#include <GraphViewer.h>

Public Slots
void	restoreDefaults ()
Signals
void	configChanged ()
Public Member Functions
void	clearAll ()
void	clearGraph ()
void	clearMap ()
void	clearPosterior ()
const QColor &	getCurrentGoalColor () const
const QColor &	getGlobalLoopClosureColor () const
const QColor &	getGlobalPathColor () const
const QColor &	getGTColor () const
const QColor &	getInterSessionLoopColor () const
const QColor &	getIntraSessionLoopColor () const
float	getLinkWidth () const
const QColor &	getLocalLoopClosureColor () const
const QColor &	getLocalPathColor () const
float	getLoopClosureOutlierThr () const
float	getMaxLinkLength () const
const QColor &	getNeighborColor () const
const QColor &	getNeighborMergedColor () const
const QColor &	getNodeColor () const
float	getNodeRadius () const
const QColor &	getRejectedLoopClosureColor () const
const QColor &	getUserLoopClosureColor () const
const QColor &	getVirtualLoopClosureColor () const
const QString &	getWorkingDirectory () const
	GraphViewer (QWidget *parent=0)
bool	isGlobalPathVisible () const
bool	isGraphVisible () const
bool	isGridMapVisible () const
bool	isGtGraphVisible () const
bool	isIntraInterSessionColorsEnabled () const
bool	isLocalPathVisible () const
bool	isLocalRadiusVisible () const
bool	isOriginVisible () const
bool	isReferentialVisible () const
void	loadSettings (QSettings &settings, const QString &group="")
void	saveSettings (QSettings &settings, const QString &group="") const
void	setCurrentGoalColor (const QColor &color)
void	setCurrentGoalID (int id, const Transform &pose=Transform())
void	setGlobalLoopClosureColor (const QColor &color)
void	setGlobalPath (const std::vector< std::pair< int, Transform > > &globalPath)
void	setGlobalPathColor (const QColor &color)
void	setGlobalPathVisible (bool visible)
void	setGraphVisible (bool visible)
void	setGridMapVisible (bool visible)
void	setGTColor (const QColor &color)
void	setGtGraphVisible (bool visible)
void	setInterSessionLoopColor (const QColor &color)
void	setIntraInterSessionColorsEnabled (bool enabled)
void	setIntraSessionLoopColor (const QColor &color)
void	setLinkWidth (float width)
void	setLocalLoopClosureColor (const QColor &color)
void	setLocalPathColor (const QColor &color)
void	setLocalPathVisible (bool visible)
void	setLocalRadius (float radius)
void	setLocalRadiusVisible (bool visible)
void	setLoopClosureOutlierThr (float value)
void	setMaxLinkLength (float value)
void	setNeighborColor (const QColor &color)
void	setNeighborMergedColor (const QColor &color)
void	setNodeColor (const QColor &color)
void	setNodeRadius (float radius)
void	setOriginVisible (bool visible)
void	setReferentialVisible (bool visible)
void	setRejectedLoopClosureColor (const QColor &color)
void	setUserLoopClosureColor (const QColor &color)
void	setVirtualLoopClosureColor (const QColor &color)
void	setWorkingDirectory (const QString &path)
void	updateGraph (const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, const std::map< int, int > &mapIds)
void	updateGTGraph (const std::map< int, Transform > &poses)
void	updateLocalPath (const std::vector< int > &localPath)
void	updateMap (const cv::Mat &map8U, float resolution, float xMin, float yMin)
void	updatePosterior (const std::map< int, float > &posterior)
void	updateReferentialPosition (const Transform &t)
virtual	~GraphViewer ()
Protected Member Functions
virtual void	contextMenuEvent (QContextMenuEvent *event)
virtual void	wheelEvent (QWheelEvent *event)
Private Attributes
QColor	_currentGoalColor
QColor	_globalPathColor
QMultiMap< int, LinkItem * >	_globalPathLinkItems
QGraphicsItem *	_globalPathRoot
QGraphicsItem *	_graphRoot
float	_gridCellSize
QGraphicsPixmapItem *	_gridMap
QGraphicsItem *	_gtGraphRoot
QMultiMap< int, LinkItem * >	_gtLinkItems
QMap< int, NodeItem * >	_gtNodeItems
QColor	_gtPathColor
bool	_intraInterSessionColors
QMultiMap< int, LinkItem * >	_linkItems
float	_linkWidth
QColor	_localPathColor
QMultiMap< int, LinkItem * >	_localPathLinkItems
QGraphicsItem *	_localPathRoot
QGraphicsEllipseItem *	_localRadius
QColor	_loopClosureColor
QColor	_loopClosureLocalColor
float	_loopClosureOutlierThr
QColor	_loopClosureRejectedColor
QColor	_loopClosureUserColor
QColor	_loopClosureVirtualColor
QColor	_loopInterSessionColor
QColor	_loopIntraSessionColor
float	_maxLinkLength
QColor	_neighborColor
QColor	_neighborMergedColor
QColor	_nodeColor
QMap< int, NodeItem * >	_nodeItems
float	_nodeRadius
QGraphicsItemGroup *	_originReferential
QGraphicsItemGroup *	_referential
QGraphicsItem *	_root
QString	_workingDirectory

Detailed Description

Definition at line 49 of file GraphViewer.h.

Constructor & Destructor Documentation

rtabmap::GraphViewer::GraphViewer ( QWidget * parent = 0 )

Definition at line 180 of file GraphViewer.cpp.

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

Definition at line 272 of file GraphViewer.cpp.

Member Function Documentation

void rtabmap::GraphViewer::clearAll ( )

Definition at line 838 of file GraphViewer.cpp.

void rtabmap::GraphViewer::clearGraph ( )

Definition at line 803 of file GraphViewer.cpp.

void rtabmap::GraphViewer::clearMap ( )

Definition at line 823 of file GraphViewer.cpp.

void rtabmap::GraphViewer::clearPosterior ( )

Definition at line 830 of file GraphViewer.cpp.

void rtabmap::GraphViewer::configChanged ( ) [signal]

void rtabmap::GraphViewer::contextMenuEvent ( QContextMenuEvent * event ) [protected, virtual]

Definition at line 1227 of file GraphViewer.cpp.

const QColor& rtabmap::GraphViewer::getCurrentGoalColor ( ) const [inline]

Definition at line 81 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGlobalLoopClosureColor ( ) const [inline]

Definition at line 83 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGlobalPathColor ( ) const [inline]

Definition at line 90 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGTColor ( ) const [inline]

Definition at line 91 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getInterSessionLoopColor ( ) const [inline]

Definition at line 93 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getIntraSessionLoopColor ( ) const [inline]

Definition at line 92 of file GraphViewer.h.

float rtabmap::GraphViewer::getLinkWidth ( ) const [inline]

Definition at line 79 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getLocalLoopClosureColor ( ) const [inline]

Definition at line 84 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getLocalPathColor ( ) const [inline]

Definition at line 89 of file GraphViewer.h.

float rtabmap::GraphViewer::getLoopClosureOutlierThr ( ) const [inline]

Definition at line 99 of file GraphViewer.h.

float rtabmap::GraphViewer::getMaxLinkLength ( ) const [inline]

Definition at line 100 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getNeighborColor ( ) const [inline]

Definition at line 82 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getNeighborMergedColor ( ) const [inline]

Definition at line 87 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getNodeColor ( ) const [inline]

Definition at line 80 of file GraphViewer.h.

float rtabmap::GraphViewer::getNodeRadius ( ) const [inline]

Definition at line 78 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getRejectedLoopClosureColor ( ) const [inline]

Definition at line 88 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getUserLoopClosureColor ( ) const [inline]

Definition at line 85 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getVirtualLoopClosureColor ( ) const [inline]

Definition at line 86 of file GraphViewer.h.

const QString& rtabmap::GraphViewer::getWorkingDirectory ( ) const [inline]

Definition at line 77 of file GraphViewer.h.

bool rtabmap::GraphViewer::isGlobalPathVisible ( ) const

Definition at line 942 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGraphVisible ( ) const

Definition at line 938 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGridMapVisible ( ) const

Definition at line 922 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGtGraphVisible ( ) const

Definition at line 950 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isIntraInterSessionColorsEnabled ( ) const [inline]

Definition at line 94 of file GraphViewer.h.

bool rtabmap::GraphViewer::isLocalPathVisible ( ) const

Definition at line 946 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isLocalRadiusVisible ( ) const

Definition at line 934 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isOriginVisible ( ) const

Definition at line 926 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isReferentialVisible ( ) const

Definition at line 930 of file GraphViewer.cpp.

void rtabmap::GraphViewer::loadSettings	(	QSettings &	settings,
		const QString &	group = `""`
	)

Definition at line 883 of file GraphViewer.cpp.

void rtabmap::GraphViewer::restoreDefaults ( ) [slot]

Definition at line 1190 of file GraphViewer.cpp.

void rtabmap::GraphViewer::saveSettings	(	QSettings &	settings,
		const QString &	group = `""`
	)		const

Definition at line 844 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setCurrentGoalColor ( const QColor & color )

Definition at line 994 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setCurrentGoalID	(	int	id,
		const Transform &	pose = `Transform()`
	)

Definition at line 707 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalLoopClosureColor ( const QColor & color )

Definition at line 1009 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalPath ( const std::vector< std::pair< int, Transform > > & globalPath )

Definition at line 681 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalPathColor ( const QColor & color )

Definition at line 1081 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalPathVisible ( bool visible )

Definition at line 1177 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGraphVisible ( bool visible )

Definition at line 1173 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGridMapVisible ( bool visible )

Definition at line 1149 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGTColor ( const QColor & color )

Definition at line 1085 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGtGraphVisible ( bool visible )

Definition at line 1185 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setInterSessionLoopColor ( const QColor & color )

Definition at line 1115 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setIntraInterSessionColorsEnabled ( bool enabled )

Definition at line 1134 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setIntraSessionLoopColor ( const QColor & color )

Definition at line 1097 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLinkWidth ( float width )

Definition at line 971 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalLoopClosureColor ( const QColor & color )

Definition at line 1024 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalPathColor ( const QColor & color )

Definition at line 1077 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalPathVisible ( bool visible )

Definition at line 1181 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalRadius ( float radius )

Definition at line 731 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalRadiusVisible ( bool visible )

Definition at line 1161 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLoopClosureOutlierThr ( float value )

Definition at line 1165 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setMaxLinkLength ( float value )

Definition at line 1169 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNeighborColor ( const QColor & color )

Definition at line 998 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNeighborMergedColor ( const QColor & color )

Definition at line 1062 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNodeColor ( const QColor & color )

Definition at line 986 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNodeRadius ( float radius )

Definition at line 959 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setOriginVisible ( bool visible )

Definition at line 1153 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setReferentialVisible ( bool visible )

Definition at line 1157 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setRejectedLoopClosureColor ( const QColor & color )

Definition at line 1073 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setUserLoopClosureColor ( const QColor & color )

Definition at line 1040 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setVirtualLoopClosureColor ( const QColor & color )

Definition at line 1051 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setWorkingDirectory ( const QString & path )

Definition at line 955 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateGraph	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints,
		const std::map< int, int > &	mapIds
	)