guilib
include
rtabmap
gui
LoopClosureViewer.h
Go to the documentation of this file.
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RTABMAP_LOOPCLOSUREVIEWER_H_
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#define RTABMAP_LOOPCLOSUREVIEWER_H_
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#include "rtabmap/gui/rtabmap_gui_export.h"
// DLL export/import defines
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#include <
rtabmap/core/Parameters.h
>
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#include <
rtabmap/core/Transform.h
>
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#include <
rtabmap/core/Signature.h
>
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#include <opencv2/opencv.hpp>
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#include <QWidget>
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class
Ui_loopClosureViewer;
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namespace
rtabmap
{
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class
RTABMAP_GUI_EXPORT
LoopClosureViewer
:
public
QWidget {
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Q_OBJECT
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public
:
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LoopClosureViewer
(QWidget * parent = 0);
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virtual
~
LoopClosureViewer
();
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void
setData(
const
Signature
& sA,
const
Signature
& sB);
// sB contains loop transform as pose() from sA
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const
Signature
&
sA
()
const
{
return
sA_;}
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const
Signature
&
sB
()
const
{
return
sB_;}
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public
Q_SLOTS:
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void
setDecimation
(
int
decimation) {decimation_ = decimation;}
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void
setMaxDepth
(
int
maxDepth) {maxDepth_ = maxDepth;}
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void
setMinDepth
(
int
minDepth) {minDepth_ = minDepth;}
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void
updateView(
const
Transform
& AtoB =
Transform
(),
const
ParametersMap
& parameters =
ParametersMap
());
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protected
:
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virtual
void
showEvent(QShowEvent * event);
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private
:
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Ui_loopClosureViewer *
ui_
;
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Signature
sA_
;
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Signature
sB_
;
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Transform
transform_
;
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int
decimation_
;
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float
maxDepth_
;
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float
minDepth_
;
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};
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}
/* namespace rtabmap */
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#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