DataRecorder.h
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00001 /*
00002 Copyright (c) 2010-2016, 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 RTABMAP_DATARECORDER_H_
00029 #define RTABMAP_DATARECORDER_H_
00030 
00031 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
00032 
00033 #include <rtabmap/utilite/UEventsHandler.h>
00034 #include <QWidget>
00035 #include <rtabmap/core/SensorData.h>
00036 #include <rtabmap/utilite/UTimer.h>
00037 #include <rtabmap/utilite/UMutex.h>
00038 
00039 class QLabel;
00040 
00041 namespace rtabmap {
00042 
00043 class Memory;
00044 class ImageView;
00045 
00046 class RTABMAPGUI_EXP DataRecorder : public QWidget, public UEventsHandler
00047 {
00048         Q_OBJECT
00049 public:
00050         DataRecorder(QWidget * parent = 0);
00051         bool init(const QString & path, bool recordInRAM = true);
00052 
00053         void closeRecorder();
00054 
00055         virtual ~DataRecorder();
00056 
00057         const QString & path() const {return path_;}
00058 
00059 public Q_SLOTS:
00060         void addData(const rtabmap::SensorData & data, const Transform & pose = Transform(), const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1));
00061         void showImage(const cv::Mat & image, const cv::Mat & depth);
00062 protected:
00063         virtual void closeEvent(QCloseEvent* event);
00064         bool handleEvent(UEvent * event);
00065 
00066 private:
00067         UMutex memoryMutex_;
00068         Memory * memory_;
00069         ImageView* imageView_;
00070         QLabel* label_;
00071         UTimer timer_;
00072         QString path_;
00073         bool processingImages_;
00074         int count_;
00075         int totalSizeKB_;
00076 };
00077 
00078 } /* namespace rtabmap */
00079 #endif /* DATARECORDER_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:19