OdometryViewer.h
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00001 /*
00002 Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef ODOMETRYVIEWER_H_
00029 #define ODOMETRYVIEWER_H_
00030 
00031 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
00032 
00033 #include "rtabmap/core/SensorData.h"
00034 #include "rtabmap/core/OdometryInfo.h"
00035 #include <QDialog>
00036 #include "rtabmap/utilite/UEventsHandler.h"
00037 
00038 class QSpinBox;
00039 class QDoubleSpinBox;
00040 class QLabel;
00041 
00042 namespace rtabmap {
00043 
00044 class ImageView;
00045 class CloudViewer;
00046 
00047 class RTABMAPGUI_EXP OdometryViewer : public QDialog, public UEventsHandler
00048 {
00049         Q_OBJECT
00050 
00051 public:
00052         OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
00053         virtual ~OdometryViewer();
00054 
00055 public slots:
00056         virtual void clear();
00057 
00058 protected:
00059         virtual void handleEvent(UEvent * event);
00060 
00061 private slots:
00062         void processData(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info);
00063 
00064 private:
00065         ImageView* imageView_;
00066         CloudViewer* cloudView_;
00067         bool processingData_;
00068         bool odomImageShow_;
00069         bool odomImageDepthShow_;
00070 
00071         Transform lastOdomPose_;
00072         int qualityWarningThr_;
00073         int id_;
00074         QList<std::string> addedClouds_;
00075 
00076         QSpinBox * maxCloudsSpin_;
00077         QDoubleSpinBox * voxelSpin_;
00078         QSpinBox * decimationSpin_;
00079         QLabel * timeLabel_;
00080         int validDecimationValue_;
00081 };
00082 
00083 } /* namespace rtabmap */
00084 #endif /* ODOMETRYVIEWER_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Fri Aug 28 2015 12:51:32