygons_
bool	trajectoryMode_
std::list < rtabmap::RtabmapEvent * >	visLocalizationEvents_
boost::mutex	visLocalizationMutex_
bool	visualizingMesh_

Detailed Description

Definition at line 49 of file RTABMapApp.h.

Constructor & Destructor Documentation

RTABMapApp::RTABMapApp ( )

Definition at line 146 of file RTABMapApp.cpp.

RTABMapApp::~RTABMapApp ( )

Definition at line 199 of file RTABMapApp.cpp.

Member Function Documentation

void RTABMapApp::cancelProcessing ( )

Definition at line 2136 of file RTABMapApp.cpp.

bool RTABMapApp::exportMesh	(	float	cloudVoxelSize,
		bool	regenerateCloud,
		bool	meshing,
		int	textureSize,
		int	textureCount,
		int	normalK,
		bool	optimized,
		float	optimizedVoxelSize,
		int	optimizedDepth,
		int	optimizedMaxPolygons,
		float	optimizedColorRadius,
		bool	optimizedCleanWhitePolygons,
		int	optimizedMinClusterSize,
		float	optimizedMaxTextureDistance,
		int	optimizedMinTextureClusterSize,
		bool	blockRendering
	)

Definition at line 2142 of file RTABMapApp.cpp.

std::vector< pcl::Vertices > RTABMapApp::filterOrganizedPolygons	(	const std::vector< pcl::Vertices > &	polygons,
		int	cloudSize
	)		const `[private]`

Definition at line 732 of file RTABMapApp.cpp.

std::vector< pcl::Vertices > RTABMapApp::filterPolygons	(	const std::vector< pcl::Vertices > &	polygons,
		int	cloudSize
	)		const `[private]`

Definition at line 799 of file RTABMapApp.cpp.

void RTABMapApp::gainCompensation ( bool full = false ) [private]

Definition at line 944 of file RTABMapApp.cpp.

rtabmap::ParametersMap RTABMapApp::getRtabmapParameters ( ) [private]

Definition at line 73 of file RTABMapApp.cpp.

bool RTABMapApp::handleEvent ( UEvent * event ) [protected, virtual]

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns:: "true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.; "false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.

Implements UEventsHandler.

Definition at line 3170 of file RTABMapApp.cpp.

void RTABMapApp::InitializeGLContent ( )

Definition at line 842 of file RTABMapApp.cpp.

void RTABMapApp::onCreate	(	JNIEnv *	env,
		jobject	caller_activity
	)

Definition at line 241 of file RTABMapApp.cpp.

void RTABMapApp::onPause ( )

Definition at line 717 of file RTABMapApp.cpp.

void RTABMapApp::onPointCloudAvailable ( const TangoXYZij * xyz_ij )

void RTABMapApp::onPoseAvailable ( const TangoPoseData * pose )

void RTABMapApp::onTangoEventAvailable ( const TangoEvent * event )

bool RTABMapApp::onTangoServiceConnected	(	JNIEnv *	env,
		jobject	iBinder
	)

Definition at line 623 of file RTABMapApp.cpp.

void RTABMapApp::OnTouchEvent	(	int	touch_count,
		tango_gl::GestureCamera::TouchEvent	event,
		float	x0,
		float	y0,
		float	x1,
		float	y1
	)

Definition at line 1768 of file RTABMapApp.cpp.

int RTABMapApp::openDatabase	(	const std::string &	databasePath,
		bool	databaseInMemory,
		bool	optimize,
		const std::string &	databaseSource = `std::string()`
	)

Definition at line 294 of file RTABMapApp.cpp.

bool RTABMapApp::postExportation ( bool visualize )

Definition at line 2908 of file RTABMapApp.cpp.

int RTABMapApp::postProcessing ( int approach )

Definition at line 3072 of file RTABMapApp.cpp.

int RTABMapApp::Render ( )

Definition at line 1000 of file RTABMapApp.cpp.

void RTABMapApp::resetMapping ( )

Definition at line 2067 of file RTABMapApp.cpp.

void RTABMapApp::save ( const std::string & databasePath )

Definition at line 2084 of file RTABMapApp.cpp.

void RTABMapApp::setAppendMode ( bool enabled )

Definition at line 1942 of file RTABMapApp.cpp.

void RTABMapApp::setBackfaceCulling ( bool enabled )

Definition at line 1837 of file RTABMapApp.cpp.

void RTABMapApp::setBackgroundColor ( float gray )

Definition at line 2002 of file RTABMapApp.cpp.

void RTABMapApp::setCameraColor ( bool enabled )

Definition at line 1907 of file RTABMapApp.cpp.

void RTABMapApp::SetCameraType ( tango_gl::GestureCamera::CameraType camera_type )

Definition at line 1763 of file RTABMapApp.cpp.

void RTABMapApp::setCloudDensityLevel ( int value )

Definition at line 1971 of file RTABMapApp.cpp.

void RTABMapApp::setClusterRatio ( float value )

Definition at line 1986 of file RTABMapApp.cpp.

void RTABMapApp::setDataRecorderMode ( bool enabled )

Definition at line 1953 of file RTABMapApp.cpp.

void RTABMapApp::setFOV ( float angle )

Definition at line 1821 of file RTABMapApp.cpp.

void RTABMapApp::setFullResolution ( bool enabled )

Definition at line 1915 of file RTABMapApp.cpp.

void RTABMapApp::setGPS ( const rtabmap::GPS & gps )

Definition at line 2059 of file RTABMapApp.cpp.

void RTABMapApp::setGraphOptimization ( bool enabled )

Definition at line 1857 of file RTABMapApp.cpp.

void RTABMapApp::setGraphVisible ( bool visible )

Definition at line 1885 of file RTABMapApp.cpp.

void RTABMapApp::setGridRotation ( float value )

Definition at line 1829 of file RTABMapApp.cpp.

void RTABMapApp::setGridVisible ( bool visible )

Definition at line 1890 of file RTABMapApp.cpp.

void RTABMapApp::setLighting ( bool enabled )

Definition at line 1833 of file RTABMapApp.cpp.

void RTABMapApp::setLocalizationMode ( bool enabled )

Definition at line 1846 of file RTABMapApp.cpp.

void RTABMapApp::setMapCloudShown ( bool shown )

Definition at line 1804 of file RTABMapApp.cpp.

int RTABMapApp::setMappingParameter	(	const std::string &	key,
		const std::string &	value
	)

Definition at line 2009 of file RTABMapApp.cpp.

void RTABMapApp::setMaxCloudDepth ( float value )

Definition at line 1961 of file RTABMapApp.cpp.

void RTABMapApp::setMaxGainRadius ( float value )

Definition at line 1991 of file RTABMapApp.cpp.

void RTABMapApp::setMeshAngleTolerance ( float value )

Definition at line 1976 of file RTABMapApp.cpp.

void RTABMapApp::setMeshRendering	(	bool	enabled,
		bool	withTexture
	)

Definition at line 1813 of file RTABMapApp.cpp.

void RTABMapApp::setMeshTriangleSize ( int value )

Definition at line 1981 of file RTABMapApp.cpp.

void RTABMapApp::setMinCloudDepth ( float value )

Definition at line 1966 of file RTABMapApp.cpp.

void RTABMapApp::setNodesFiltering ( bool enabled )

Definition at line 1880 of file RTABMapApp.cpp.

void RTABMapApp::setOdomCloudShown ( bool shown )

Definition at line 1808 of file RTABMapApp.cpp.

void RTABMapApp::setOnlineBlending ( bool enabled )

Definition at line 1800 of file RTABMapApp.cpp.

void RTABMapApp::setOrthoCropFactor ( float value )

Definition at line 1825 of file RTABMapApp.cpp.

void RTABMapApp::setPausedMapping ( bool paused )

Definition at line 1774 of file RTABMapApp.cpp.

void RTABMapApp::setPointSize ( float value )

Definition at line 1817 of file RTABMapApp.cpp.

void RTABMapApp::setRawScanSaved ( bool enabled )

Definition at line 1895 of file RTABMapApp.cpp.

void RTABMapApp::setRenderingTextureDecimation ( int value )

Definition at line 1996 of file RTABMapApp.cpp.

void RTABMapApp::setScreenRotation	(	int	displayRotation,
		int	cameraRotation
	)

Definition at line 286 of file RTABMapApp.cpp.

void RTABMapApp::setSmoothing ( bool enabled )

Definition at line 1930 of file RTABMapApp.cpp.

void RTABMapApp::setTrajectoryMode ( bool enabled )

Definition at line 1851 of file RTABMapApp.cpp.

void RTABMapApp::SetViewPort	(	int	width,
		int	height
	)

Definition at line 852 of file RTABMapApp.cpp.

void RTABMapApp::setWireframe ( bool enabled )

Definition at line 1841 of file RTABMapApp.cpp.

bool RTABMapApp::smoothMesh	(	int	id,
		Mesh &	mesh
	)		`[private]`

Definition at line 879 of file RTABMapApp.cpp.

void RTABMapApp::TangoResetMotionTracking ( )

Definition at line 728 of file RTABMapApp.cpp.

bool RTABMapApp::writeExportedMesh	(	const std::string &	directory,
		const std::string &	name
	)

Definition at line 2962 of file RTABMapApp.cpp.

Member Data Documentation

bool RTABMapApp::appendMode_ [private]

Definition at line 201 of file RTABMapApp.h.

float RTABMapApp::backgroundColor_ [private]

Definition at line 210 of file RTABMapApp.h.

bool RTABMapApp::bilateralFilteringOnNextRender_ [private]

Definition at line 222 of file RTABMapApp.h.

std::map<std::string, float> RTABMapApp::bufferedStatsData_ [private]

Definition at line 232 of file RTABMapApp.h.

rtabmap::CameraTango* RTABMapApp::camera_ [private]

Definition at line 187 of file RTABMapApp.h.

bool RTABMapApp::cameraColor_ [private]

Definition at line 199 of file RTABMapApp.h.

bool RTABMapApp::cameraJustInitialized_ [private]

Definition at line 224 of file RTABMapApp.h.

bool RTABMapApp::clearSceneOnNextRender_ [private]

Definition at line 216 of file RTABMapApp.h.

int RTABMapApp::cloudDensityLevel_ [private]

Definition at line 204 of file RTABMapApp.h.

float RTABMapApp::clusterRatio_ [private]

Definition at line 207 of file RTABMapApp.h.

std::map<int, Mesh> RTABMapApp::createdMeshes_ [private]

Definition at line 261 of file RTABMapApp.h.

bool RTABMapApp::dataRecorderMode_ [private]

Definition at line 215 of file RTABMapApp.h.

bool RTABMapApp::exportedMeshUpdated_ [private]

Definition at line 235 of file RTABMapApp.h.

bool RTABMapApp::exporting_ [private]

Definition at line 218 of file RTABMapApp.h.

bool RTABMapApp::filterPolygonsOnNextRender_ [private]

Definition at line 220 of file RTABMapApp.h.

bool RTABMapApp::fullResolution_ [private]

Definition at line 200 of file RTABMapApp.h.

int RTABMapApp::gainCompensationOnNextRender_ [private]

Definition at line 221 of file RTABMapApp.h.

bool RTABMapApp::graphOptimization_ [private]

Definition at line 193 of file RTABMapApp.h.

int RTABMapApp::lastDrawnCloudsCount_ [private]

Definition at line 228 of file RTABMapApp.h.

double RTABMapApp::lastPoseEventTime_ [private]

Definition at line 231 of file RTABMapApp.h.

double RTABMapApp::lastPostRenderEventTime_ [private]

Definition at line 230 of file RTABMapApp.h.

bool RTABMapApp::localizationMode_ [private]

Definition at line 195 of file RTABMapApp.h.

LogHandler* RTABMapApp::logHandler_ [private]

Definition at line 190 of file RTABMapApp.h.

Scene RTABMapApp::main_scene_ [private]

Definition at line 243 of file RTABMapApp.h.

rtabmap::ParametersMap RTABMapApp::mappingParameters_ [private]

Definition at line 212 of file RTABMapApp.h.

rtabmap::Transform RTABMapApp::mapToOdom_ [private]

Definition at line 250 of file RTABMapApp.h.

float RTABMapApp::maxCloudDepth_ [private]

Definition at line 202 of file RTABMapApp.h.

float RTABMapApp::maxGainRadius_ [private]

Definition at line 208 of file RTABMapApp.h.

float RTABMapApp::meshAngleToleranceDeg_ [private]

Definition at line 206 of file RTABMapApp.h.

int RTABMapApp::meshDecimation_ [private]

Definition at line 225 of file RTABMapApp.h.

boost::mutex RTABMapApp::meshesMutex_ [private]

Definition at line 254 of file RTABMapApp.h.

int RTABMapApp::meshTrianglePix_ [private]

Definition at line 205 of file RTABMapApp.h.

float RTABMapApp::minCloudDepth_ [private]

Definition at line 203 of file RTABMapApp.h.

bool RTABMapApp::nodesFiltering_ [private]

Definition at line 194 of file RTABMapApp.h.

bool RTABMapApp::odomCloudShown_ [private]

Definition at line 192 of file RTABMapApp.h.

std::list<rtabmap::OdometryEvent> RTABMapApp::odomEvents_ [private]

Definition at line 247 of file RTABMapApp.h.

boost::mutex RTABMapApp::odomMutex_ [private]

Definition at line 255 of file RTABMapApp.h.

bool RTABMapApp::openingDatabase_ [private]

Definition at line 217 of file RTABMapApp.h.

pcl::TextureMesh::Ptr RTABMapApp::optMesh_ [private]

Definition at line 236 of file RTABMapApp.h.

int RTABMapApp::optRefId_ [private]

Definition at line 238 of file RTABMapApp.h.

rtabmap::Transform* RTABMapApp::optRefPose_ [private]

Definition at line 239 of file RTABMapApp.h.

cv::Mat RTABMapApp::optTexture_ [private]

Definition at line 237 of file RTABMapApp.h.

bool RTABMapApp::paused_ [private]

Definition at line 214 of file RTABMapApp.h.

std::list<rtabmap::Transform> RTABMapApp::poseEvents_ [private]

Definition at line 248 of file RTABMapApp.h.

boost::mutex RTABMapApp::poseMutex_ [private]

Definition at line 256 of file RTABMapApp.h.

bool RTABMapApp::postProcessing_ [private]

Definition at line 219 of file RTABMapApp.h.

rtabmap::ProgressionStatus RTABMapApp::progressionStatus_ [private]

Definition at line 266 of file RTABMapApp.h.

std::map<int, rtabmap::Transform> RTABMapApp::rawPoses_ [private]

Definition at line 262 of file RTABMapApp.h.

bool RTABMapApp::rawScanSaved_ [private]

Definition at line 197 of file RTABMapApp.h.

boost::mutex RTABMapApp::renderingMutex_ [private]

Definition at line 257 of file RTABMapApp.h.

int RTABMapApp::renderingTextureDecimation_ [private]

Definition at line 209 of file RTABMapApp.h.

float RTABMapApp::renderingTime_ [private]

Definition at line 229 of file RTABMapApp.h.

rtabmap::Rtabmap* RTABMapApp::rtabmap_ [private]

Definition at line 189 of file RTABMapApp.h.

std::list<rtabmap::RtabmapEvent*> RTABMapApp::rtabmapEvents_ [private]

Definition at line 245 of file RTABMapApp.h.

boost::mutex RTABMapApp::rtabmapMutex_ [private]

Definition at line 252 of file RTABMapApp.h.

rtabmap::RtabmapThread* RTABMapApp::rtabmapThread_ [private]

Definition at line 188 of file RTABMapApp.h.

USemaphore RTABMapApp::screenshotReady_ [private]

Definition at line 259 of file RTABMapApp.h.

bool RTABMapApp::smoothing_ [private]

Definition at line 198 of file RTABMapApp.h.

std::pair<rtabmap::RtabmapEventInit::Status, std::string> RTABMapApp::status_ [private]

Definition at line 264 of file RTABMapApp.h.

bool RTABMapApp::takeScreenshotOnNextRender_ [private]

Definition at line 223 of file RTABMapApp.h.

int RTABMapApp::totalPoints_ [private]

Definition at line 226 of file RTABMapApp.h.

int RTABMapApp::totalPolygons_ [private]

Definition at line 227 of file RTABMapApp.h.

bool RTABMapApp::trajectoryMode_ [private]

Definition at line 196 of file RTABMapApp.h.

std::list<rtabmap::RtabmapEvent*> RTABMapApp::visLocalizationEvents_ [private]

Definition at line 246 of file RTABMapApp.h.

boost::mutex RTABMapApp::visLocalizationMutex_ [private]

Definition at line 253 of file RTABMapApp.h.

bool RTABMapApp::visualizingMesh_ [private]

Definition at line 234 of file RTABMapApp.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation