Public Member Functions | Protected Member Functions | Private Slots | Private Member Functions | Private Attributes | List of all members
rtabmap::DatabaseViewer Class Reference

#include <DatabaseViewer.h>

Inheritance diagram for rtabmap::DatabaseViewer:
Inheritance graph
[legend]

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 keyPressEvent (QKeyEvent *event)
 
virtual void moveEvent (QMoveEvent *anEvent)
 
virtual void resizeEvent (QResizeEvent *anEvent)
 
virtual void showEvent (QShowEvent *anEvent)
 

Private Slots

void addConstraint ()
 
bool closeDatabase ()
 
void configModified ()
 
void detectMoreLoopClosures ()
 
void editDepthImage ()
 
void exportDatabase ()
 
void exportGPS_KML ()
 
void exportGPS_TXT ()
 
void exportOptimizedMesh ()
 
void exportPosesG2O ()
 
void exportPosesKITTI ()
 
void exportPosesKML ()
 
void exportPosesRaw ()
 
void exportPosesRGBDSLAM ()
 
void exportPosesTORO ()
 
void exportSaved2DMap ()
 
void extractImages ()
 
void generate3DMap ()
 
void generateGraph ()
 
void generateLocalGraph ()
 
void import2DMap ()
 
void notifyParametersChanged (const QStringList &)
 
void openDatabase ()
 
void recoverDatabase ()
 
void refineAllLoopClosureLinks ()
 
void refineAllNeighborLinks ()
 
void refineConstraint ()
 
void regenerateCurrentLocalMaps ()
 
void regenerateLocalMaps ()
 
void rejectConstraint ()
 
void resetAllChanges ()
 
void resetConstraint ()
 
void restoreDefaultSettings ()
 
void selectEmptyColor ()
 
void selectGroundColor ()
 
void selectObstacleColor ()
 
void setupMainLayout (bool 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 updateOctomapView ()
 
void updateOptimizedMesh ()
 
void updateStatistics ()
 
void updateStereo ()
 
void view3DMap ()
 
void viewOptimizedMesh ()
 
void writeSettings ()
 

Private Member Functions

bool addConstraint (int from, int to, bool silent)
 
bool containsLink (std::multimap< int, Link > &links, int from, int to)
 
void exportGPS (int format)
 
void exportPoses (int format)
 
Link findActiveLink (int from, int to)
 
QString getIniFilePath () const
 
void readSettings ()
 
void refineConstraint (int from, int to, bool silent)
 
void update (int value, QLabel *labelIndex, QLabel *labelParents, QLabel *labelChildren, QLabel *weight, QLabel *label, QLabel *stamp, rtabmap::ImageView *view, QLabel *labelId, QLabel *labelMapId, QLabel *labelPose, QLabel *labelVelocity, QLabel *labeCalib, QLabel *labelGps, bool updateConstraintView)
 
void updateConstraintButtons ()
 
void updateConstraintView (const rtabmap::Link &link, bool updateImageSliders=true, const Signature &signatureFrom=Signature(0), const Signature &signatureTo=Signature(0))
 
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 * cloudViewer_
 
CloudViewer * constraintsViewer_
 
std::string databaseFileName_
 
rtabmap::DBDriver * dbDriver_
 
EditDepthArea * editDepthArea_
 
QDialog * editDepthDialog_
 
ExportCloudsDialog * exportDialog_
 
bool firstCall_
 
std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > > generatedLocalMaps_
 
std::map< int, std::pair< float, cv::Point3f > > generatedLocalMapsInfo_
 
std::map< int, rtabmap::Transform > gpsPoses_
 
std::map< int, GPS > gpsValues_
 
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::map< int, Transform > lastOptimizedGraph_
 
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< std::pair< cv::Mat, cv::Mat >, cv::Mat > > localMaps_
 
std::map< int, std::pair< float, cv::Point3f > > localMapsInfo_
 
QList< rtabmap::Link > loopLinks_
 
std::map< int, int > mapIds_
 
std::map< int, cv::Mat > modifiedDepthImages_
 
QList< rtabmap::Link > neighborLinks_
 
CloudViewer * occupancyGridViewer_
 
OctoMap * octomap_
 
std::map< int, rtabmap::Transform > odomPoses_
 
QString pathDatabase_
 
bool savedMaximized_
 
CloudViewer * stereoViewer_
 
Ui_DatabaseViewer * ui_
 
bool useLastOptimizedGraphAsGuess_
 
std::map< int, int > weights_
 
std::map< int, std::vector< int > > wmStates_
 

Detailed Description

Definition at line 64 of file DatabaseViewer.h.

Constructor & Destructor Documentation

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

Definition at line 97 of file DatabaseViewer.cpp.

rtabmap::DatabaseViewer::~DatabaseViewer ( )
virtual

Definition at line 423 of file DatabaseViewer.cpp.

Member Function Documentation

void rtabmap::DatabaseViewer::addConstraint ( )
privateslot

Definition at line 6127 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::addConstraint ( int  from,
int  to,
bool  silent 
)
private

Definition at line 6134 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::closeDatabase ( )
privateslot

Definition at line 816 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::closeEvent ( QCloseEvent *  event)
protectedvirtual

Definition at line 1058 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::configModified ( )
privateslot

Definition at line 453 of file DatabaseViewer.cpp.

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

Definition at line 5788 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::detectMoreLoopClosures ( )
privateslot

Definition at line 3183 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::editDepthImage ( )
privateslot

Definition at line 1932 of file DatabaseViewer.cpp.

bool rtabmap::DatabaseViewer::eventFilter ( QObject *  obj,
QEvent *  event 
)
protectedvirtual

Definition at line 1142 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportDatabase ( )
privateslot

Definition at line 1152 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportGPS ( int  format)
private

Definition at line 2333 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportGPS_KML ( )
privateslot

Definition at line 2328 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportGPS_TXT ( )
privateslot

Definition at line 2324 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportOptimizedMesh ( )
privateslot

Definition at line 2493 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPoses ( int  format)
private

Definition at line 1981 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPosesG2O ( )
privateslot

Definition at line 1972 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPosesKITTI ( )
privateslot

Definition at line 1964 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPosesKML ( )
privateslot

Definition at line 1976 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPosesRaw ( )
privateslot

Definition at line 1956 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPosesRGBDSLAM ( )
privateslot

Definition at line 1960 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportPosesTORO ( )
privateslot

Definition at line 1968 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::exportSaved2DMap ( )
privateslot

Definition at line 2366 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::extractImages ( )
privateslot

Definition at line 1317 of file DatabaseViewer.cpp.

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

Definition at line 5761 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generate3DMap ( )
privateslot

Definition at line 3132 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generateGraph ( )
privateslot

Definition at line 2735 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::generateLocalGraph ( )
privateslot

Definition at line 2750 of file DatabaseViewer.cpp.

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

Definition at line 458 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::import2DMap ( )
privateslot

Definition at line 2402 of file DatabaseViewer.cpp.

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

Definition at line 72 of file DatabaseViewer.h.

void rtabmap::DatabaseViewer::keyPressEvent ( QKeyEvent *  event)
protectedvirtual

Definition at line 1133 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::moveEvent ( QMoveEvent *  anEvent)
protectedvirtual

Definition at line 1112 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::notifyParametersChanged ( const QStringList &  parametersChanged)
privateslot

Definition at line 6635 of file DatabaseViewer.cpp.

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

Definition at line 705 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::openDatabase ( )
privateslot

Definition at line 696 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::readSettings ( )
private

Definition at line 472 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::recoverDatabase ( )
privateslot

Definition at line 1029 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineAllLoopClosureLinks ( )
privateslot

Definition at line 3315 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineAllNeighborLinks ( )
privateslot

Definition at line 3283 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineConstraint ( )
privateslot

Definition at line 5793 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::refineConstraint ( int  from,
int  to,
bool  silent 
)
private

Definition at line 5800 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::regenerateCurrentLocalMaps ( )
privateslot

Definition at line 2971 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::regenerateLocalMaps ( )
privateslot

Definition at line 2836 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::rejectConstraint ( )
privateslot

Definition at line 6453 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::resetAllChanges ( )
privateslot

Definition at line 3347 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::resetConstraint ( )
privateslot

Definition at line 6416 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::resizeEvent ( QResizeEvent *  anEvent)
protectedvirtual

Definition at line 1125 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::restoreDefaultSettings ( )
privateslot

Definition at line 647 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::selectEmptyColor ( )
privateslot

Definition at line 1924 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::selectGroundColor ( )
privateslot

Definition at line 1916 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::selectObstacleColor ( )
privateslot

Definition at line 1908 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::setupMainLayout ( bool  vertical)
privateslot

Definition at line 432 of file DatabaseViewer.cpp.

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

Definition at line 448 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::showEvent ( QShowEvent *  anEvent)
protectedvirtual

Definition at line 1102 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderAMoved ( int  value)
privateslot

Definition at line 4332 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderAValueChanged ( int  value)
privateslot

Definition at line 3358 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderBMoved ( int  value)
privateslot

Definition at line 4345 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderBValueChanged ( int  value)
privateslot

Definition at line 3377 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderIterationsValueChanged ( int  value)
privateslot

Definition at line 4948 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderLoopValueChanged ( int  value)
privateslot

Definition at line 4375 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::sliderNeighborValueChanged ( int  value)
privateslot

Definition at line 4367 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,
QLabel *  labelId,
QLabel *  labelMapId,
QLabel *  labelPose,
QLabel *  labelVelocity,
QLabel *  labeCalib,
QLabel *  labelGps,
bool  updateConstraintView 
)
private

Definition at line 3396 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::update3dView ( )
privateslot

Definition at line 4358 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateConstraintButtons ( )
private

Definition at line 4901 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateConstraintView ( )
privateslot

Definition at line 4384 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateConstraintView ( const rtabmap::Link &  link,
bool  updateImageSliders = true,
const Signature &  signatureFrom = Signature(0),
const Signature &  signatureTo = Signature(0) 
)
private

Definition at line 4404 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateGraphView ( )
privateslot

Definition at line 5343 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateGrid ( )
privateslot

Definition at line 5667 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateIds ( )
private

Definition at line 1453 of file DatabaseViewer.cpp.

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

Definition at line 6506 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateLoggerLevel ( )
privateslot

Definition at line 4074 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateLoopClosuresSlider ( int  from = 0,
int  to = 0 
)
private

Definition at line 6568 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateOctomapView ( )
privateslot

Definition at line 5689 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateOptimizedMesh ( )
privateslot

Definition at line 2608 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateStatistics ( )
privateslot

Definition at line 1856 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateStereo ( )
privateslot

Definition at line 4082 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateStereo ( const SensorData *  data)
private

Definition at line 4094 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::updateWordsMatching ( )
private

Definition at line 4269 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::view3DMap ( )
privateslot

Definition at line 3081 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::viewOptimizedMesh ( )
privateslot

Definition at line 2441 of file DatabaseViewer.cpp.

void rtabmap::DatabaseViewer::writeSettings ( )
privateslot

Definition at line 557 of file DatabaseViewer.cpp.

Member Data Documentation

CloudViewer* rtabmap::DatabaseViewer::cloudViewer_
private

Definition at line 185 of file DatabaseViewer.h.

CloudViewer* rtabmap::DatabaseViewer::constraintsViewer_
private

Definition at line 184 of file DatabaseViewer.h.

std::string rtabmap::DatabaseViewer::databaseFileName_
private

Definition at line 197 of file DatabaseViewer.h.

rtabmap::DBDriver* rtabmap::DatabaseViewer::dbDriver_
private

Definition at line 195 of file DatabaseViewer.h.

EditDepthArea* rtabmap::DatabaseViewer::editDepthArea_
private

Definition at line 216 of file DatabaseViewer.h.

QDialog* rtabmap::DatabaseViewer::editDepthDialog_
private

Definition at line 215 of file DatabaseViewer.h.

ExportCloudsDialog* rtabmap::DatabaseViewer::exportDialog_
private

Definition at line 214 of file DatabaseViewer.h.

bool rtabmap::DatabaseViewer::firstCall_
private

Definition at line 219 of file DatabaseViewer.h.

std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > rtabmap::DatabaseViewer::generatedLocalMaps_
private

Definition at line 210 of file DatabaseViewer.h.

std::map<int, std::pair<float, cv::Point3f> > rtabmap::DatabaseViewer::generatedLocalMapsInfo_
private

Definition at line 211 of file DatabaseViewer.h.

std::map<int, rtabmap::Transform> rtabmap::DatabaseViewer::gpsPoses_
private

Definition at line 202 of file DatabaseViewer.h.

std::map<int, GPS> rtabmap::DatabaseViewer::gpsValues_
private

Definition at line 203 of file DatabaseViewer.h.

std::list<std::map<int, rtabmap::Transform> > rtabmap::DatabaseViewer::graphes_
private

Definition at line 198 of file DatabaseViewer.h.

std::multimap<int, rtabmap::Link> rtabmap::DatabaseViewer::graphLinks_
private

Definition at line 199 of file DatabaseViewer.h.

std::map<int, rtabmap::Transform> rtabmap::DatabaseViewer::groundTruthPoses_
private

Definition at line 201 of file DatabaseViewer.h.

QList<int> rtabmap::DatabaseViewer::ids_
private

Definition at line 188 of file DatabaseViewer.h.

QMap<int, int> rtabmap::DatabaseViewer::idToIndex_
private

Definition at line 192 of file DatabaseViewer.h.

QString rtabmap::DatabaseViewer::iniFilePath_
private

Definition at line 220 of file DatabaseViewer.h.

std::map<int, Transform> rtabmap::DatabaseViewer::lastOptimizedGraph_
private

Definition at line 223 of file DatabaseViewer.h.

std::multimap<int, rtabmap::Link> rtabmap::DatabaseViewer::links_
private

Definition at line 204 of file DatabaseViewer.h.

std::multimap<int, rtabmap::Link> rtabmap::DatabaseViewer::linksAdded_
private

Definition at line 206 of file DatabaseViewer.h.

std::multimap<int, rtabmap::Link> rtabmap::DatabaseViewer::linksRefined_
private

Definition at line 205 of file DatabaseViewer.h.

std::multimap<int, rtabmap::Link> rtabmap::DatabaseViewer::linksRemoved_
private

Definition at line 207 of file DatabaseViewer.h.

std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > rtabmap::DatabaseViewer::localMaps_
private

Definition at line 208 of file DatabaseViewer.h.

std::map<int, std::pair<float, cv::Point3f> > rtabmap::DatabaseViewer::localMapsInfo_
private

Definition at line 209 of file DatabaseViewer.h.

QList<rtabmap::Link> rtabmap::DatabaseViewer::loopLinks_
private

Definition at line 194 of file DatabaseViewer.h.

std::map<int, int> rtabmap::DatabaseViewer::mapIds_
private

Definition at line 189 of file DatabaseViewer.h.

std::map<int, cv::Mat> rtabmap::DatabaseViewer::modifiedDepthImages_
private

Definition at line 212 of file DatabaseViewer.h.

QList<rtabmap::Link> rtabmap::DatabaseViewer::neighborLinks_
private

Definition at line 193 of file DatabaseViewer.h.

CloudViewer* rtabmap::DatabaseViewer::occupancyGridViewer_
private

Definition at line 187 of file DatabaseViewer.h.

OctoMap* rtabmap::DatabaseViewer::octomap_
private

Definition at line 213 of file DatabaseViewer.h.

std::map<int, rtabmap::Transform> rtabmap::DatabaseViewer::odomPoses_
private

Definition at line 200 of file DatabaseViewer.h.

QString rtabmap::DatabaseViewer::pathDatabase_
private

Definition at line 196 of file DatabaseViewer.h.

bool rtabmap::DatabaseViewer::savedMaximized_
private

Definition at line 218 of file DatabaseViewer.h.

CloudViewer* rtabmap::DatabaseViewer::stereoViewer_
private

Definition at line 186 of file DatabaseViewer.h.

Ui_DatabaseViewer* rtabmap::DatabaseViewer::ui_
private

Definition at line 183 of file DatabaseViewer.h.

bool rtabmap::DatabaseViewer::useLastOptimizedGraphAsGuess_
private

Definition at line 222 of file DatabaseViewer.h.

std::map<int, int> rtabmap::DatabaseViewer::weights_
private

Definition at line 190 of file DatabaseViewer.h.

std::map<int, std::vector<int> > rtabmap::DatabaseViewer::wmStates_
private

Definition at line 191 of file DatabaseViewer.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:42