octomap::ViewerGui Class Reference

#include <ViewerGui.h>

List of all members.

Public Slots
void	addNextScans (unsigned scans)
void	changeTreeDepth (int depth)
void	gotoFirstScan ()
bool	isShown ()
Signals
void	changeCamPosition (double x, double y, double z, double lookX, double lookY, double lookZ)
void	changeCurrentScan (unsigned scans)
void	changeNumberOfScans (unsigned scans)
void	changeResolution (double resolution)
void	updateStatusBar (QString message, int duration)
Public Member Functions
	ViewerGui (const std::string &filename="", QWidget *parent=0)
	~ViewerGui ()
Static Public Attributes
static const unsigned int	DEFAULT_OCTREE_ID = 0
static const unsigned int	LASERTYPE_SICK = 1
static const unsigned int	LASERTYPE_URG = 0
Private Slots
void	on_action_bg_black_triggered ()
void	on_action_bg_gray_triggered ()
void	on_action_bg_white_triggered ()
void	on_actionAxes_toggled (bool checked)
void	on_actionClear_nodes_in_selection_triggered ()
void	on_actionClear_selection_triggered ()
void	on_actionClear_triggered ()
void	on_actionClear_unknown_in_selection_triggered ()
void	on_actionConvert_ml_tree_triggered ()
void	on_actionDelete_nodes_in_selection_triggered ()
void	on_actionDelete_nodes_outside_of_selection_triggered ()
void	on_actionExit_triggered ()
void	on_actionExpand_tree_triggered ()
void	on_actionExport_sequence_triggered (bool checked)
void	on_actionExport_view_triggered ()
void	on_actionFill_nodes_in_selection_triggered ()
void	on_actionFill_selection_triggered ()
void	on_actionFill_unknown_in_selection_triggered ()
void	on_actionFree_toggled (bool enabled)
void	on_actionHeight_map_toggled (bool checked)
void	on_actionHelp_triggered ()
void	on_actionHideBackground_toggled (bool checked)
void	on_actionOctree_cells_toggled (bool enabled)
void	on_actionOctree_structure_toggled (bool enabled)
void	on_actionOpen_file_triggered ()
void	on_actionOpen_graph_incremental_triggered ()
void	on_actionPointcloud_toggled (bool checked)
void	on_actionPrintout_mode_toggled (bool checked)
void	on_actionPrune_tree_triggered ()
void	on_actionReload_Octree_triggered ()
void	on_actionRestore_camera_triggered ()
void	on_actionSave_file_triggered ()
void	on_actionSelected_toggled (bool enabled)
void	on_actionSelection_box_toggled (bool checked)
void	on_actionSemanticColoring_toggled (bool checked)
void	on_actionSettings_triggered ()
void	on_actionStore_camera_triggered ()
void	on_actionTest_triggered ()
void	on_actionTrajectory_toggled (bool checked)
void	on_loadcampose_triggered ()
void	on_savecampose_triggered ()
Private Member Functions
void	addNextScan ()
void	addOctree (AbstractOcTree *tree, int id, pose6d origin)
void	addOctree (AbstractOcTree *tree, int id)
void	generateOctree ()
bool	getOctreeRecord (int id, OcTreeRecord *&otr)
void	loadCameraPosition (const char *filename)
void	loadGraph (bool completeGraph=true)
void	openFile ()
void	openGraph (bool completeGraph=true)
void	openMapCollection ()
void	openOcTree ()
	open "regular" file containing an octree
void	openPC ()
void	openPointcloud ()
void	openTree ()
	open binary format OcTree
void	saveCameraPosition (const char *filename) const
void	setNodesInBBX (const point3d &min, const point3d &max, bool occupied)
void	setNonNodesInBBX (const point3d &min, const point3d &max, bool occupied)
void	setOcTreeUISwitches ()
void	showInfo (QString string, bool newline=false)
void	showOcTree ()
void	updateNodesInBBX (const point3d &min, const point3d &max, bool occupied)
Private Attributes
CameraFollowMode *	m_cameraFollowMode
bool	m_cameraStored
std::string	m_filename
	Filename of last loaded file, in case it is necessary to reload it.
ViewerWidget *	m_glwidget
double	m_laserMaxRange
unsigned int	m_laserType
QLabel *	m_mapMemoryStatus
QLabel *	m_mapSizeStatus
unsigned int	m_max_tree_depth
ScanGraph::iterator	m_nextScanToAdd
double	m_occupancyThresh
double	m_octreeResolution
std::map< int, OcTreeRecord >	m_octrees
PointcloudDrawer *	m_pointcloudDrawer
ScanGraph *	m_scanGraph
TrajectoryDrawer *	m_trajectoryDrawer
Ui::ViewerGuiClass	ui

---

Detailed Description

Definition at line 50 of file ViewerGui.h.

---

Constructor & Destructor Documentation

octomap::ViewerGui::ViewerGui	(	const std::string &	filename = "",
		QWidget *	parent = 0
	)

Definition at line 39 of file ViewerGui.cpp.

octomap::ViewerGui::~ViewerGui

(

)

Definition at line 127 of file ViewerGui.cpp.

---

Member Function Documentation

void octomap::ViewerGui::addNextScan

(

)

[private]

Adds a scan from the graph to the OcTree

Definition at line 357 of file ViewerGui.cpp.

void octomap::ViewerGui::addNextScans

(

unsigned

scans

)

[slot]

Definition at line 381 of file ViewerGui.cpp.

void octomap::ViewerGui::addOctree	(	octomap::AbstractOcTree *	tree,
		int	id,
		octomap::pose6d	origin
	)		[private]

Definition at line 178 of file ViewerGui.cpp.

void octomap::ViewerGui::addOctree	(	octomap::AbstractOcTree *	tree,
		int	id
	)		[private]

Definition at line 225 of file ViewerGui.cpp.

void octomap::ViewerGui::changeCamPosition	(	double	x,
		double	y,
		double	z,
		double	lookX,
		double	lookY,
		double	lookZ
	)		[signal]

void octomap::ViewerGui::changeCurrentScan

(

unsigned

scans

)

[signal]

void octomap::ViewerGui::changeNumberOfScans

(

unsigned

scans

)

[signal]

void octomap::ViewerGui::changeResolution

(

double

resolution

)

[signal]

void octomap::ViewerGui::changeTreeDepth

(

int

depth

)

[slot]

Definition at line 608 of file ViewerGui.cpp.

void octomap::ViewerGui::generateOctree

(

)

[private]

(Re-)generates OcTree from the internally stored ScanGraph

Definition at line 300 of file ViewerGui.cpp.

bool octomap::ViewerGui::getOctreeRecord	(	int	id,
		OcTreeRecord *&	otr
	)		[private]

Definition at line 167 of file ViewerGui.cpp.

void octomap::ViewerGui::gotoFirstScan

(

)

[slot]

Definition at line 338 of file ViewerGui.cpp.

bool octomap::ViewerGui::isShown

(

)

[slot]

Definition at line 153 of file ViewerGui.cpp.

void octomap::ViewerGui::loadCameraPosition

(

const char *

filename

)

[private]

Definition at line 1209 of file ViewerGui.cpp.

void octomap::ViewerGui::loadGraph

(

bool

completeGraph = true

)

[private]

Finishes loading a ScanGraph, either from .log or .graph.

Definition at line 545 of file ViewerGui.cpp.

void octomap::ViewerGui::on_action_bg_black_triggered

(

)

[private, slot]

Definition at line 1170 of file ViewerGui.cpp.

void octomap::ViewerGui::on_action_bg_gray_triggered

(

)

[private, slot]

Definition at line 1180 of file ViewerGui.cpp.

void octomap::ViewerGui::on_action_bg_white_triggered

(

)

[private, slot]

Definition at line 1175 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionAxes_toggled

(

bool

checked

)

[private, slot]

Definition at line 1031 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionClear_nodes_in_selection_triggered

(

)

[private, slot]

Definition at line 746 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionClear_selection_triggered

(

)

[private, slot]

Definition at line 754 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionClear_triggered

(

)

[private, slot]

Definition at line 1048 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionClear_unknown_in_selection_triggered

(

)

[private, slot]

Definition at line 762 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionConvert_ml_tree_triggered

(

)

[private, slot]

Definition at line 1071 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionDelete_nodes_in_selection_triggered

(

)

[private, slot]

Definition at line 796 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionDelete_nodes_outside_of_selection_triggered

(

)

[private, slot]

Definition at line 819 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionExit_triggered

(

)

[private, slot]

Definition at line 620 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionExpand_tree_triggered

(

)

[private, slot]

Definition at line 1107 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionExport_sequence_triggered

(

bool

checked

)

[private, slot]

Definition at line 946 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionExport_view_triggered

(

)

[private, slot]

Definition at line 941 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionFill_nodes_in_selection_triggered

(

)

[private, slot]

Definition at line 788 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionFill_selection_triggered

(

)

[private, slot]

Definition at line 780 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionFill_unknown_in_selection_triggered

(

)

[private, slot]

Definition at line 771 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionFree_toggled

(

bool

enabled

)

[private, slot]

Definition at line 1142 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionHeight_map_toggled

(

bool

checked

)

[private, slot]

Definition at line 982 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionHelp_triggered

(

)

[private, slot]

Definition at line 624 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionHideBackground_toggled

(

bool

checked

)

[private, slot]

Definition at line 1039 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionOctree_cells_toggled

(

bool

enabled

)

[private, slot]

Definition at line 1126 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionOctree_structure_toggled

(

bool

enabled

)

[private, slot]

Definition at line 1134 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionOpen_file_triggered

(

)

[private, slot]

Definition at line 662 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionOpen_graph_incremental_triggered

(

)

[private, slot]

Definition at line 677 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionPointcloud_toggled

(

bool

checked

)

[private, slot]

Definition at line 1013 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionPrintout_mode_toggled

(

bool

checked

)

[private, slot]

Definition at line 960 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionPrune_tree_triggered

(

)

[private, slot]

Definition at line 1092 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionReload_Octree_triggered

(

)

[private, slot]

Definition at line 1063 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionRestore_camera_triggered

(

)

[private, slot]

Definition at line 1007 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionSave_file_triggered

(

)

[private, slot]

Definition at line 694 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionSelected_toggled

(

bool

enabled

)

[private, slot]

Definition at line 1151 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionSelection_box_toggled

(

bool

checked

)

[private, slot]

Definition at line 969 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionSemanticColoring_toggled

(

bool

checked

)

[private, slot]

Definition at line 990 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionSettings_triggered

(

)

[private, slot]

Definition at line 628 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionStore_camera_triggered

(

)

[private, slot]

Definition at line 1000 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionTest_triggered

(

)

[private, slot]

Definition at line 1059 of file ViewerGui.cpp.

void octomap::ViewerGui::on_actionTrajectory_toggled

(

bool

checked

)

[private, slot]

Definition at line 1022 of file ViewerGui.cpp.

void octomap::ViewerGui::on_loadcampose_triggered

(

)

[private, slot]

Definition at line 1192 of file ViewerGui.cpp.

void octomap::ViewerGui::on_savecampose_triggered

(

)

[private, slot]

Definition at line 1185 of file ViewerGui.cpp.

void octomap::ViewerGui::openFile

(

)

[private]

(Re-)load the data file stored in m_fileName. Depending on the extension, the respective load function is used.

Definition at line 390 of file ViewerGui.cpp.

void octomap::ViewerGui::openGraph

(

bool

completeGraph = true

)

[private]

Opens a .graph file and generates a ScanGraph from it. Afterwards, loadGraph() is called.

Definition at line 418 of file ViewerGui.cpp.

void octomap::ViewerGui::openMapCollection

(

)

[private]

Definition at line 513 of file ViewerGui.cpp.

void octomap::ViewerGui::openOcTree

(

)

[private]

open "regular" file containing an octree

Definition at line 486 of file ViewerGui.cpp.

void octomap::ViewerGui::openPC

(

)

[private]

Opens a .pc PointCloud

void octomap::ViewerGui::openPointcloud

(

)

[private]

Reads in a .dat file which consists of single points in ASCII, one point per line, values separated by white spaces

Definition at line 431 of file ViewerGui.cpp.

void octomap::ViewerGui::openTree

(

)

[private]

open binary format OcTree

Definition at line 474 of file ViewerGui.cpp.

void octomap::ViewerGui::saveCameraPosition

(

const char *

filename

)

const [private]

Definition at line 1201 of file ViewerGui.cpp.

void octomap::ViewerGui::setNodesInBBX	(	const point3d &	min,
		const point3d &	max,
		bool	occupied
	)		[private]

Definition at line 883 of file ViewerGui.cpp.

void octomap::ViewerGui::setNonNodesInBBX	(	const point3d &	min,
		const point3d &	max,
		bool	occupied
	)		[private]

Definition at line 911 of file ViewerGui.cpp.

void octomap::ViewerGui::setOcTreeUISwitches

(

)

[private]

Definition at line 459 of file ViewerGui.cpp.

void octomap::ViewerGui::showInfo	(	QString	string,
		bool	newline = false
	)		[private]

Definition at line 157 of file ViewerGui.cpp.

void octomap::ViewerGui::showOcTree

(

)

[private]

Definition at line 230 of file ViewerGui.cpp.

void octomap::ViewerGui::updateNodesInBBX	(	const point3d &	min,
		const point3d &	max,
		bool	occupied
	)		[private]

Definition at line 852 of file ViewerGui.cpp.

void octomap::ViewerGui::updateStatusBar	(	QString	message,
		int	duration
	)		[signal]

---

Member Data Documentation

const unsigned int octomap::ViewerGui::DEFAULT_OCTREE_ID = 0 [static]

Definition at line 61 of file ViewerGui.h.

const unsigned int octomap::ViewerGui::LASERTYPE_SICK = 1 [static]

Definition at line 58 of file ViewerGui.h.

const unsigned int octomap::ViewerGui::LASERTYPE_URG = 0 [static]

Definition at line 57 of file ViewerGui.h.

CameraFollowMode* octomap::ViewerGui::m_cameraFollowMode [private]

Definition at line 203 of file ViewerGui.h.

bool octomap::ViewerGui::m_cameraStored [private]

Definition at line 209 of file ViewerGui.h.

std::string octomap::ViewerGui::m_filename [private]

Filename of last loaded file, in case it is necessary to reload it.

Definition at line 214 of file ViewerGui.h.

ViewerWidget* octomap::ViewerGui::m_glwidget [private]

Definition at line 200 of file ViewerGui.h.

double octomap::ViewerGui::m_laserMaxRange [private]

Definition at line 205 of file ViewerGui.h.

unsigned int octomap::ViewerGui::m_laserType [private]

Definition at line 208 of file ViewerGui.h.

QLabel* octomap::ViewerGui::m_mapMemoryStatus [private]

Definition at line 211 of file ViewerGui.h.

QLabel* octomap::ViewerGui::m_mapSizeStatus [private]

Definition at line 210 of file ViewerGui.h.

unsigned int octomap::ViewerGui::m_max_tree_depth [private]

Definition at line 207 of file ViewerGui.h.

ScanGraph::iterator octomap::ViewerGui::m_nextScanToAdd [private]

Definition at line 197 of file ViewerGui.h.

double octomap::ViewerGui::m_occupancyThresh [private]

Definition at line 206 of file ViewerGui.h.

double octomap::ViewerGui::m_octreeResolution [private]

Definition at line 204 of file ViewerGui.h.

std::map<int, OcTreeRecord> octomap::ViewerGui::m_octrees [private]

Definition at line 194 of file ViewerGui.h.

PointcloudDrawer* octomap::ViewerGui::m_pointcloudDrawer [private]

Definition at line 202 of file ViewerGui.h.

ScanGraph* octomap::ViewerGui::m_scanGraph [private]

Definition at line 196 of file ViewerGui.h.

TrajectoryDrawer* octomap::ViewerGui::m_trajectoryDrawer [private]

Definition at line 201 of file ViewerGui.h.

Ui::ViewerGuiClass octomap::ViewerGui::ui [private]

Definition at line 199 of file ViewerGui.h.

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The documentation for this class was generated from the following files:

• ViewerGui.h
• ViewerGui.cpp