RTABMapApp.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:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
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
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef RTABMAP_APP_H_
29 #define RTABMAP_APP_H_
30 
31 #ifdef __ANDROID__
32 #include <jni.h>
33 #endif
34 #include <memory>
35 
36 #include <tango-gl/util.h>
37 
38 #include "scene.h"
39 #include "CameraMobile.h"
40 #include "util.h"
41 #include "ProgressionStatus.h"
42 
47 #include <boost/thread/mutex.hpp>
48 #include <pcl/pcl_base.h>
49 #include <pcl/TextureMesh.h>
50 
51 
52 // RTABMapApp handles the application lifecycle and resources.
53 class RTABMapApp : public UEventsHandler {
54  public:
55  // Constructor and deconstructor.
56 #ifdef __ANDROID__
57  RTABMapApp(JNIEnv* env, jobject caller_activity);
58 #else // __APPLE__
59  RTABMapApp();
60  void setupSwiftCallbacks(void * classPtr,
61  void(*progressCallback)(void *, int, int),
62  void(*initCallback)(void *, int, const char*),
63  void(*statsUpdatedCallback)(void *,
64  int, int, int, int,
65  float,
66  int, int, int, int, int ,int,
67  float,
68  int,
69  float,
70  int,
71  float, float, float, float,
72  int, int,
73  float, float, float, float, float, float));
74 
75 #endif
76  ~RTABMapApp();
77 
78  void setScreenRotation(int displayRotation, int cameraRotation);
79 
80  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
81 
82  bool isBuiltWith(int cameraDriver) const;
83 #ifdef __ANDROID__
84  bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
85 #else // __APPLE__
86  bool startCamera();
87 #endif
88  // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
89  void InitializeGLContent();
90 
91  // Setup the view port width and height.
92  void SetViewPort(int width, int height);
93 
94  // Main render loop.
95  int Render();
96 
97  void stopCamera();
98 
99  // Set render camera's viewing angle, first person, third person or top down.
100  //
101  // @param: camera_type, camera type includes first person, third person and
102  // top down
104 
105  // Touch event passed from android activity. This function only supports two
106  // touches.
107  //
108  // @param: touch_count, total count for touches.
109  // @param: event, touch event of current touch.
110  // @param: x0, normalized touch location for touch 0 on x axis.
111  // @param: y0, normalized touch location for touch 0 on y axis.
112  // @param: x1, normalized touch location for touch 1 on x axis.
113  // @param: y1, normalized touch location for touch 1 on y axis.
114  void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
115  float x0, float y0, float x1, float y1);
116 
117  void setPausedMapping(bool paused);
118  void setOnlineBlending(bool enabled);
119  void setMapCloudShown(bool shown);
120  void setOdomCloudShown(bool shown);
121  void setMeshRendering(bool enabled, bool withTexture);
122  void setPointSize(float value);
123  void setFOV(float angle);
124  void setOrthoCropFactor(float value);
125  void setGridRotation(float value);
126  void setLighting(bool enabled);
127  void setBackfaceCulling(bool enabled);
128  void setWireframe(bool enabled);
129  void setLocalizationMode(bool enabled);
130  void setTrajectoryMode(bool enabled);
131  void setGraphOptimization(bool enabled);
132  void setNodesFiltering(bool enabled);
133  void setGraphVisible(bool visible);
134  void setGridVisible(bool visible);
135  void setRawScanSaved(bool enabled);
136  void setCameraColor(bool enabled);
137  void setFullResolution(bool enabled);
138  void setSmoothing(bool enabled);
139  void setDepthFromMotion(bool enabled);
140  void setAppendMode(bool enabled);
141  void setDataRecorderMode(bool enabled);
142  void setMaxCloudDepth(float value);
143  void setMinCloudDepth(float value);
144  void setCloudDensityLevel(int value);
145  void setMeshAngleTolerance(float value);
146  void setMeshDecimationFactor(float value);
147  void setMeshTriangleSize(int value);
148  void setClusterRatio(float value);
149  void setMaxGainRadius(float value);
151  void setBackgroundColor(float gray);
152  void setDepthConfidence(int value);
153  int setMappingParameter(const std::string & key, const std::string & value);
154  void setGPS(const rtabmap::GPS & gps);
155  void addEnvSensor(int type, float value);
156 
157  void save(const std::string & databasePath);
158  bool recover(const std::string & from, const std::string & to);
159  void cancelProcessing();
160  bool exportMesh(
161  float cloudVoxelSize,
162  bool regenerateCloud,
163  bool meshing,
164  int textureSize,
165  int textureCount,
166  int normalK,
167  bool optimized,
168  float optimizedVoxelSize,
169  int optimizedDepth,
170  int optimizedMaxPolygons,
171  float optimizedColorRadius,
172  bool optimizedCleanWhitePolygons,
173  int optimizedMinClusterSize,
174  float optimizedMaxTextureDistance,
175  int optimizedMinTextureClusterSize,
176  bool blockRendering);
177  bool postExportation(bool visualize);
178  bool writeExportedMesh(const std::string & directory, const std::string & name);
179  int postProcessing(int approach);
180 
181  void postCameraPoseEvent(
182  float x, float y, float z, float qx, float qy, float qz, float qw, double stamp);
183 
184  void postOdometryEvent(
185  rtabmap::Transform pose,
186  float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
187  float depth_fx, float depth_fy, float depth_cx, float depth_cy,
188  const rtabmap::Transform & rgbFrame,
189  const rtabmap::Transform & depthFrame,
190  double stamp,
191  double depthStamp,
192  const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
193  const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
194  const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
195  const float * points, int pointsLen, int pointsChannels,
196  const rtabmap::Transform & viewMatrix, //view matrix
197  float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
198  float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
199 
200  protected:
201  virtual bool handleEvent(UEvent * event);
202 
203  private:
204  int updateMeshDecimation(int width, int height);
206  bool smoothMesh(int id, rtabmap::Mesh & mesh);
207  void gainCompensation(bool full = false);
208  std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
209  std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
210 
211  private:
218 
242 
244 
261  std::map<std::string, float> bufferedStatsData_;
262 
265  pcl::TextureMesh::Ptr optMesh_;
266  cv::Mat optTexture_;
268  rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
269 
270  // main_scene_ includes all drawable object for visualizing Tango device's
271  // movement and point cloud.
273 
275 
276  std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
277  std::list<rtabmap::SensorEvent> sensorEvents_;
278  std::list<rtabmap::Transform> poseEvents_;
279 
281 
282  boost::mutex cameraMutex_;
283  boost::mutex rtabmapMutex_;
284  boost::mutex meshesMutex_;
285  boost::mutex sensorMutex_;
286  boost::mutex poseMutex_;
287  boost::mutex renderingMutex_;
288 
290 
291  std::map<int, rtabmap::Mesh> createdMeshes_;
292  std::map<int, rtabmap::Transform> rawPoses_;
293 
294  std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
295 
297 
298 #ifndef __ANDROID__
300  void(*swiftInitCallback)(void *, int, const char *);
302  int, int, int, int,
303  float,
304  int, int, int, int, int ,int,
305  float,
306  int,
307  float,
308  int,
309  float, float, float, float,
310  int, int,
312 
313 #endif
314 };
315 
316 #endif // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_
RTABMapApp::swiftStatsUpdatedCallback
void(* swiftStatsUpdatedCallback)(void *, int, int, int, int, float, int, int, int, int, int, int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float)
Definition: RTABMapApp.h:301
UEventsHandler
Definition: UEventsHandler.h:128
rtabmap::SensorCaptureThread
Definition: SensorCaptureThread.h:58
int
int
RTABMapApp::meshTrianglePix_
int meshTrianglePix_
Definition: RTABMapApp.h:234
RTABMapApp::setMinCloudDepth
void setMinCloudDepth(float value)
Definition: RTABMapApp.cpp:2437
RTABMapApp::localizationMode_
bool localizationMode_
Definition: RTABMapApp.h:222
RTABMapApp::mapToOdom_
rtabmap::Transform mapToOdom_
Definition: RTABMapApp.h:280
RTABMapApp::recover
bool recover(const std::string &from, const std::string &to)
Definition: RTABMapApp.cpp:2609
RTABMapApp::getRtabmapParameters
rtabmap::ParametersMap getRtabmapParameters()
Definition: RTABMapApp.cpp:124
name
RTABMapApp::swiftInitCallback
void(* swiftInitCallback)(void *, int, const char *)
Definition: RTABMapApp.h:300
RTABMapApp::setSmoothing
void setSmoothing(bool enabled)
Definition: RTABMapApp.cpp:2393
SensorCaptureThread.h
RTABMapApp::setGridRotation
void setGridRotation(float value)
Definition: RTABMapApp.cpp:2300
RTABMapApp::graphOptimization_
bool graphOptimization_
Definition: RTABMapApp.h:220
Scene
Definition: scene.h:49
RTABMapApp::appendMode_
bool appendMode_
Definition: RTABMapApp.h:229
x1
x1
RTABMapApp::setFullResolution
void setFullResolution(bool enabled)
Definition: RTABMapApp.cpp:2385
RTABMapApp::progressionStatus_
rtabmap::ProgressionStatus progressionStatus_
Definition: RTABMapApp.h:296
RTABMapApp::totalPoints_
int totalPoints_
Definition: RTABMapApp.h:255
RTABMapApp::rawScanSaved_
bool rawScanSaved_
Definition: RTABMapApp.h:224
RTABMapApp::setAppendMode
void setAppendMode(bool enabled)
Definition: RTABMapApp.cpp:2409
CameraMobile.h
RTABMapApp::setGraphOptimization
void setGraphOptimization(bool enabled)
Definition: RTABMapApp.cpp:2331
RTABMapApp::setOnlineBlending
void setOnlineBlending(bool enabled)
Definition: RTABMapApp.cpp:2271
RTABMapApp::setScreenRotation
void setScreenRotation(int displayRotation, int cameraRotation)
Definition: RTABMapApp.cpp:343
RTABMapApp::setRawScanSaved
void setRawScanSaved(bool enabled)
Definition: RTABMapApp.cpp:2369
RTABMapApp::SetCameraType
void SetCameraType(tango_gl::GestureCamera::CameraType camera_type)
Definition: RTABMapApp.cpp:2235
RTABMapApp::cameraDriver_
int cameraDriver_
Definition: RTABMapApp.h:212
RTABMapApp::gainCompensation
void gainCompensation(bool full=false)
Definition: RTABMapApp.cpp:1199
RTABMapApp::~RTABMapApp
~RTABMapApp()
Definition: RTABMapApp.cpp:319
RTABMapApp::mappingParameters_
rtabmap::ParametersMap mappingParameters_
Definition: RTABMapApp.h:243
RTABMapApp::setLocalizationMode
void setLocalizationMode(bool enabled)
Definition: RTABMapApp.cpp:2317
RTABMapApp::RTABMapApp
RTABMapApp()
Definition: RTABMapApp.cpp:203
RTABMapApp::exporting_
bool exporting_
Definition: RTABMapApp.h:248
RTABMapApp::setCameraColor
void setCameraColor(bool enabled)
Definition: RTABMapApp.cpp:2377
RTABMapApp::logHandler_
rtabmap::LogHandler * logHandler_
Definition: RTABMapApp.h:217
RTABMapApp::setWireframe
void setWireframe(bool enabled)
Definition: RTABMapApp.cpp:2312
RTABMapApp::maxCloudDepth_
float maxCloudDepth_
Definition: RTABMapApp.h:231
RTABMapApp::isBuiltWith
bool isBuiltWith(int cameraDriver) const
Definition: RTABMapApp.cpp:843
RTABMapApp::setDataRecorderMode
void setDataRecorderMode(bool enabled)
Definition: RTABMapApp.cpp:2420
RTABMapApp::sensorEvents_
std::list< rtabmap::SensorEvent > sensorEvents_
Definition: RTABMapApp.h:277
RTABMapApp::postProcessing_
bool postProcessing_
Definition: RTABMapApp.h:249
rtabmap::GPS
Definition: GPS.h:35
RTABMapApp::sensorMutex_
boost::mutex sensorMutex_
Definition: RTABMapApp.h:285
util.h
RTABMapApp::setDepthFromMotion
void setDepthFromMotion(bool enabled)
Definition: RTABMapApp.cpp:2401
type
RTABMapApp::setMeshTriangleSize
void setMeshTriangleSize(int value)
Definition: RTABMapApp.cpp:2457
RTABMapApp::SetViewPort
void SetViewPort(int width, int height)
Definition: RTABMapApp.cpp:1103
rtabmap::ProgressionStatus
Definition: ProgressionStatus.h:29
y
Matrix3f y
RTABMapApp::bilateralFilteringOnNextRender_
bool bilateralFilteringOnNextRender_
Definition: RTABMapApp.h:252
RTABMapApp::cancelProcessing
void cancelProcessing()
Definition: RTABMapApp.cpp:2629
RTABMapApp::setMaxCloudDepth
void setMaxCloudDepth(float value)
Definition: RTABMapApp.cpp:2432
RTABMapApp::setGraphVisible
void setGraphVisible(bool visible)
Definition: RTABMapApp.cpp:2358
RTABMapApp::trajectoryMode_
bool trajectoryMode_
Definition: RTABMapApp.h:223
RTABMapApp::stopCamera
void stopCamera()
Definition: RTABMapApp.cpp:963
RTABMapApp::postProcessing
int postProcessing(int approach)
Definition: RTABMapApp.cpp:3616
RTABMapApp::bufferedStatsData_
std::map< std::string, float > bufferedStatsData_
Definition: RTABMapApp.h:261
RTABMapApp::rtabmapEvents_
std::list< rtabmap::RtabmapEvent * > rtabmapEvents_
Definition: RTABMapApp.h:276
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
RTABMapApp
Definition: RTABMapApp.h:53
RtabmapThread.h
RTABMapApp::exportedMeshUpdated_
bool exportedMeshUpdated_
Definition: RTABMapApp.h:264
rtabmap::LogHandler
Definition: util.h:42
RTABMapApp::setRenderingTextureDecimation
void setRenderingTextureDecimation(int value)
Definition: RTABMapApp.cpp:2472
RTABMapApp::nodesFiltering_
bool nodesFiltering_
Definition: RTABMapApp.h:221
RTABMapApp::setPointSize
void setPointSize(float value)
Definition: RTABMapApp.cpp:2288
RTABMapApp::openingDatabase_
bool openingDatabase_
Definition: RTABMapApp.h:247
RTABMapApp::setGridVisible
void setGridVisible(bool visible)
Definition: RTABMapApp.cpp:2364
RTABMapApp::main_scene_
Scene main_scene_
Definition: RTABMapApp.h:272
RTABMapApp::clusterRatio_
float clusterRatio_
Definition: RTABMapApp.h:237
rtabmap::Mesh
Definition: util.h:165
RTABMapApp::rtabmap_
rtabmap::Rtabmap * rtabmap_
Definition: RTABMapApp.h:216
optimize
gtsam.ISAM2 optimize(List[GpsMeasurement] gps_measurements, List[ImuMeasurement] imu_measurements, gtsam.noiseModel.Diagonal sigma_init_x, gtsam.noiseModel.Diagonal sigma_init_v, gtsam.noiseModel.Diagonal sigma_init_b, gtsam.noiseModel.Diagonal noise_model_gps, KittiCalibration kitti_calibration, int first_gps_pose, int gps_skip)
UEvent
Definition: UEvent.h:57
RTABMapApp::renderingTextureDecimation_
int renderingTextureDecimation_
Definition: RTABMapApp.h:239
RTABMapApp::setCloudDensityLevel
void setCloudDensityLevel(int value)
Definition: RTABMapApp.cpp:2442
RTABMapApp::OnTouchEvent
void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event, float x0, float y0, float x1, float y1)
Definition: RTABMapApp.cpp:2240
tango_gl::GestureCamera::CameraType
CameraType
Definition: gesture_camera.h:28
RTABMapApp::clearSceneOnNextRender_
bool clearSceneOnNextRender_
Definition: RTABMapApp.h:246
RTABMapApp::handleEvent
virtual bool handleEvent(UEvent *event)
Definition: RTABMapApp.cpp:3964
RTABMapApp::lastPostRenderEventTime_
double lastPostRenderEventTime_
Definition: RTABMapApp.h:259
scene.h
RTABMapApp::fullResolution_
bool fullResolution_
Definition: RTABMapApp.h:228
RTABMapApp::setMeshAngleTolerance
void setMeshAngleTolerance(float value)
Definition: RTABMapApp.cpp:2447
RTABMapApp::cloudDensityLevel_
int cloudDensityLevel_
Definition: RTABMapApp.h:233
RTABMapApp::poseMutex_
boost::mutex poseMutex_
Definition: RTABMapApp.h:286
RTABMapApp::updateMeshDecimation
int updateMeshDecimation(int width, int height)
Definition: RTABMapApp.cpp:774
RTABMapApp::optRefId_
int optRefId_
Definition: RTABMapApp.h:267
RTABMapApp::rtabmapThread_
rtabmap::RtabmapThread * rtabmapThread_
Definition: RTABMapApp.h:215
RTABMapApp::filterOrganizedPolygons
std::vector< pcl::Vertices > filterOrganizedPolygons(const std::vector< pcl::Vertices > &polygons, int cloudSize) const
Definition: RTABMapApp.cpp:983
RTABMapApp::useExternalLidar_
bool useExternalLidar_
Definition: RTABMapApp.h:230
RTABMapApp::setBackfaceCulling
void setBackfaceCulling(bool enabled)
Definition: RTABMapApp.cpp:2308
RTABMapApp::setMaxGainRadius
void setMaxGainRadius(float value)
Definition: RTABMapApp.cpp:2467
x0
x0
RTABMapApp::postOdometryEvent
void postOdometryEvent(rtabmap::Transform pose, float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy, float depth_fx, float depth_fy, float depth_cx, float depth_cy, const rtabmap::Transform &rgbFrame, const rtabmap::Transform &depthFrame, double stamp, double depthStamp, const void *yPlane, const void *uPlane, const void *vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat, const void *depth, int depthLen, int depthWidth, int depthHeight, int depthFormat, const void *conf, int confLen, int confWidth, int confHeight, int confFormat, const float *points, int pointsLen, int pointsChannels, const rtabmap::Transform &viewMatrix, float p00, float p11, float p02, float p12, float p22, float p32, float p23, float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)
Definition: RTABMapApp.cpp:3733
tango_gl::GestureCamera::TouchEvent
TouchEvent
Definition: gesture_camera.h:36
RTABMapApp::maxGainRadius_
float maxGainRadius_
Definition: RTABMapApp.h:238
RTABMapApp::save
void save(const std::string &databasePath)
Definition: RTABMapApp.cpp:2557
RTABMapApp::createdMeshes_
std::map< int, rtabmap::Mesh > createdMeshes_
Definition: RTABMapApp.h:291
RTABMapApp::setMeshDecimationFactor
void setMeshDecimationFactor(float value)
Definition: RTABMapApp.cpp:2452
RTABMapApp::sensorCaptureThread_
rtabmap::SensorCaptureThread * sensorCaptureThread_
Definition: RTABMapApp.h:214
RTABMapApp::visualizingMesh_
bool visualizingMesh_
Definition: RTABMapApp.h:263
SensorEvent.h
z
z
x
x
RTABMapApp::optMesh_
pcl::TextureMesh::Ptr optMesh_
Definition: RTABMapApp.h:265
RTABMapApp::cameraColor_
bool cameraColor_
Definition: RTABMapApp.h:227
glm::angle
GLM_FUNC_DECL T angle(detail::tquat< T, P > const &x)
RTABMapApp::writeExportedMesh
bool writeExportedMesh(const std::string &directory, const std::string &name)
Definition: RTABMapApp.cpp:3506
RTABMapApp::setLighting
void setLighting(bool enabled)
Definition: RTABMapApp.cpp:2304
RTABMapApp::cameraJustInitialized_
bool cameraJustInitialized_
Definition: RTABMapApp.h:254
RTABMapApp::setDepthConfidence
void setDepthConfidence(int value)
Definition: RTABMapApp.cpp:2486
RTABMapApp::odomCloudShown_
bool odomCloudShown_
Definition: RTABMapApp.h:219
RTABMapApp::setBackgroundColor
void setBackgroundColor(float gray)
Definition: RTABMapApp.cpp:2478
key
const gtsam::Symbol key( 'X', 0)
RTABMapApp::smoothing_
bool smoothing_
Definition: RTABMapApp.h:225
y1
CEPHES_EXTERN_EXPORT double y1(double x)
RTABMapApp::setMappingParameter
int setMappingParameter(const std::string &key, const std::string &value)
Definition: RTABMapApp.cpp:2495
RTABMapApp::setOrthoCropFactor
void setOrthoCropFactor(float value)
Definition: RTABMapApp.cpp:2296
RTABMapApp::filterPolygonsOnNextRender_
bool filterPolygonsOnNextRender_
Definition: RTABMapApp.h:250
qz
RealQZ< MatrixXf > qz(4)
RTABMapApp::setClusterRatio
void setClusterRatio(float value)
Definition: RTABMapApp.cpp:2462
RTABMapApp::takeScreenshotOnNextRender_
bool takeScreenshotOnNextRender_
Definition: RTABMapApp.h:253
RTABMapApp::renderingMutex_
boost::mutex renderingMutex_
Definition: RTABMapApp.h:287
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Definition: Transform.h:41
RTABMapApp::rtabmapMutex_
boost::mutex rtabmapMutex_
Definition: RTABMapApp.h:283
RTABMapApp::postCameraPoseEvent
void postCameraPoseEvent(float x, float y, float z, float qx, float qy, float qz, float qw, double stamp)
Definition: RTABMapApp.cpp:3715
full
@ full
Definition: lz4.c:365
RTABMapApp::filterPolygons
std::vector< pcl::Vertices > filterPolygons(const std::vector< pcl::Vertices > &polygons, int cloudSize) const
Definition: RTABMapApp.cpp:1050
RTABMapApp::setMapCloudShown
void setMapCloudShown(bool shown)
Definition: RTABMapApp.cpp:2275
y0
CEPHES_EXTERN_EXPORT double y0(double x)
RTABMapApp::renderingTime_
float renderingTime_
Definition: RTABMapApp.h:258
UEventsHandler.h
RTABMapApp::postExportation
bool postExportation(bool visualize)
Definition: RTABMapApp.cpp:3430
RTABMapApp::openDatabase
int openDatabase(const std::string &databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
Definition: RTABMapApp.cpp:356
RTABMapApp::minCloudDepth_
float minCloudDepth_
Definition: RTABMapApp.h:232
env
USemaphore
Definition: USemaphore.h:54
RTABMapApp::depthFromMotion_
bool depthFromMotion_
Definition: RTABMapApp.h:226
RTABMapApp::gainCompensationOnNextRender_
int gainCompensationOnNextRender_
Definition: RTABMapApp.h:251
RTABMapApp::backgroundColor_
float backgroundColor_
Definition: RTABMapApp.h:240
RTABMapApp::screenshotReady_
USemaphore screenshotReady_
Definition: RTABMapApp.h:289
RTABMapApp::fpsTime_
UTimer fpsTime_
Definition: RTABMapApp.h:274
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Definition: CameraMobile.h:71
RTABMapApp::setFOV
void setFOV(float angle)
Definition: RTABMapApp.cpp:2292
RTABMapApp::setGPS
void setGPS(const rtabmap::GPS &gps)
Definition: RTABMapApp.cpp:2539
RTABMapApp::status_
std::pair< rtabmap::RtabmapEventInit::Status, std::string > status_
Definition: RTABMapApp.h:294
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:15