Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
RTABMapApp Class Reference

#include <RTABMapApp.h>

Inheritance diagram for RTABMapApp:
Inheritance graph
[legend]

Public Member Functions

void cancelProcessing ()
 
bool exportMesh (float cloudVoxelSize, bool regenerateCloud, bool meshing, int textureSize, int textureCount, int normalK, bool optimized, float optimizedVoxelSize, int optimizedDepth, int optimizedMaxPolygons, float optimizedColorRadius, bool optimizedCleanWhitePolygons, int optimizedMinClusterSize, float optimizedMaxTextureDistance, int optimizedMinTextureClusterSize, bool blockRendering)
 
void InitializeGLContent ()
 
void onCreate (JNIEnv *env, jobject caller_activity)
 
void onPause ()
 
void onPointCloudAvailable (const TangoXYZij *xyz_ij)
 
void onPoseAvailable (const TangoPoseData *pose)
 
void onTangoEventAvailable (const TangoEvent *event)
 
bool onTangoServiceConnected (JNIEnv *env, jobject iBinder)
 
void OnTouchEvent (int touch_count, tango_gl::GestureCamera::TouchEvent event, float x0, float y0, float x1, float y1)
 
int openDatabase (const std::string &databasePath, bool databaseInMemory, bool optimize, const std::string &databaseSource=std::string())
 
bool postExportation (bool visualize)
 
int postProcessing (int approach)
 
int Render ()
 
void resetMapping ()
 
 RTABMapApp ()
 
void save (const std::string &databasePath)
 
void setAppendMode (bool enabled)
 
void setBackfaceCulling (bool enabled)
 
void setBackgroundColor (float gray)
 
void setCameraColor (bool enabled)
 
void SetCameraType (tango_gl::GestureCamera::CameraType camera_type)
 
void setCloudDensityLevel (int value)
 
void setClusterRatio (float value)
 
void setDataRecorderMode (bool enabled)
 
void setFOV (float angle)
 
void setFullResolution (bool enabled)
 
void setGPS (const rtabmap::GPS &gps)
 
void setGraphOptimization (bool enabled)
 
void setGraphVisible (bool visible)
 
void setGridRotation (float value)
 
void setGridVisible (bool visible)
 
void setLighting (bool enabled)
 
void setLocalizationMode (bool enabled)
 
void setMapCloudShown (bool shown)
 
int setMappingParameter (const std::string &key, const std::string &value)
 
void setMaxCloudDepth (float value)
 
void setMaxGainRadius (float value)
 
void setMeshAngleTolerance (float value)
 
void setMeshRendering (bool enabled, bool withTexture)
 
void setMeshTriangleSize (int value)
 
void setMinCloudDepth (float value)
 
void setNodesFiltering (bool enabled)
 
void setOdomCloudShown (bool shown)
 
void setOnlineBlending (bool enabled)
 
void setOrthoCropFactor (float value)
 
void setPausedMapping (bool paused)
 
void setPointSize (float value)
 
void setRawScanSaved (bool enabled)
 
void setRenderingTextureDecimation (int value)
 
void setScreenRotation (int displayRotation, int cameraRotation)
 
void setSmoothing (bool enabled)
 
void setTrajectoryMode (bool enabled)
 
void SetViewPort (int width, int height)
 
void setWireframe (bool enabled)
 
void TangoResetMotionTracking ()
 
bool writeExportedMesh (const std::string &directory, const std::string &name)
 
 ~RTABMapApp ()
 
- Public Member Functions inherited from UEventsHandler
void registerToEventsManager ()
 
void unregisterFromEventsManager ()
 
- Public Member Functions inherited from UEventsSender
 UEventsSender ()
 
virtual ~UEventsSender ()
 

Protected Member Functions

virtual bool handleEvent (UEvent *event)
 
- Protected Member Functions inherited from UEventsHandler
 UEventsHandler ()
 
virtual ~UEventsHandler ()
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 

Private Member Functions

std::vector< pcl::Vertices > filterOrganizedPolygons (const std::vector< pcl::Vertices > &polygons, int cloudSize) const
 
std::vector< pcl::Vertices > filterPolygons (const std::vector< pcl::Vertices > &polygons, int cloudSize) const
 
void gainCompensation (bool full=false)
 
rtabmap::ParametersMap getRtabmapParameters ()
 
bool smoothMesh (int id, Mesh &mesh)
 

Private Attributes

bool appendMode_
 
float backgroundColor_
 
bool bilateralFilteringOnNextRender_
 
std::map< std::string, float > bufferedStatsData_
 
rtabmap::CameraTango * camera_
 
bool cameraColor_
 
bool cameraJustInitialized_
 
bool clearSceneOnNextRender_
 
int cloudDensityLevel_
 
float clusterRatio_
 
std::map< int, Mesh > createdMeshes_
 
bool dataRecorderMode_
 
bool exportedMeshUpdated_
 
bool exporting_
 
bool filterPolygonsOnNextRender_
 
bool fullResolution_
 
int gainCompensationOnNextRender_
 
bool graphOptimization_
 
int lastDrawnCloudsCount_
 
double lastPoseEventTime_
 
double lastPostRenderEventTime_
 
bool localizationMode_
 
LogHandler * logHandler_
 
Scene main_scene_
 
rtabmap::ParametersMap mappingParameters_
 
rtabmap::Transform mapToOdom_
 
float maxCloudDepth_
 
float maxGainRadius_
 
float meshAngleToleranceDeg_
 
int meshDecimation_
 
boost::mutex meshesMutex_
 
int meshTrianglePix_
 
float minCloudDepth_
 
bool nodesFiltering_
 
bool odomCloudShown_
 
std::list< rtabmap::OdometryEvent > odomEvents_
 
boost::mutex odomMutex_
 
bool openingDatabase_
 
pcl::TextureMesh::Ptr optMesh_
 
int optRefId_
 
rtabmap::Transform * optRefPose_
 
cv::Mat optTexture_
 
bool paused_
 
std::list< rtabmap::Transform > poseEvents_
 
boost::mutex poseMutex_
 
bool postProcessing_
 
rtabmap::ProgressionStatus progressionStatus_
 
std::map< int, rtabmap::Transform > rawPoses_
 
bool rawScanSaved_
 
boost::mutex renderingMutex_
 
int renderingTextureDecimation_
 
float renderingTime_
 
rtabmap::Rtabmap * rtabmap_
 
std::list< rtabmap::RtabmapEvent * > rtabmapEvents_
 
boost::mutex rtabmapMutex_
 
rtabmap::RtabmapThread * rtabmapThread_
 
USemaphore screenshotReady_
 
bool smoothing_
 
std::pair< rtabmap::RtabmapEventInit::Status, std::string > status_
 
bool takeScreenshotOnNextRender_
 
int totalPoints_
 
int totalPolygons_
 
bool trajectoryMode_
 
std::list< rtabmap::RtabmapEvent * > visLocalizationEvents_
 
boost::mutex visLocalizationMutex_
 
bool visualizingMesh_
 

Detailed Description

Definition at line 49 of file RTABMapApp.h.

Constructor & Destructor Documentation

RTABMapApp::RTABMapApp ( )

Definition at line 146 of file RTABMapApp.cpp.

RTABMapApp::~RTABMapApp ( )

Definition at line 199 of file RTABMapApp.cpp.

Member Function Documentation

void RTABMapApp::cancelProcessing ( )

Definition at line 2136 of file RTABMapApp.cpp.

bool RTABMapApp::exportMesh ( float  cloudVoxelSize,
bool  regenerateCloud,
bool  meshing,
int  textureSize,
int  textureCount,
int  normalK,
bool  optimized,
float  optimizedVoxelSize,
int  optimizedDepth,
int  optimizedMaxPolygons,
float  optimizedColorRadius,
bool  optimizedCleanWhitePolygons,
int  optimizedMinClusterSize,
float  optimizedMaxTextureDistance,
int  optimizedMinTextureClusterSize,
bool  blockRendering 
)

Definition at line 2142 of file RTABMapApp.cpp.

std::vector< pcl::Vertices > RTABMapApp::filterOrganizedPolygons ( const std::vector< pcl::Vertices > &  polygons,
int  cloudSize 
) const
private

Definition at line 732 of file RTABMapApp.cpp.

std::vector< pcl::Vertices > RTABMapApp::filterPolygons ( const std::vector< pcl::Vertices > &  polygons,
int  cloudSize 
) const
private

Definition at line 799 of file RTABMapApp.cpp.

void RTABMapApp::gainCompensation ( bool  full = false)
private

Definition at line 944 of file RTABMapApp.cpp.

rtabmap::ParametersMap RTABMapApp::getRtabmapParameters ( )
private

Definition at line 73 of file RTABMapApp.cpp.

bool RTABMapApp::handleEvent ( UEvent *  event)
protectedvirtual

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns
"true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.
"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.

Implements UEventsHandler.

Definition at line 3170 of file RTABMapApp.cpp.

void RTABMapApp::InitializeGLContent ( )

Definition at line 842 of file RTABMapApp.cpp.

void RTABMapApp::onCreate ( JNIEnv *  env,
jobject  caller_activity 
)

Definition at line 241 of file RTABMapApp.cpp.

void RTABMapApp::onPause ( )

Definition at line 717 of file RTABMapApp.cpp.

void RTABMapApp::onPointCloudAvailable ( const TangoXYZij *  xyz_ij)
void RTABMapApp::onPoseAvailable ( const TangoPoseData *  pose)
void RTABMapApp::onTangoEventAvailable ( const TangoEvent *  event)
bool RTABMapApp::onTangoServiceConnected ( JNIEnv *  env,
jobject  iBinder 
)

Definition at line 623 of file RTABMapApp.cpp.

void RTABMapApp::OnTouchEvent ( int  touch_count,
tango_gl::GestureCamera::TouchEvent  event,
float  x0,
float  y0,
float  x1,
float  y1 
)

Definition at line 1768 of file RTABMapApp.cpp.

int RTABMapApp::openDatabase ( const std::string &  databasePath,
bool  databaseInMemory,
bool  optimize,
const std::string &  databaseSource = std::string() 
)

Definition at line 294 of file RTABMapApp.cpp.

bool RTABMapApp::postExportation ( bool  visualize)

Definition at line 2908 of file RTABMapApp.cpp.

int RTABMapApp::postProcessing ( int  approach)

Definition at line 3072 of file RTABMapApp.cpp.

int RTABMapApp::Render ( )

Definition at line 1000 of file RTABMapApp.cpp.

void RTABMapApp::resetMapping ( )

Definition at line 2067 of file RTABMapApp.cpp.

void RTABMapApp::save ( const std::string &  databasePath)

Definition at line 2084 of file RTABMapApp.cpp.

void RTABMapApp::setAppendMode ( bool  enabled)

Definition at line 1942 of file RTABMapApp.cpp.

void RTABMapApp::setBackfaceCulling ( bool  enabled)

Definition at line 1837 of file RTABMapApp.cpp.

void RTABMapApp::setBackgroundColor ( float  gray)

Definition at line 2002 of file RTABMapApp.cpp.

void RTABMapApp::setCameraColor ( bool  enabled)

Definition at line 1907 of file RTABMapApp.cpp.

void RTABMapApp::SetCameraType ( tango_gl::GestureCamera::CameraType  camera_type)

Definition at line 1763 of file RTABMapApp.cpp.

void RTABMapApp::setCloudDensityLevel ( int  value)

Definition at line 1971 of file RTABMapApp.cpp.

void RTABMapApp::setClusterRatio ( float  value)

Definition at line 1986 of file RTABMapApp.cpp.

void RTABMapApp::setDataRecorderMode ( bool  enabled)

Definition at line 1953 of file RTABMapApp.cpp.

void RTABMapApp::setFOV ( float  angle)

Definition at line 1821 of file RTABMapApp.cpp.

void RTABMapApp::setFullResolution ( bool  enabled)

Definition at line 1915 of file RTABMapApp.cpp.

void RTABMapApp::setGPS ( const rtabmap::GPS &  gps)

Definition at line 2059 of file RTABMapApp.cpp.

void RTABMapApp::setGraphOptimization ( bool  enabled)

Definition at line 1857 of file RTABMapApp.cpp.

void RTABMapApp::setGraphVisible ( bool  visible)

Definition at line 1885 of file RTABMapApp.cpp.

void RTABMapApp::setGridRotation ( float  value)

Definition at line 1829 of file RTABMapApp.cpp.

void RTABMapApp::setGridVisible ( bool  visible)

Definition at line 1890 of file RTABMapApp.cpp.

void RTABMapApp::setLighting ( bool  enabled)

Definition at line 1833 of file RTABMapApp.cpp.

void RTABMapApp::setLocalizationMode ( bool  enabled)

Definition at line 1846 of file RTABMapApp.cpp.

void RTABMapApp::setMapCloudShown ( bool  shown)

Definition at line 1804 of file RTABMapApp.cpp.

int RTABMapApp::setMappingParameter ( const std::string &  key,
const std::string &  value 
)

Definition at line 2009 of file RTABMapApp.cpp.

void RTABMapApp::setMaxCloudDepth ( float  value)

Definition at line 1961 of file RTABMapApp.cpp.

void RTABMapApp::setMaxGainRadius ( float  value)

Definition at line 1991 of file RTABMapApp.cpp.

void RTABMapApp::setMeshAngleTolerance ( float  value)

Definition at line 1976 of file RTABMapApp.cpp.

void RTABMapApp::setMeshRendering ( bool  enabled,
bool  withTexture 
)

Definition at line 1813 of file RTABMapApp.cpp.

void RTABMapApp::setMeshTriangleSize ( int  value)

Definition at line 1981 of file RTABMapApp.cpp.

void RTABMapApp::setMinCloudDepth ( float  value)

Definition at line 1966 of file RTABMapApp.cpp.

void RTABMapApp::setNodesFiltering ( bool  enabled)

Definition at line 1880 of file RTABMapApp.cpp.

void RTABMapApp::setOdomCloudShown ( bool  shown)

Definition at line 1808 of file RTABMapApp.cpp.

void RTABMapApp::setOnlineBlending ( bool  enabled)

Definition at line 1800 of file RTABMapApp.cpp.

void RTABMapApp::setOrthoCropFactor ( float  value)

Definition at line 1825 of file RTABMapApp.cpp.

void RTABMapApp::setPausedMapping ( bool  paused)

Definition at line 1774 of file RTABMapApp.cpp.

void RTABMapApp::setPointSize ( float  value)

Definition at line 1817 of file RTABMapApp.cpp.

void RTABMapApp::setRawScanSaved ( bool  enabled)

Definition at line 1895 of file RTABMapApp.cpp.

void RTABMapApp::setRenderingTextureDecimation ( int  value)

Definition at line 1996 of file RTABMapApp.cpp.

void RTABMapApp::setScreenRotation ( int  displayRotation,
int  cameraRotation 
)

Definition at line 286 of file RTABMapApp.cpp.

void RTABMapApp::setSmoothing ( bool  enabled)

Definition at line 1930 of file RTABMapApp.cpp.

void RTABMapApp::setTrajectoryMode ( bool  enabled)

Definition at line 1851 of file RTABMapApp.cpp.

void RTABMapApp::SetViewPort ( int  width,
int  height 
)

Definition at line 852 of file RTABMapApp.cpp.

void RTABMapApp::setWireframe ( bool  enabled)

Definition at line 1841 of file RTABMapApp.cpp.

bool RTABMapApp::smoothMesh ( int  id,
Mesh &  mesh 
)
private

Definition at line 879 of file RTABMapApp.cpp.

void RTABMapApp::TangoResetMotionTracking ( )

Definition at line 728 of file RTABMapApp.cpp.

bool RTABMapApp::writeExportedMesh ( const std::string &  directory,
const std::string &  name 
)

Definition at line 2962 of file RTABMapApp.cpp.

Member Data Documentation

bool RTABMapApp::appendMode_
private

Definition at line 201 of file RTABMapApp.h.

float RTABMapApp::backgroundColor_
private

Definition at line 210 of file RTABMapApp.h.

bool RTABMapApp::bilateralFilteringOnNextRender_
private

Definition at line 222 of file RTABMapApp.h.

std::map<std::string, float> RTABMapApp::bufferedStatsData_
private

Definition at line 232 of file RTABMapApp.h.

rtabmap::CameraTango* RTABMapApp::camera_
private

Definition at line 187 of file RTABMapApp.h.

bool RTABMapApp::cameraColor_
private

Definition at line 199 of file RTABMapApp.h.

bool RTABMapApp::cameraJustInitialized_
private

Definition at line 224 of file RTABMapApp.h.

bool RTABMapApp::clearSceneOnNextRender_
private

Definition at line 216 of file RTABMapApp.h.

int RTABMapApp::cloudDensityLevel_
private

Definition at line 204 of file RTABMapApp.h.

float RTABMapApp::clusterRatio_
private

Definition at line 207 of file RTABMapApp.h.

std::map<int, Mesh> RTABMapApp::createdMeshes_
private

Definition at line 261 of file RTABMapApp.h.

bool RTABMapApp::dataRecorderMode_
private

Definition at line 215 of file RTABMapApp.h.

bool RTABMapApp::exportedMeshUpdated_
private

Definition at line 235 of file RTABMapApp.h.

bool RTABMapApp::exporting_
private

Definition at line 218 of file RTABMapApp.h.

bool RTABMapApp::filterPolygonsOnNextRender_
private

Definition at line 220 of file RTABMapApp.h.

bool RTABMapApp::fullResolution_
private

Definition at line 200 of file RTABMapApp.h.

int RTABMapApp::gainCompensationOnNextRender_
private

Definition at line 221 of file RTABMapApp.h.

bool RTABMapApp::graphOptimization_
private

Definition at line 193 of file RTABMapApp.h.

int RTABMapApp::lastDrawnCloudsCount_
private

Definition at line 228 of file RTABMapApp.h.

double RTABMapApp::lastPoseEventTime_
private

Definition at line 231 of file RTABMapApp.h.

double RTABMapApp::lastPostRenderEventTime_
private

Definition at line 230 of file RTABMapApp.h.

bool RTABMapApp::localizationMode_
private

Definition at line 195 of file RTABMapApp.h.

LogHandler* RTABMapApp::logHandler_
private

Definition at line 190 of file RTABMapApp.h.

Scene RTABMapApp::main_scene_
private

Definition at line 243 of file RTABMapApp.h.

rtabmap::ParametersMap RTABMapApp::mappingParameters_
private

Definition at line 212 of file RTABMapApp.h.

rtabmap::Transform RTABMapApp::mapToOdom_
private

Definition at line 250 of file RTABMapApp.h.

float RTABMapApp::maxCloudDepth_
private

Definition at line 202 of file RTABMapApp.h.

float RTABMapApp::maxGainRadius_
private

Definition at line 208 of file RTABMapApp.h.

float RTABMapApp::meshAngleToleranceDeg_
private

Definition at line 206 of file RTABMapApp.h.

int RTABMapApp::meshDecimation_
private

Definition at line 225 of file RTABMapApp.h.

boost::mutex RTABMapApp::meshesMutex_
private

Definition at line 254 of file RTABMapApp.h.

int RTABMapApp::meshTrianglePix_
private

Definition at line 205 of file RTABMapApp.h.

float RTABMapApp::minCloudDepth_
private

Definition at line 203 of file RTABMapApp.h.

bool RTABMapApp::nodesFiltering_
private

Definition at line 194 of file RTABMapApp.h.

bool RTABMapApp::odomCloudShown_
private

Definition at line 192 of file RTABMapApp.h.

std::list<rtabmap::OdometryEvent> RTABMapApp::odomEvents_
private

Definition at line 247 of file RTABMapApp.h.

boost::mutex RTABMapApp::odomMutex_
private

Definition at line 255 of file RTABMapApp.h.

bool RTABMapApp::openingDatabase_
private

Definition at line 217 of file RTABMapApp.h.

pcl::TextureMesh::Ptr RTABMapApp::optMesh_
private

Definition at line 236 of file RTABMapApp.h.

int RTABMapApp::optRefId_
private

Definition at line 238 of file RTABMapApp.h.

rtabmap::Transform* RTABMapApp::optRefPose_
private

Definition at line 239 of file RTABMapApp.h.

cv::Mat RTABMapApp::optTexture_
private

Definition at line 237 of file RTABMapApp.h.

bool RTABMapApp::paused_
private

Definition at line 214 of file RTABMapApp.h.

std::list<rtabmap::Transform> RTABMapApp::poseEvents_
private

Definition at line 248 of file RTABMapApp.h.

boost::mutex RTABMapApp::poseMutex_
private

Definition at line 256 of file RTABMapApp.h.

bool RTABMapApp::postProcessing_
private

Definition at line 219 of file RTABMapApp.h.

rtabmap::ProgressionStatus RTABMapApp::progressionStatus_
private

Definition at line 266 of file RTABMapApp.h.

std::map<int, rtabmap::Transform> RTABMapApp::rawPoses_
private

Definition at line 262 of file RTABMapApp.h.

bool RTABMapApp::rawScanSaved_
private

Definition at line 197 of file RTABMapApp.h.

boost::mutex RTABMapApp::renderingMutex_
private

Definition at line 257 of file RTABMapApp.h.

int RTABMapApp::renderingTextureDecimation_
private

Definition at line 209 of file RTABMapApp.h.

float RTABMapApp::renderingTime_
private

Definition at line 229 of file RTABMapApp.h.

rtabmap::Rtabmap* RTABMapApp::rtabmap_
private

Definition at line 189 of file RTABMapApp.h.

std::list<rtabmap::RtabmapEvent*> RTABMapApp::rtabmapEvents_
private

Definition at line 245 of file RTABMapApp.h.

boost::mutex RTABMapApp::rtabmapMutex_
private

Definition at line 252 of file RTABMapApp.h.

rtabmap::RtabmapThread* RTABMapApp::rtabmapThread_
private

Definition at line 188 of file RTABMapApp.h.

USemaphore RTABMapApp::screenshotReady_
private

Definition at line 259 of file RTABMapApp.h.

bool RTABMapApp::smoothing_
private

Definition at line 198 of file RTABMapApp.h.

std::pair<rtabmap::RtabmapEventInit::Status, std::string> RTABMapApp::status_
private

Definition at line 264 of file RTABMapApp.h.

bool RTABMapApp::takeScreenshotOnNextRender_
private

Definition at line 223 of file RTABMapApp.h.

int RTABMapApp::totalPoints_
private

Definition at line 226 of file RTABMapApp.h.

int RTABMapApp::totalPolygons_
private

Definition at line 227 of file RTABMapApp.h.

bool RTABMapApp::trajectoryMode_
private

Definition at line 196 of file RTABMapApp.h.

std::list<rtabmap::RtabmapEvent*> RTABMapApp::visLocalizationEvents_
private

Definition at line 246 of file RTABMapApp.h.

boost::mutex RTABMapApp::visLocalizationMutex_
private

Definition at line 253 of file RTABMapApp.h.

bool RTABMapApp::visualizingMesh_
private

Definition at line 234 of file RTABMapApp.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:42