#include <DatabaseViewer.h>

Public Member Functions
	DatabaseViewer (const QString &ini=QString(), QWidget *parent=0)
bool	isSavedMaximized () const
bool	openDatabase (const QString &path)
void	showCloseButton (bool visible=true)
virtual	~DatabaseViewer ()
Protected Member Functions
virtual void	closeEvent (QCloseEvent *event)
virtual bool	eventFilter (QObject obj, QEvent event)
virtual void	moveEvent (QMoveEvent *anEvent)
virtual void	resizeEvent (QResizeEvent *anEvent)
virtual void	showEvent (QShowEvent *anEvent)
Private Slots
void	addConstraint ()
void	configModified ()
void	detectMoreLoopClosures ()
void	exportDatabase ()
void	extractImages ()
void	generate3DLaserScans ()
void	generate3DMap ()
void	generateG2OGraph ()
void	generateGraph ()
void	generateLocalGraph ()
void	generateTOROGraph ()
void	notifyParametersChanged (const QStringList &)
void	openDatabase ()
void	refineAllLoopClosureLinks ()
void	refineAllNeighborLinks ()
void	refineConstraint ()
void	refineConstraintVisually ()
void	refineVisuallyAllLoopClosureLinks ()
void	refineVisuallyAllNeighborLinks ()
void	rejectConstraint ()
void	resetAllChanges ()
void	resetConstraint ()
void	setupMainLayout (int vertical)
void	sliderAMoved (int)
void	sliderAValueChanged (int)
void	sliderBMoved (int)
void	sliderBValueChanged (int)
void	sliderIterationsValueChanged (int)
void	sliderLoopValueChanged (int)
void	sliderNeighborValueChanged (int)
void	update3dView ()
void	updateConstraintView ()
void	updateGraphView ()
void	updateGrid ()
void	updateLoggerLevel ()
void	updateStereo ()
void	view3DLaserScans ()
void	view3DMap ()
void	writeSettings ()
Private Member Functions
bool	addConstraint (int from, int to, bool silent, bool updateGraph)
bool	containsLink (std::multimap< int, Link > &links, int from, int to)
Link	findActiveLink (int from, int to)
QString	getIniFilePath () const
void	readSettings ()
void	refineConstraint (int from, int to, bool silent, bool updateGraph)
void	refineConstraintVisually (int from, int to, bool silent, bool updateGraph)
void	update (int value, QLabel labelIndex, QLabel labelParents, QLabel labelChildren, QLabel weight, QLabel label, QLabel stamp, rtabmap::ImageView view, rtabmap::CloudViewer view3D, QLabel labelId, QLabel labelMapId, QLabel labelPose, QLabel labeCalib, bool updateConstraintView)
void	updateConstraintButtons ()
void	updateConstraintView (const rtabmap::Link &link, bool updateImageSliders=true, const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloudFrom=pcl::PointCloud< pcl::PointXYZ >::Ptr(new pcl::PointCloud< pcl::PointXYZ >), const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloudTo=pcl::PointCloud< pcl::PointXYZ >::Ptr(new pcl::PointCloud< pcl::PointXYZ >), const pcl::PointCloud< pcl::PointXYZ >::Ptr &scanFrom=pcl::PointCloud< pcl::PointXYZ >::Ptr(new pcl::PointCloud< pcl::PointXYZ >), const pcl::PointCloud< pcl::PointXYZ >::Ptr &scanTo=pcl::PointCloud< pcl::PointXYZ >::Ptr(new pcl::PointCloud< pcl::PointXYZ >))
void	updateIds ()
std::multimap< int, rtabmap::Link >	updateLinksWithModifications (const std::multimap< int, rtabmap::Link > &edgeConstraints)
void	updateLoopClosuresSlider (int from=0, int to=0)
void	updateStereo (const SensorData *data)
void	updateWordsMatching ()
Private Attributes
CloudViewer *	cloudViewerA_
CloudViewer *	cloudViewerB_
CloudViewer *	constraintsViewer_
std::string	databaseFileName_
rtabmap::DBDriver *	dbDriver_
bool	firstCall_
std::list< std::map< int, rtabmap::Transform > >	graphes_
std::multimap< int, rtabmap::Link >	graphLinks_
std::map< int, rtabmap::Transform >	groundTruthPoses_
QList< int >	ids_
QMap< int, int >	idToIndex_
QString	iniFilePath_
std::multimap< int, rtabmap::Link >	links_
std::multimap< int, rtabmap::Link >	linksAdded_
std::multimap< int, rtabmap::Link >	linksRefined_
std::multimap< int, rtabmap::Link >	linksRemoved_
std::map< int, std::pair < cv::Mat, cv::Mat > >	localMaps_
QList< rtabmap::Link >	loopLinks_
std::map< int, int >	mapIds_
QList< rtabmap::Link >	neighborLinks_
QString	pathDatabase_
std::map< int, rtabmap::Transform >	poses_
bool	savedMaximized_
CloudViewer *	stereoViewer_
Ui_DatabaseViewer *	ui_

Detailed Description

Definition at line 58 of file DatabaseViewer.h.

Constructor & Destructor Documentation

rtabmap::DatabaseViewer::DatabaseViewer	(	const QString &	ini = `QString()`,
		QWidget *	parent = `0`
	)

Definition at line 82 of file DatabaseViewer.cpp.

rtabmap::DatabaseViewer::~DatabaseViewer ( ) [virtual]

Definition at line 319 of file DatabaseViewer.cpp.

Member Function Documentation

void rtabmap::DatabaseViewer::addConstraint ( ) [private, slot]

Definition at line 4037 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::addConstraint	(	int	from,
		int	to,
		bool	silent,
		bool	updateGraph
	)		`[private]`

Definition at line 4044 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::closeEvent ( QCloseEvent * event ) [protected, virtual]

Definition at line 657 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::configModified ( ) [private, slot]

Definition at line 347 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::containsLink	(	std::multimap< int, Link > &	links,
		int	from,
		int	to
	)		`[private]`

Definition at line 3795 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::detectMoreLoopClosures ( ) [private, slot]

Definition at line 1975 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::eventFilter	(	QObject *	obj,
		QEvent *	event
	)		`[protected, virtual]`

Definition at line 783 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportDatabase ( ) [private, slot]

Definition at line 793 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::extractImages ( ) [private, slot]

Definition at line 946 of file DatabaseViewer.cpp.

Link rtabmap::DatabaseViewer::findActiveLink	(	int	from,
		int	to
	)		`[private]`

Definition at line 3768 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generate3DLaserScans ( ) [private, slot]

Definition at line 1878 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generate3DMap ( ) [private, slot]

Definition at line 1724 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generateG2OGraph ( ) [private, slot]

Definition at line 1461 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generateGraph ( ) [private, slot]

Definition at line 1317 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generateLocalGraph ( ) [private, slot]

Definition at line 1332 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generateTOROGraph ( ) [private, slot]

Definition at line 1418 of file DatabaseViewer.cpp.

QString rtabmap::DatabaseViewer::getIniFilePath ( ) const [private]

Definition at line 352 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::isSavedMaximized ( ) const [inline]

Definition at line 66 of file DatabaseViewer.h.

void rtabmap::DatabaseViewer::moveEvent ( QMoveEvent * anEvent ) [protected, virtual]

Definition at line 762 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::notifyParametersChanged ( const QStringList & parametersChanged ) [private, slot]

Definition at line 4332 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::openDatabase ( const QString & path )

Definition at line 560 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::openDatabase ( ) [private, slot]

Definition at line 551 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::readSettings ( ) [private]

Definition at line 366 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineAllLoopClosureLinks ( ) [private, slot]

Definition at line 2059 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineAllNeighborLinks ( ) [private, slot]

Definition at line 2034 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineConstraint ( ) [private, slot]

Definition at line 3800 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineConstraint	(	int	from,
		int	to,
		bool	silent,
		bool	updateGraph
	)		`[private]`

Definition at line 3807 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineConstraintVisually ( ) [private, slot]

Definition at line 3947 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineConstraintVisually	(	int	from,
		int	to,
		bool	silent,
		bool	updateGraph
	)		`[private]`

Definition at line 3954 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineVisuallyAllLoopClosureLinks ( ) [private, slot]

Definition at line 2109 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineVisuallyAllNeighborLinks ( ) [private, slot]

Definition at line 2084 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::rejectConstraint ( ) [private, slot]

Definition at line 4162 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::resetAllChanges ( ) [private, slot]

Definition at line 2134 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::resetConstraint ( ) [private, slot]

Definition at line 4125 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::resizeEvent ( QResizeEvent * anEvent ) [protected, virtual]

Definition at line 775 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::setupMainLayout ( int vertical ) [private, slot]

Definition at line 328 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::showCloseButton ( bool visible = true )

Definition at line 342 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::showEvent ( QShowEvent * anEvent ) [protected, virtual]

Definition at line 752 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderAMoved ( int value ) [private, slot]

Definition at line 2819 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderAValueChanged ( int value ) [private, slot]

Definition at line 2143 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderBMoved ( int value ) [private, slot]

Definition at line 2832 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderBValueChanged ( int value ) [private, slot]

Definition at line 2161 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderIterationsValueChanged ( int value ) [private, slot]

Definition at line 3387 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderLoopValueChanged ( int value ) [private, slot]

Definition at line 2859 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderNeighborValueChanged ( int value ) [private, slot]

Definition at line 2854 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::update	(	int	value,
		QLabel *	labelIndex,
		QLabel *	labelParents,
		QLabel *	labelChildren,
		QLabel *	weight,
		QLabel *	label,
		QLabel *	stamp,
		rtabmap::ImageView *	view,
		rtabmap::CloudViewer *	view3D,
		QLabel *	labelId,
		QLabel *	labelMapId,
		QLabel *	labelPose,
		QLabel *	labeCalib,
		bool	updateConstraintView
	)		`[private]`

Definition at line 2179 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::update3dView ( ) [private, slot]

Definition at line 2845 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateConstraintButtons ( ) [private]

Definition at line 3338 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateConstraintView ( ) [private, slot]

Definition at line 2865 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateConstraintView	(	const rtabmap::Link &	link,
		bool	updateImageSliders = `true`,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloudFrom = `pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>)`,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloudTo = `pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>)`,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	scanFrom = `pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>)`,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	scanTo = `pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>)`
	)		`[private]`

Definition at line 2885 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateGraphView ( ) [private, slot]

Definition at line 3546 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateGrid ( ) [private, slot]

Definition at line 3754 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateIds ( ) [private]

Definition at line 1077 of file DatabaseViewer.cpp.

std::multimap< int, rtabmap::Link > rtabmap::DatabaseViewer::updateLinksWithModifications ( const std::multimap< int, rtabmap::Link > & edgeConstraints ) [private]