Public Slots | Signals | Public Member Functions | Static Public Attributes | Private Slots | Private Member Functions | Private Attributes | List of all members
octomap::ViewerGui Class Reference

#include <ViewerGui.h>

Inheritance diagram for octomap::ViewerGui:
Inheritance graph
[legend]

Public Slots

void addNextScans (unsigned scans)
 
void changeTreeDepth (int depth)
 
void gotoFirstScan ()
 
bool isShown ()
 

Signals

void changeCamPosition (double x, double y, double z, double lookX, double lookY, double lookZ)
 
void changeCurrentScan (unsigned scans)
 
void changeNumberOfScans (unsigned scans)
 
void changeResolution (double resolution)
 
void updateStatusBar (QString message, int duration)
 

Public Member Functions

 ViewerGui (const std::string &filename="", QWidget *parent=0, unsigned int initTreeDepth=16)
 
 ~ViewerGui ()
 

Static Public Attributes

static const unsigned int DEFAULT_OCTREE_ID = 0
 
static const unsigned int LASERTYPE_SICK = 1
 
static const unsigned int LASERTYPE_URG = 0
 

Private Slots

void on_action_bg_black_triggered ()
 
void on_action_bg_gray_triggered ()
 
void on_action_bg_white_triggered ()
 
void on_actionAlternateRendering_toggled (bool checked)
 
void on_actionAxes_toggled (bool checked)
 
void on_actionClear_nodes_in_selection_triggered ()
 
void on_actionClear_selection_triggered ()
 
void on_actionClear_triggered ()
 
void on_actionClear_unknown_in_selection_triggered ()
 
void on_actionConvert_ml_tree_triggered ()
 
void on_actionDelete_nodes_in_selection_triggered ()
 
void on_actionDelete_nodes_outside_of_selection_triggered ()
 
void on_actionExit_triggered ()
 
void on_actionExpand_tree_triggered ()
 
void on_actionExport_sequence_triggered (bool checked)
 
void on_actionExport_view_triggered ()
 
void on_actionFill_nodes_in_selection_triggered ()
 
void on_actionFill_selection_triggered ()
 
void on_actionFill_unknown_in_selection_triggered ()
 
void on_actionFree_toggled (bool enabled)
 
void on_actionHeight_map_toggled (bool checked)
 
void on_actionHelp_triggered ()
 
void on_actionHideBackground_toggled (bool checked)
 
void on_actionOctree_cells_toggled (bool enabled)
 
void on_actionOctree_structure_toggled (bool enabled)
 
void on_actionOpen_file_triggered ()
 
void on_actionOpen_graph_incremental_triggered ()
 
void on_actionPointcloud_toggled (bool checked)
 
void on_actionPrintout_mode_toggled (bool checked)
 
void on_actionPrune_tree_triggered ()
 
void on_actionReload_Octree_triggered ()
 
void on_actionRestore_camera_triggered ()
 
void on_actionSave_file_triggered ()
 
void on_actionSelected_toggled (bool enabled)
 
void on_actionSelection_box_toggled (bool checked)
 
void on_actionSemanticColoring_toggled (bool checked)
 
void on_actionSettings_triggered ()
 
void on_actionStore_camera_triggered ()
 
void on_actionTest_triggered ()
 
void on_actionTrajectory_toggled (bool checked)
 
void on_loadcampose_triggered ()
 
void on_savecampose_triggered ()
 

Private Member Functions

void addNextScan ()
 
void addOctree (AbstractOcTree *tree, int id, pose6d origin)
 
void addOctree (AbstractOcTree *tree, int id)
 
void generateOctree ()
 
bool getOctreeRecord (int id, OcTreeRecord *&otr)
 
void loadCameraPosition (const char *filename)
 
void loadGraph (bool completeGraph=true)
 
void openFile ()
 
void openGraph (bool completeGraph=true)
 
void openMapCollection ()
 
void openOcTree ()
 open "regular" file containing an octree More...
 
void openPC ()
 
void openPointcloud ()
 
void openTree ()
 open binary format OcTree More...
 
void saveCameraPosition (const char *filename) const
 
void setNodesInBBX (const point3d &min, const point3d &max, bool occupied)
 
void setNonNodesInBBX (const point3d &min, const point3d &max, bool occupied)
 
void setOcTreeUISwitches ()
 
void showInfo (QString string, bool newline=false)
 
void showOcTree ()
 
void updateNodesInBBX (const point3d &min, const point3d &max, bool occupied)
 

Private Attributes

CameraFollowMode * m_cameraFollowMode
 
bool m_cameraStored
 
std::string m_filename
 Filename of last loaded file, in case it is necessary to reload it. More...
 
ViewerWidget * m_glwidget
 
double m_laserMaxRange
 
unsigned int m_laserType
 
QLabel * m_mapMemoryStatus
 
QLabel * m_mapSizeStatus
 
unsigned int m_max_tree_depth
 
ScanGraph::iterator m_nextScanToAdd
 
double m_occupancyThresh
 
double m_octreeResolution
 
std::map< int, OcTreeRecord > m_octrees
 
PointcloudDrawer * m_pointcloudDrawer
 
ScanGraph * m_scanGraph
 
TrajectoryDrawer * m_trajectoryDrawer
 
Ui::ViewerGuiClass ui
 

Detailed Description

Definition at line 55 of file ViewerGui.h.

Constructor & Destructor Documentation

◆ ViewerGui()

octomap::ViewerGui::ViewerGui ( const std::string &  filename = "",
QWidget *  parent = 0,
unsigned int  initTreeDepth = 16 
)

Definition at line 41 of file ViewerGui.cpp.

◆ ~ViewerGui()

octomap::ViewerGui::~ViewerGui ( )

Definition at line 133 of file ViewerGui.cpp.

Member Function Documentation

◆ addNextScan()

void octomap::ViewerGui::addNextScan ( )
private

Adds a scan from the graph to the OcTree

Definition at line 363 of file ViewerGui.cpp.

◆ addNextScans

void octomap::ViewerGui::addNextScans ( unsigned  scans)
slot

Definition at line 387 of file ViewerGui.cpp.

◆ addOctree() [1/2]

void octomap::ViewerGui::addOctree ( octomap::AbstractOcTree *  tree,
int  id,
octomap::pose6d  origin 
)
private

Definition at line 184 of file ViewerGui.cpp.

◆ addOctree() [2/2]

void octomap::ViewerGui::addOctree ( octomap::AbstractOcTree *  tree,
int  id 
)
private

Definition at line 231 of file ViewerGui.cpp.

◆ changeCamPosition

void octomap::ViewerGui::changeCamPosition ( double  x,
double  y,
double  z,
double  lookX,
double  lookY,
double  lookZ 
)
signal

◆ changeCurrentScan

void octomap::ViewerGui::changeCurrentScan ( unsigned  scans)
signal

◆ changeNumberOfScans

void octomap::ViewerGui::changeNumberOfScans ( unsigned  scans)
signal

◆ changeResolution

void octomap::ViewerGui::changeResolution ( double  resolution)
signal

◆ changeTreeDepth

void octomap::ViewerGui::changeTreeDepth ( int  depth)
slot

Definition at line 615 of file ViewerGui.cpp.

◆ generateOctree()

void octomap::ViewerGui::generateOctree ( )
private

(Re-)generates OcTree from the internally stored ScanGraph

Definition at line 306 of file ViewerGui.cpp.

◆ getOctreeRecord()

bool octomap::ViewerGui::getOctreeRecord ( int  id,
OcTreeRecord *&  otr 
)
private

Definition at line 173 of file ViewerGui.cpp.

◆ gotoFirstScan

void octomap::ViewerGui::gotoFirstScan ( )
slot

Definition at line 344 of file ViewerGui.cpp.

◆ isShown

bool octomap::ViewerGui::isShown ( )
slot

Definition at line 159 of file ViewerGui.cpp.

◆ loadCameraPosition()

void octomap::ViewerGui::loadCameraPosition ( const char *  filename)
private

Definition at line 1231 of file ViewerGui.cpp.

◆ loadGraph()

void octomap::ViewerGui::loadGraph ( bool  completeGraph = true)
private

Finishes loading a ScanGraph, either from .log or .graph.

Definition at line 552 of file ViewerGui.cpp.

◆ on_action_bg_black_triggered

void octomap::ViewerGui::on_action_bg_black_triggered ( )
privateslot

Definition at line 1184 of file ViewerGui.cpp.

◆ on_action_bg_gray_triggered

void octomap::ViewerGui::on_action_bg_gray_triggered ( )
privateslot

Definition at line 1194 of file ViewerGui.cpp.

◆ on_action_bg_white_triggered

void octomap::ViewerGui::on_action_bg_white_triggered ( )
privateslot

Definition at line 1189 of file ViewerGui.cpp.

◆ on_actionAlternateRendering_toggled

void octomap::ViewerGui::on_actionAlternateRendering_toggled ( bool  checked)
privateslot

Definition at line 1055 of file ViewerGui.cpp.

◆ on_actionAxes_toggled

void octomap::ViewerGui::on_actionAxes_toggled ( bool  checked)
privateslot

Definition at line 1038 of file ViewerGui.cpp.

◆ on_actionClear_nodes_in_selection_triggered

void octomap::ViewerGui::on_actionClear_nodes_in_selection_triggered ( )
privateslot

Definition at line 753 of file ViewerGui.cpp.

◆ on_actionClear_selection_triggered

void octomap::ViewerGui::on_actionClear_selection_triggered ( )
privateslot

Definition at line 761 of file ViewerGui.cpp.

◆ on_actionClear_triggered

void octomap::ViewerGui::on_actionClear_triggered ( )
privateslot

Definition at line 1062 of file ViewerGui.cpp.

◆ on_actionClear_unknown_in_selection_triggered

void octomap::ViewerGui::on_actionClear_unknown_in_selection_triggered ( )
privateslot

Definition at line 769 of file ViewerGui.cpp.

◆ on_actionConvert_ml_tree_triggered

void octomap::ViewerGui::on_actionConvert_ml_tree_triggered ( )
privateslot

Definition at line 1085 of file ViewerGui.cpp.

◆ on_actionDelete_nodes_in_selection_triggered

void octomap::ViewerGui::on_actionDelete_nodes_in_selection_triggered ( )
privateslot

Definition at line 803 of file ViewerGui.cpp.

◆ on_actionDelete_nodes_outside_of_selection_triggered

void octomap::ViewerGui::on_actionDelete_nodes_outside_of_selection_triggered ( )
privateslot

Definition at line 826 of file ViewerGui.cpp.

◆ on_actionExit_triggered

void octomap::ViewerGui::on_actionExit_triggered ( )
privateslot

Definition at line 627 of file ViewerGui.cpp.

◆ on_actionExpand_tree_triggered

void octomap::ViewerGui::on_actionExpand_tree_triggered ( )
privateslot

Definition at line 1121 of file ViewerGui.cpp.

◆ on_actionExport_sequence_triggered

void octomap::ViewerGui::on_actionExport_sequence_triggered ( bool  checked)
privateslot

Definition at line 953 of file ViewerGui.cpp.

◆ on_actionExport_view_triggered

void octomap::ViewerGui::on_actionExport_view_triggered ( )
privateslot

Definition at line 948 of file ViewerGui.cpp.

◆ on_actionFill_nodes_in_selection_triggered

void octomap::ViewerGui::on_actionFill_nodes_in_selection_triggered ( )
privateslot

Definition at line 795 of file ViewerGui.cpp.

◆ on_actionFill_selection_triggered

void octomap::ViewerGui::on_actionFill_selection_triggered ( )
privateslot

Definition at line 787 of file ViewerGui.cpp.

◆ on_actionFill_unknown_in_selection_triggered

void octomap::ViewerGui::on_actionFill_unknown_in_selection_triggered ( )
privateslot

Definition at line 778 of file ViewerGui.cpp.

◆ on_actionFree_toggled

void octomap::ViewerGui::on_actionFree_toggled ( bool  enabled)
privateslot

Definition at line 1156 of file ViewerGui.cpp.

◆ on_actionHeight_map_toggled

void octomap::ViewerGui::on_actionHeight_map_toggled ( bool  checked)
privateslot

Definition at line 989 of file ViewerGui.cpp.

◆ on_actionHelp_triggered

void octomap::ViewerGui::on_actionHelp_triggered ( )
privateslot

Definition at line 631 of file ViewerGui.cpp.

◆ on_actionHideBackground_toggled

void octomap::ViewerGui::on_actionHideBackground_toggled ( bool  checked)
privateslot

Definition at line 1046 of file ViewerGui.cpp.

◆ on_actionOctree_cells_toggled

void octomap::ViewerGui::on_actionOctree_cells_toggled ( bool  enabled)
privateslot

Definition at line 1140 of file ViewerGui.cpp.

◆ on_actionOctree_structure_toggled

void octomap::ViewerGui::on_actionOctree_structure_toggled ( bool  enabled)
privateslot

Definition at line 1148 of file ViewerGui.cpp.

◆ on_actionOpen_file_triggered

void octomap::ViewerGui::on_actionOpen_file_triggered ( )
privateslot

Definition at line 669 of file ViewerGui.cpp.

◆ on_actionOpen_graph_incremental_triggered

void octomap::ViewerGui::on_actionOpen_graph_incremental_triggered ( )
privateslot

Definition at line 684 of file ViewerGui.cpp.

◆ on_actionPointcloud_toggled

void octomap::ViewerGui::on_actionPointcloud_toggled ( bool  checked)
privateslot

Definition at line 1020 of file ViewerGui.cpp.

◆ on_actionPrintout_mode_toggled

void octomap::ViewerGui::on_actionPrintout_mode_toggled ( bool  checked)
privateslot

Definition at line 967 of file ViewerGui.cpp.

◆ on_actionPrune_tree_triggered

void octomap::ViewerGui::on_actionPrune_tree_triggered ( )
privateslot

Definition at line 1106 of file ViewerGui.cpp.

◆ on_actionReload_Octree_triggered

void octomap::ViewerGui::on_actionReload_Octree_triggered ( )
privateslot

Definition at line 1077 of file ViewerGui.cpp.

◆ on_actionRestore_camera_triggered

void octomap::ViewerGui::on_actionRestore_camera_triggered ( )
privateslot

Definition at line 1014 of file ViewerGui.cpp.

◆ on_actionSave_file_triggered

void octomap::ViewerGui::on_actionSave_file_triggered ( )
privateslot

Definition at line 701 of file ViewerGui.cpp.

◆ on_actionSelected_toggled

void octomap::ViewerGui::on_actionSelected_toggled ( bool  enabled)
privateslot

Definition at line 1165 of file ViewerGui.cpp.

◆ on_actionSelection_box_toggled

void octomap::ViewerGui::on_actionSelection_box_toggled ( bool  checked)
privateslot

Definition at line 976 of file ViewerGui.cpp.

◆ on_actionSemanticColoring_toggled

void octomap::ViewerGui::on_actionSemanticColoring_toggled ( bool  checked)
privateslot

Definition at line 997 of file ViewerGui.cpp.

◆ on_actionSettings_triggered

void octomap::ViewerGui::on_actionSettings_triggered ( )
privateslot

Definition at line 635 of file ViewerGui.cpp.

◆ on_actionStore_camera_triggered

void octomap::ViewerGui::on_actionStore_camera_triggered ( )
privateslot

Definition at line 1007 of file ViewerGui.cpp.

◆ on_actionTest_triggered

void octomap::ViewerGui::on_actionTest_triggered ( )
privateslot

Definition at line 1073 of file ViewerGui.cpp.

◆ on_actionTrajectory_toggled

void octomap::ViewerGui::on_actionTrajectory_toggled ( bool  checked)
privateslot

Definition at line 1029 of file ViewerGui.cpp.

◆ on_loadcampose_triggered

void octomap::ViewerGui::on_loadcampose_triggered ( )
privateslot

Definition at line 1210 of file ViewerGui.cpp.

◆ on_savecampose_triggered

void octomap::ViewerGui::on_savecampose_triggered ( )
privateslot

Definition at line 1199 of file ViewerGui.cpp.

◆ openFile()

void octomap::ViewerGui::openFile ( )
private

(Re-)load the data file stored in m_fileName. Depending on the extension, the respective load function is used.

Definition at line 396 of file ViewerGui.cpp.

◆ openGraph()

void octomap::ViewerGui::openGraph ( bool  completeGraph = true)
private

Opens a .graph file and generates a ScanGraph from it. Afterwards, loadGraph() is called.

Definition at line 425 of file ViewerGui.cpp.

◆ openMapCollection()

void octomap::ViewerGui::openMapCollection ( )
private

Definition at line 520 of file ViewerGui.cpp.

◆ openOcTree()

void octomap::ViewerGui::openOcTree ( )
private

open "regular" file containing an octree

Definition at line 493 of file ViewerGui.cpp.

◆ openPC()

void octomap::ViewerGui::openPC ( )
private

Opens a .pc PointCloud

◆ openPointcloud()

void octomap::ViewerGui::openPointcloud ( )
private

Reads in a .dat file which consists of single points in ASCII, one point per line, values separated by white spaces

Definition at line 438 of file ViewerGui.cpp.

◆ openTree()

void octomap::ViewerGui::openTree ( )
private

open binary format OcTree

Definition at line 481 of file ViewerGui.cpp.

◆ saveCameraPosition()

void octomap::ViewerGui::saveCameraPosition ( const char *  filename) const
private

Definition at line 1223 of file ViewerGui.cpp.

◆ setNodesInBBX()

void octomap::ViewerGui::setNodesInBBX ( const point3d &  min,
const point3d &  max,
bool  occupied 
)
private

Definition at line 890 of file ViewerGui.cpp.

◆ setNonNodesInBBX()

void octomap::ViewerGui::setNonNodesInBBX ( const point3d &  min,
const point3d &  max,
bool  occupied 
)
private

Definition at line 918 of file ViewerGui.cpp.

◆ setOcTreeUISwitches()

void octomap::ViewerGui::setOcTreeUISwitches ( )
private

Definition at line 466 of file ViewerGui.cpp.

◆ showInfo()

void octomap::ViewerGui::showInfo ( QString  string,
bool  newline = false 
)
private

Definition at line 163 of file ViewerGui.cpp.

◆ showOcTree()

void octomap::ViewerGui::showOcTree ( )
private

Definition at line 236 of file ViewerGui.cpp.

◆ updateNodesInBBX()

void octomap::ViewerGui::updateNodesInBBX ( const point3d &  min,
const point3d &  max,
bool  occupied 
)
private

Definition at line 859 of file ViewerGui.cpp.

◆ updateStatusBar

void octomap::ViewerGui::updateStatusBar ( QString  message,
int  duration 
)
signal

Member Data Documentation

◆ DEFAULT_OCTREE_ID

const unsigned int octomap::ViewerGui::DEFAULT_OCTREE_ID = 0
static

Definition at line 66 of file ViewerGui.h.

◆ LASERTYPE_SICK

const unsigned int octomap::ViewerGui::LASERTYPE_SICK = 1
static

Definition at line 63 of file ViewerGui.h.

◆ LASERTYPE_URG

const unsigned int octomap::ViewerGui::LASERTYPE_URG = 0
static

Definition at line 62 of file ViewerGui.h.

◆ m_cameraFollowMode

CameraFollowMode* octomap::ViewerGui::m_cameraFollowMode
private

Definition at line 209 of file ViewerGui.h.

◆ m_cameraStored

bool octomap::ViewerGui::m_cameraStored
private

Definition at line 215 of file ViewerGui.h.

◆ m_filename

std::string octomap::ViewerGui::m_filename
private

Filename of last loaded file, in case it is necessary to reload it.

Definition at line 220 of file ViewerGui.h.

◆ m_glwidget

ViewerWidget* octomap::ViewerGui::m_glwidget
private

Definition at line 206 of file ViewerGui.h.

◆ m_laserMaxRange

double octomap::ViewerGui::m_laserMaxRange
private

Definition at line 211 of file ViewerGui.h.

◆ m_laserType

unsigned int octomap::ViewerGui::m_laserType
private

Definition at line 214 of file ViewerGui.h.

◆ m_mapMemoryStatus

QLabel* octomap::ViewerGui::m_mapMemoryStatus
private

Definition at line 217 of file ViewerGui.h.

◆ m_mapSizeStatus

QLabel* octomap::ViewerGui::m_mapSizeStatus
private

Definition at line 216 of file ViewerGui.h.

◆ m_max_tree_depth

unsigned int octomap::ViewerGui::m_max_tree_depth
private

Definition at line 213 of file ViewerGui.h.

◆ m_nextScanToAdd

ScanGraph::iterator octomap::ViewerGui::m_nextScanToAdd
private

Definition at line 203 of file ViewerGui.h.

◆ m_occupancyThresh

double octomap::ViewerGui::m_occupancyThresh
private

Definition at line 212 of file ViewerGui.h.

◆ m_octreeResolution

double octomap::ViewerGui::m_octreeResolution
private

Definition at line 210 of file ViewerGui.h.

◆ m_octrees

std::map<int, OcTreeRecord> octomap::ViewerGui::m_octrees
private

Definition at line 200 of file ViewerGui.h.

◆ m_pointcloudDrawer

PointcloudDrawer* octomap::ViewerGui::m_pointcloudDrawer
private

Definition at line 208 of file ViewerGui.h.

◆ m_scanGraph

ScanGraph* octomap::ViewerGui::m_scanGraph
private

Definition at line 202 of file ViewerGui.h.

◆ m_trajectoryDrawer

TrajectoryDrawer* octomap::ViewerGui::m_trajectoryDrawer
private

Definition at line 207 of file ViewerGui.h.

◆ ui

Ui::ViewerGuiClass octomap::ViewerGui::ui
private

Definition at line 205 of file ViewerGui.h.

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

octovis
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Mon Feb 28 2022 22:58:17