OdometryViewer.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_ODOMETRYVIEWER_H_
00029 #define RTABMAP_ODOMETRYVIEWER_H_
00030 
00031 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
00032 
00033 #include "rtabmap/core/OdometryEvent.h"
00034 #include "rtabmap/core/Parameters.h"
00035 #include <QDialog>
00036 #include "rtabmap/utilite/UEventsHandler.h"
00037 
00038 class QSpinBox;
00039 class QDoubleSpinBox;
00040 class QLabel;
00041 class QCheckBox;
00042 
00043 namespace rtabmap {
00044 
00045 class ImageView;
00046 class CloudViewer;
00047 
00048 class RTABMAPGUI_EXP OdometryViewer : public QDialog, public UEventsHandler
00049 {
00050         Q_OBJECT
00051 
00052 public:
00053         OdometryViewer(
00054                 int maxClouds = 10, 
00055                 int decimation = 2, 
00056                 float voxelSize = 0.0f, 
00057                 float maxDepth = 0, 
00058                 int qualityWarningThr=0, 
00059                 QWidget * parent = 0,
00060                 const ParametersMap & parameters = ParametersMap());
00061         virtual ~OdometryViewer();
00062 
00063 public Q_SLOTS:
00064         virtual void clear();
00065 
00066 protected:
00067         virtual bool handleEvent(UEvent * event);
00068 
00069 private Q_SLOTS:
00070         void reset();
00071         void processData(const rtabmap::OdometryEvent & odom);
00072 
00073 private:
00074         ImageView* imageView_;
00075         CloudViewer* cloudView_;
00076         bool processingData_;
00077         bool odomImageShow_;
00078         bool odomImageDepthShow_;
00079 
00080         Transform lastOdomPose_;
00081         int qualityWarningThr_;
00082         int id_;
00083         QList<std::string> addedClouds_;
00084 
00085         QSpinBox * maxCloudsSpin_;
00086         QDoubleSpinBox * voxelSpin_;
00087         QSpinBox * decimationSpin_;
00088         QDoubleSpinBox * maxDepthSpin_;
00089         QCheckBox * cloudShown_;
00090         QCheckBox * scanShown_;
00091         QCheckBox * featuresShown_;
00092         QLabel * timeLabel_;
00093         int validDecimationValue_;
00094         ParametersMap parameters_;
00095 };
00096 
00097 } /* namespace rtabmap */
00098 #endif /* ODOMETRYVIEWER_H_ */


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