LoopClosureViewer.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef RTABMAP_LOOPCLOSUREVIEWER_H_
29 #define RTABMAP_LOOPCLOSUREVIEWER_H_
30 
31 #include "rtabmap/gui/rtabmap_gui_export.h" // DLL export/import defines
32 
34 #include <rtabmap/core/Transform.h>
35 #include <rtabmap/core/Signature.h>
36 #include <opencv2/opencv.hpp>
37 #include <QWidget>
38 
39 class Ui_loopClosureViewer;
40 
41 namespace rtabmap {
42 
43 class RTABMAP_GUI_EXPORT LoopClosureViewer : public QWidget {
44 
45  Q_OBJECT
46 
47 public:
48  LoopClosureViewer(QWidget * parent = 0);
49  virtual ~LoopClosureViewer();
50 
51  void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA
52 
53  const Signature & sA() const {return sA_;}
54  const Signature & sB() const {return sB_;}
55 
56 public Q_SLOTS:
57  void setDecimation(int decimation) {decimation_ = decimation;}
58  void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
59  void setMinDepth(int minDepth) {minDepth_ = minDepth;}
60  void updateView(const Transform & AtoB = Transform(), const ParametersMap & parameters = ParametersMap());
61 
62 protected:
63  virtual void showEvent(QShowEvent * event);
64 
65 private:
66  Ui_loopClosureViewer * ui_;
67 
71 
73  float maxDepth_;
74  float minDepth_;
75 };
76 
77 } /* namespace rtabmap */
78 #endif /* LOOPCLOSUREVIEWER_H_ */
rtabmap::LoopClosureViewer::sA
const Signature & sA() const
Definition: LoopClosureViewer.h:53
rtabmap::LoopClosureViewer::setDecimation
void setDecimation(int decimation)
Definition: LoopClosureViewer.h:57
Transform.h
rtabmap::LoopClosureViewer::minDepth_
float minDepth_
Definition: LoopClosureViewer.h:74
rtabmap::LoopClosureViewer::sA_
Signature sA_
Definition: LoopClosureViewer.h:68
rtabmap::LoopClosureViewer::setMinDepth
void setMinDepth(int minDepth)
Definition: LoopClosureViewer.h:59
rtabmap::LoopClosureViewer::sB_
Signature sB_
Definition: LoopClosureViewer.h:69
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::LoopClosureViewer
Definition: LoopClosureViewer.h:43
Parameters.h
Signature.h
rtabmap::LoopClosureViewer::decimation_
int decimation_
Definition: LoopClosureViewer.h:72
rtabmap::Transform
Definition: Transform.h:41
rtabmap::LoopClosureViewer::setMaxDepth
void setMaxDepth(int maxDepth)
Definition: LoopClosureViewer.h:58
rtabmap::LoopClosureViewer::sB
const Signature & sB() const
Definition: LoopClosureViewer.h:54
rtabmap::LoopClosureViewer::ui_
Ui_loopClosureViewer * ui_
Definition: LoopClosureViewer.h:66
rtabmap::LoopClosureViewer::maxDepth_
float maxDepth_
Definition: LoopClosureViewer.h:73
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::LoopClosureViewer::transform_
Transform transform_
Definition: LoopClosureViewer.h:70
rtabmap::Signature
Definition: Signature.h:48


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11