#include <MainWindow.h>

Inheritance diagram for rtabmap::MainWindow:

Public Types
enum	State { kIdle, kInitializing, kInitialized, kApplicationClosing, kClosing, kStartingDetection, kDetecting, kPaused, kMonitoring, kMonitoringPaused }

Public Slots
void	openDatabase (const QString &path, const rtabmap::ParametersMap &overridedParameters=rtabmap::ParametersMap())

virtual void	processStats (const rtabmap::Statistics &stat)

void	updateCacheFromDatabase (const QString &path)

void	updateParameters (const rtabmap::ParametersMap &parameters)

Signals
void	cameraInfoProcessed ()

void	cameraInfoReceived (const rtabmap::CameraInfo &)

void	detectionRateChanged (double)

void	imgRateChanged (double)

void	loopClosureThrChanged (float)

void	mappingModeChanged (bool)

void	noMoreImagesReceived ()

void	odometryProcessed ()

void	odometryReceived (const rtabmap::OdometryEvent &, bool)

void	rtabmapEvent3DMapProcessed ()

void	rtabmapEvent3DMapReceived (const rtabmap::RtabmapEvent3DMap &event)

void	rtabmapEventInitReceived (int status, const QString &info)

void	rtabmapGlobalPathEventReceived (const rtabmap::RtabmapGlobalPathEvent &event)

void	rtabmapGoalStatusEventReceived (int status)

void	rtabmapLabelErrorReceived (int id, const QString &label)

void	stateChanged (MainWindow::State)

void	statsProcessed ()

void	statsReceived (const rtabmap::Statistics &)

void	thresholdsChanged (int, int)

void	timeLimitChanged (float)

void	twistReceived (float x, float y, float z, float roll, float pitch, float yaw, int row, int col)

Public Member Functions
QString	getWorkingDirectory () const

bool	isDatabaseUpdated () const

bool	isProcessingOdometry () const

bool	isProcessingStatistics () const

bool	isSavedMaximized () const

	MainWindow (PreferencesDialog prefDialog=0, QWidget parent=0, bool showSplashScreen=true)

void	setMonitoringState (bool pauseChecked=false)

virtual	~MainWindow ()

Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()

void	unregisterFromEventsManager ()

Public Member Functions inherited from UEventsSender
	UEventsSender ()

virtual	~UEventsSender ()

Protected Slots
void	anchorCloudsToGroundTruth ()

void	applyPrefSettings (PreferencesDialog::PANEL_FLAGS flags)

void	applyPrefSettings (const rtabmap::ParametersMap &parameters)

void	beep ()

void	cancelGoal ()

void	cancelProgress ()

void	changeDetectionRateSetting ()

void	changeImgRateSetting ()

void	changeMappingMode ()

virtual void	changeState (MainWindow::State state)

void	changeTimeLimitSetting ()

virtual void	clearTheCache ()

virtual bool	closeDatabase ()

void	configGUIModified ()

void	dataRecorder ()

void	dataRecorderDestroyed ()

virtual void	deleteMemory ()

void	depthCalibration ()

virtual void	downloadAllClouds ()

virtual void	downloadPoseGraph ()

void	dumpTheMemory ()

void	dumpThePrediction ()

void	editDatabase ()

void	exportBundlerFormat ()

void	exportClouds ()

void	exportGridMap ()

void	exportImages ()

void	exportOctomap ()

void	exportPosesG2O ()

void	exportPosesKITTI ()

void	exportPosesRaw ()

void	exportPosesRGBDSLAM ()

void	exportPosesTORO ()

void	generateGraphDOT ()

void	label ()

virtual void	newDatabase ()

void	notifyNoMoreImages ()

virtual void	openDatabase ()

virtual void	openHelp ()

virtual void	openPreferences ()

virtual void	openPreferencesSource ()

void	openWorkingDirectory ()

virtual void	pauseDetection ()

void	postGoal (const QString &goal)

void	postProcessing ()

void	printLoopClosureIds ()

void	processCameraInfo (const rtabmap::CameraInfo &info)

void	processOdometry (const rtabmap::OdometryEvent &odom, bool dataIgnored)

void	processRtabmapEvent3DMap (const rtabmap::RtabmapEvent3DMap &event)

void	processRtabmapEventInit (int status, const QString &info)

void	processRtabmapGlobalPathEvent (const rtabmap::RtabmapGlobalPathEvent &event)

void	processRtabmapGoalStatusEvent (int status)

void	processRtabmapLabelErrorEvent (int id, const QString &label)

virtual void	resetOdometry ()

virtual void	saveConfigGUI ()

void	selectFreenect ()

void	selectFreenect2 ()

void	selectK4W2 ()

void	selectOpenni ()

void	selectOpenni2 ()

void	selectOpenniCv ()

void	selectOpenniCvAsus ()

void	selectRealSense ()

void	selectRealSense2 ()

void	selectScreenCaptureFormat (bool checked)

void	selectStereoDC1394 ()

void	selectStereoFlyCapture2 ()

void	selectStereoUsb ()

void	selectStereoZed ()

void	selectStream ()

void	sendGoal ()

void	sendWaypoints ()

void	setAspectRatio (int w, int h)

void	setAspectRatio1080p ()

void	setAspectRatio16_10 ()

void	setAspectRatio16_9 ()

void	setAspectRatio240p ()

void	setAspectRatio360p ()

void	setAspectRatio480p ()

void	setAspectRatio4_3 ()

void	setAspectRatio720p ()

void	setAspectRatioCustom ()

virtual void	setDefaultViews ()

virtual void	startDetection ()

virtual void	stopDetection ()

void	takeScreenshot ()

virtual void	triggerNewMap ()

void	updateCacheFromDatabase ()

void	updateEditMenu ()

void	updateElapsedTime ()

void	updateGraphView ()

void	updateNodeVisibility (int, bool)

void	viewClouds ()

Protected Member Functions
const std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > > &	cachedClouds () const

const QMap< int, Signature > &	cachedSignatures () const

virtual void	closeEvent (QCloseEvent *event)

rtabmap::CloudViewer *	cloudViewer () const

const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &	createdFeatures () const

const std::map< int, LaserScan > &	createdScans () const

const std::map< int, Transform > &	currentGTPosesMap () const

const std::map< int, std::string > &	currentLabels () const

const std::multimap< int, Link > &	currentLinksMap () const

const std::map< int, int > &	currentMapIds () const

const std::map< int, Transform > &	currentPosesMap () const

virtual bool	eventFilter (QObject obj, QEvent event)

virtual bool	handleEvent (UEvent *anEvent)

virtual void	keyPressEvent (QKeyEvent *event)

rtabmap::LoopClosureViewer *	loopClosureViewer () const

virtual void	moveEvent (QMoveEvent *anEvent)

const QString &	newDatabasePathOutput () const

const rtabmap::OccupancyGrid *	occupancyGrid () const

const rtabmap::OctoMap *	octomap () const

rtabmap::ProgressDialog *	progressDialog ()

virtual void	resizeEvent (QResizeEvent *anEvent)

void	setCloudViewer (rtabmap::CloudViewer *cloudViewer)

void	setLoopClosureViewer (rtabmap::LoopClosureViewer *loopClosureViewer)

void	setNewDatabasePathOutput (const QString &newDatabasePathOutput)

virtual void	showEvent (QShowEvent *anEvent)

const State &	state () const

Ui_mainWindow *	ui ()

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
Transform	alignPosesToGroundTruth (const std::map< int, Transform > &poses, const std::map< int, Transform > &groundTruth)

void	applyPrefSettings (const rtabmap::ParametersMap &parameters, bool postParamEvent)

QString	captureScreen (bool cacheInRAM=false, bool png=true)

std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr >	createAndAddCloudToMap (int nodeId, const Transform &pose, int mapId)

void	createAndAddFeaturesToMap (int nodeId, const Transform &pose, int mapId)

void	createAndAddScanToMap (int nodeId, const Transform &pose, int mapId)

void	drawKeypoints (const std::multimap< int, cv::KeyPoint > &refWords, const std::multimap< int, cv::KeyPoint > &loopWords)

void	exportPoses (int format)

void	loadFigures ()

void	saveFigures ()

void	setupMainLayout (bool vertical)

void	update3DMapVisibility (bool cloudsShown, bool scansShown)

void	updateMapCloud (const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, const std::map< int, int > &mapIds, const std::map< int, std::string > &labels, const std::map< int, Transform > &groundTruths, bool verboseProgress=false, std::map< std::string, float > *stats=0)

void	updateSelectSourceMenu ()

Private Attributes
AboutDialog *	_aboutDialog

QMap< QString, QByteArray >	_autoScreenCaptureCachedImages

bool	_autoScreenCaptureOdomSync

bool	_autoScreenCapturePNG

bool	_autoScreenCaptureRAM

std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > >	_cachedClouds

std::set< int >	_cachedEmptyClouds

std::map< int, float >	_cachedLocalizationsCount

long	_cachedMemoryUsage

QMap< int, Signature >	_cachedSignatures

std::map< int, float >	_cachedWordsCount

rtabmap::CameraThread *	_camera

CloudViewer *	_cloudViewer

long	_createdCloudsMemoryUsage

std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	_createdFeatures

std::map< int, LaserScan >	_createdScans

std::map< int, Transform >	_currentGTPosesMap

std::map< int, std::string >	_currentLabels

std::multimap< int, Link >	_currentLinksMap

std::map< int, int >	_currentMapIds

std::map< int, Transform >	_currentPosesMap

bool	_databaseUpdated

DataRecorder *	_dataRecorder

DepthCalibrationDialog *	_depthCalibrationDialog

QTime *	_elapsedTime

ExportBundlerDialog *	_exportBundlerDialog

ExportCloudsDialog *	_exportCloudsDialog

QMap< int, QString >	_exportPosesFileName

bool	_exportPosesFrame

bool	_firstCall

double	_firstStamp

QString	_graphSavingFileName

rtabmap::IMUThread *	_imuThread

int	_lastId

QSet< int >	_lastIds

Transform	_lastOdomPose

PdfPlotCurve *	_likelihoodCurve

QTime *	_logEventTime

QVector< int >	_loopClosureIds

LoopClosureViewer *	_loopClosureViewer

QString	_newDatabasePath

QString	_newDatabasePathOutput

rtabmap::OccupancyGrid *	_occupancyGrid

rtabmap::OctoMap *	_octomap

Transform	_odometryCorrection

bool	_odometryReceived

bool	_odomImageDepthShow

bool	_odomImageShow

rtabmap::OdometryThread *	_odomThread

QTimer *	_oneSecondTimer

QString	_openedDatabasePath

PdfPlotCurve *	_posteriorCurve

PostProcessingDialog *	_postProcessingDialog

PreferencesDialog *	_preferencesDialog

std::pair< int, std::pair< std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr >, pcl::IndicesPtr > >	_previousCloud

bool	_processingDownloadedMap

bool	_processingOdometry

bool	_processingStatistics

bool	_progressCanceled

ProgressDialog *	_progressDialog

PdfPlotCurve *	_rawLikelihoodCurve

bool	_recovering

std::vector< CameraModel >	_rectCameraModels

QVector< int >	_refIds

bool	_savedMaximized

State	_state

Ui_mainWindow *	_ui

QStringList	_waypoints

int	_waypointsIndex

Detailed Description

Definition at line 77 of file MainWindow.h.

Member Enumeration Documentation

enum rtabmap::MainWindow::State

Enumerator
kIdle
kInitializing
kInitialized
kApplicationClosing
kClosing
kStartingDetection
kDetecting
kPaused
kMonitoring
kMonitoringPaused

Definition at line 82 of file MainWindow.h.

Constructor & Destructor Documentation

rtabmap::MainWindow::MainWindow	(	PreferencesDialog *	prefDialog = `0`,
		QWidget *	parent = `0`,
		bool	showSplashScreen = `true`
	)

Parameters

prefDialog If NULL, a default dialog is created. This dialog is automatically destroyed with the MainWindow.

Definition at line 134 of file MainWindow.cpp.

rtabmap::MainWindow::~MainWindow ( )

virtual

Definition at line 647 of file MainWindow.cpp.

Member Function Documentation

Transform rtabmap::MainWindow::alignPosesToGroundTruth	(	const std::map< int, Transform > &	poses,
		const std::map< int, Transform > &	groundTruth
	)

private

Definition at line 3543 of file MainWindow.cpp.

void rtabmap::MainWindow::anchorCloudsToGroundTruth ( )

protectedslot

Definition at line 6274 of file MainWindow.cpp.

void rtabmap::MainWindow::applyPrefSettings ( PreferencesDialog::PANEL_FLAGS flags )

protectedslot

Definition at line 3994 of file MainWindow.cpp.

void rtabmap::MainWindow::applyPrefSettings ( const rtabmap::ParametersMap & parameters )

protectedslot

Definition at line 4055 of file MainWindow.cpp.

void rtabmap::MainWindow::applyPrefSettings	(	const rtabmap::ParametersMap &	parameters,
		bool	postParamEvent
	)

private

Definition at line 4060 of file MainWindow.cpp.

void rtabmap::MainWindow::beep ( )

protectedslot

Definition at line 4408 of file MainWindow.cpp.

const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> >& rtabmap::MainWindow::cachedClouds ( ) const

inlineprotected

Definition at line 280 of file MainWindow.h.

const QMap<int, Signature>& rtabmap::MainWindow::cachedSignatures ( ) const

inlineprotected

Definition at line 274 of file MainWindow.h.

void rtabmap::MainWindow::cameraInfoProcessed ( )

signal

void rtabmap::MainWindow::cameraInfoReceived ( const rtabmap::CameraInfo & )

signal

void rtabmap::MainWindow::cancelGoal ( )

protectedslot

Definition at line 6121 of file MainWindow.cpp.

void rtabmap::MainWindow::cancelProgress ( )

protectedslot

Definition at line 4413 of file MainWindow.cpp.

QString rtabmap::MainWindow::captureScreen	(	bool	cacheInRAM = `false`,
		bool	png = `true`
	)

private

Definition at line 4367 of file MainWindow.cpp.

void rtabmap::MainWindow::changeDetectionRateSetting ( )

protectedslot

Definition at line 4352 of file MainWindow.cpp.

void rtabmap::MainWindow::changeImgRateSetting ( )

protectedslot

Definition at line 4347 of file MainWindow.cpp.

void rtabmap::MainWindow::changeMappingMode ( )

protectedslot

Definition at line 4362 of file MainWindow.cpp.

void rtabmap::MainWindow::changeState ( MainWindow::State state )

protectedvirtualslot

Definition at line 7271 of file MainWindow.cpp.

void rtabmap::MainWindow::changeTimeLimitSetting ( )

protectedslot

Definition at line 4357 of file MainWindow.cpp.

void rtabmap::MainWindow::clearTheCache ( )

protectedvirtualslot

Definition at line 6284 of file MainWindow.cpp.

bool rtabmap::MainWindow::closeDatabase ( )

protectedvirtualslot

Definition at line 4655 of file MainWindow.cpp.

void rtabmap::MainWindow::closeEvent ( QCloseEvent * event )

protectedvirtual

Definition at line 696 of file MainWindow.cpp.

rtabmap::CloudViewer* rtabmap::MainWindow::cloudViewer ( ) const

inlineprotected

Definition at line 288 of file MainWindow.h.

void rtabmap::MainWindow::configGUIModified ( )

protectedslot

Definition at line 4419 of file MainWindow.cpp.

std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > rtabmap::MainWindow::createAndAddCloudToMap	(	int	nodeId,
		const Transform &	pose,
		int	mapId
	)

private

Definition at line 2758 of file MainWindow.cpp.

void rtabmap::MainWindow::createAndAddFeaturesToMap	(	int	nodeId,
		const Transform &	pose,
		int	mapId
	)

private

Definition at line 3444 of file MainWindow.cpp.

void rtabmap::MainWindow::createAndAddScanToMap	(	int	nodeId,
		const Transform &	pose,
		int	mapId
	)

private

Definition at line 3133 of file MainWindow.cpp.

const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>& rtabmap::MainWindow::createdFeatures ( ) const

inlineprotected

Definition at line 282 of file MainWindow.h.

const std::map<int, LaserScan>& rtabmap::MainWindow::createdScans ( ) const

inlineprotected

Definition at line 281 of file MainWindow.h.

const std::map<int, Transform>& rtabmap::MainWindow::currentGTPosesMap ( ) const

inlineprotected

Definition at line 276 of file MainWindow.h.

const std::map<int, std::string>& rtabmap::MainWindow::currentLabels ( ) const

inlineprotected

Definition at line 279 of file MainWindow.h.

const std::multimap<int, Link>& rtabmap::MainWindow::currentLinksMap ( ) const

inlineprotected

Definition at line 277 of file MainWindow.h.

const std::map<int, int>& rtabmap::MainWindow::currentMapIds ( ) const

inlineprotected

Definition at line 278 of file MainWindow.h.

const std::map<int, Transform>& rtabmap::MainWindow::currentPosesMap ( ) const

inlineprotected

Definition at line 275 of file MainWindow.h.

void rtabmap::MainWindow::dataRecorder ( )

protectedslot

Definition at line 7209 of file MainWindow.cpp.

void rtabmap::MainWindow::dataRecorderDestroyed ( )

protectedslot

Definition at line 7254 of file MainWindow.cpp.

void rtabmap::MainWindow::deleteMemory ( )

protectedvirtualslot

Definition at line 5911 of file MainWindow.cpp.

void rtabmap::MainWindow::depthCalibration ( )

protectedslot

Definition at line 5895 of file MainWindow.cpp.

void rtabmap::MainWindow::detectionRateChanged ( double )

signal

void rtabmap::MainWindow::downloadAllClouds ( )

protectedvirtualslot

Definition at line 6185 of file MainWindow.cpp.

void rtabmap::MainWindow::downloadPoseGraph ( )

protectedvirtualslot

Definition at line 6229 of file MainWindow.cpp.

void rtabmap::MainWindow::drawKeypoints	(	const std::multimap< int, cv::KeyPoint > &	refWords,
		const std::multimap< int, cv::KeyPoint > &	loopWords
	)

private

Definition at line 4109 of file MainWindow.cpp.

void rtabmap::MainWindow::dumpTheMemory ( )

protectedslot

Definition at line 6057 of file MainWindow.cpp.

void rtabmap::MainWindow::dumpThePrediction ( )

protectedslot

Definition at line 6062 of file MainWindow.cpp.

void rtabmap::MainWindow::editDatabase ( )

protectedslot

Definition at line 4701 of file MainWindow.cpp.

bool rtabmap::MainWindow::eventFilter	(	QObject *	obj,
		QEvent *	event
	)

protectedvirtual

Definition at line 4301 of file MainWindow.cpp.

void rtabmap::MainWindow::exportBundlerFormat ( )

protectedslot

Definition at line 6976 of file MainWindow.cpp.

void rtabmap::MainWindow::exportClouds ( )

protectedslot

Definition at line 6696 of file MainWindow.cpp.

void rtabmap::MainWindow::exportGridMap ( )

protectedslot

Definition at line 6626 of file MainWindow.cpp.

void rtabmap::MainWindow::exportImages ( )

protectedslot

Definition at line 6809 of file MainWindow.cpp.

void rtabmap::MainWindow::exportOctomap ( )

protectedslot

Definition at line 6771 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPoses ( int format )

private

Definition at line 5182 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesG2O ( )

protectedslot

Definition at line 5177 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesKITTI ( )

protectedslot

Definition at line 5169 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesRaw ( )

protectedslot

Definition at line 5161 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesRGBDSLAM ( )

protectedslot

Definition at line 5165 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesTORO ( )

protectedslot

Definition at line 5173 of file MainWindow.cpp.

void rtabmap::MainWindow::generateGraphDOT ( )

protectedslot

Definition at line 5129 of file MainWindow.cpp.

QString rtabmap::MainWindow::getWorkingDirectory ( ) const

Definition at line 5944 of file MainWindow.cpp.

bool rtabmap::MainWindow::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 790 of file MainWindow.cpp.

void rtabmap::MainWindow::imgRateChanged ( double )

signal

bool rtabmap::MainWindow::isDatabaseUpdated ( ) const

inline

Definition at line 110 of file MainWindow.h.

bool rtabmap::MainWindow::isProcessingOdometry ( ) const

inline

Definition at line 108 of file MainWindow.h.

bool rtabmap::MainWindow::isProcessingStatistics ( ) const

inline

Definition at line 107 of file MainWindow.h.

bool rtabmap::MainWindow::isSavedMaximized ( ) const

inline

Definition at line 105 of file MainWindow.h.

void rtabmap::MainWindow::keyPressEvent ( QKeyEvent * event )

protectedvirtual

Definition at line 4292 of file MainWindow.cpp.

void rtabmap::MainWindow::label ( )

protectedslot

Definition at line 6129 of file MainWindow.cpp.

void rtabmap::MainWindow::loadFigures ( )

private

Definition at line 6390 of file MainWindow.cpp.

void rtabmap::MainWindow::loopClosureThrChanged ( float )

signal

rtabmap::LoopClosureViewer* rtabmap::MainWindow::loopClosureViewer ( ) const

inlineprotected

Definition at line 289 of file MainWindow.h.

void rtabmap::MainWindow::mappingModeChanged ( bool )

signal

void rtabmap::MainWindow::moveEvent ( QMoveEvent * anEvent )

protectedvirtual

Definition at line 4271 of file MainWindow.cpp.

void rtabmap::MainWindow::newDatabase ( )

protectedvirtualslot

Definition at line 4467 of file MainWindow.cpp.

const QString& rtabmap::MainWindow::newDatabasePathOutput ( ) const

inlineprotected

Definition at line 295 of file MainWindow.h.

void rtabmap::MainWindow::noMoreImagesReceived ( )

signal

void rtabmap::MainWindow::notifyNoMoreImages ( )

protectedslot

Definition at line 5103 of file MainWindow.cpp.

const rtabmap::OccupancyGrid* rtabmap::MainWindow::occupancyGrid ( ) const

inlineprotected

Definition at line 284 of file MainWindow.h.

const rtabmap::OctoMap* rtabmap::MainWindow::octomap ( ) const

inlineprotected

Definition at line 285 of file MainWindow.h.

void rtabmap::MainWindow::odometryProcessed ( )

signal

void rtabmap::MainWindow::odometryReceived	(	const rtabmap::OdometryEvent &	,
		bool
	)

signal

void rtabmap::MainWindow::openDatabase	(	const QString &	path,
		const rtabmap::ParametersMap &	overridedParameters = `rtabmap::ParametersMap()`
	)

slot

Definition at line 4560 of file MainWindow.cpp.

void rtabmap::MainWindow::openDatabase ( )

protectedvirtualslot

Definition at line 4551 of file MainWindow.cpp.

void rtabmap::MainWindow::openHelp ( )

protectedvirtualslot

Definition at line 6350 of file MainWindow.cpp.

void rtabmap::MainWindow::openPreferences ( )

protectedvirtualslot

Definition at line 6423 of file MainWindow.cpp.

void rtabmap::MainWindow::openPreferencesSource ( )

protectedvirtualslot

Definition at line 6429 of file MainWindow.cpp.

void rtabmap::MainWindow::openWorkingDirectory ( )

protectedslot

Definition at line 5949 of file MainWindow.cpp.

void rtabmap::MainWindow::pauseDetection ( )

protectedvirtualslot

Definition at line 5007 of file MainWindow.cpp.

void rtabmap::MainWindow::postGoal ( const QString & goal )

protectedslot

Definition at line 6102 of file MainWindow.cpp.

void rtabmap::MainWindow::postProcessing ( )

protectedslot

Definition at line 5359 of file MainWindow.cpp.

void rtabmap::MainWindow::printLoopClosureIds ( )

protectedslot

Definition at line 5110 of file MainWindow.cpp.

void rtabmap::MainWindow::processCameraInfo ( const rtabmap::CameraInfo & info )

protectedslot

Definition at line 926 of file MainWindow.cpp.

void rtabmap::MainWindow::processOdometry	(	const rtabmap::OdometryEvent &	odom,
		bool	dataIgnored
	)

protectedslot

Definition at line 945 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapEvent3DMap ( const rtabmap::RtabmapEvent3DMap & event )

protectedslot

Definition at line 3798 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapEventInit	(	int	status,
		const QString &	info
	)

protectedslot

Definition at line 3672 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapGlobalPathEvent ( const rtabmap::RtabmapGlobalPathEvent & event )

protectedslot

Definition at line 3912 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapGoalStatusEvent ( int status )

protectedslot

Definition at line 3985 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapLabelErrorEvent	(	int	id,
		const QString &	label
	)

protectedslot

Definition at line 3970 of file MainWindow.cpp.

void rtabmap::MainWindow::processStats ( const rtabmap::Statistics & stat )

virtualslot

Definition at line 1534 of file MainWindow.cpp.

rtabmap::ProgressDialog* rtabmap::MainWindow::progressDialog ( )

inlineprotected

Definition at line 287 of file MainWindow.h.

void rtabmap::MainWindow::resetOdometry ( )

protectedvirtualslot

Definition at line 7197 of file MainWindow.cpp.

void rtabmap::MainWindow::resizeEvent ( QResizeEvent * anEvent )

protectedvirtual

Definition at line 4284 of file MainWindow.cpp.

void rtabmap::MainWindow::rtabmapEvent3DMapProcessed ( )

signal

void rtabmap::MainWindow::rtabmapEvent3DMapReceived ( const rtabmap::RtabmapEvent3DMap & event )

signal

void rtabmap::MainWindow::rtabmapEventInitReceived	(	int	status,
		const QString &	info
	)

signal

void rtabmap::MainWindow::rtabmapGlobalPathEventReceived ( const rtabmap::RtabmapGlobalPathEvent & event )

signal

void rtabmap::MainWindow::rtabmapGoalStatusEventReceived ( int status )

signal

void rtabmap::MainWindow::rtabmapLabelErrorReceived	(	int	id,
		const QString &	label
	)

signal

void rtabmap::MainWindow::saveConfigGUI ( )

protectedvirtualslot

Definition at line 4447 of file MainWindow.cpp.

void rtabmap::MainWindow::saveFigures ( )

private

Definition at line 6371 of file MainWindow.cpp.

void rtabmap::MainWindow::selectFreenect ( )

protectedslot

Definition at line 5998 of file MainWindow.cpp.

void rtabmap::MainWindow::selectFreenect2 ( )

protectedslot

Definition at line 6018 of file MainWindow.cpp.

void rtabmap::MainWindow::selectK4W2 ( )

protectedslot

Definition at line 6023 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenni ( )

protectedslot

Definition at line 5993 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenni2 ( )

protectedslot

Definition at line 6013 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenniCv ( )

protectedslot

Definition at line 6003 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenniCvAsus ( )

protectedslot

Definition at line 6008 of file MainWindow.cpp.

void rtabmap::MainWindow::selectRealSense ( )

protectedslot

Definition at line 6028 of file MainWindow.cpp.

void rtabmap::MainWindow::selectRealSense2 ( )

protectedslot

Definition at line 6033 of file MainWindow.cpp.

void rtabmap::MainWindow::selectScreenCaptureFormat ( bool checked )

protectedslot

Definition at line 6458 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoDC1394 ( )

protectedslot

Definition at line 6038 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoFlyCapture2 ( )

protectedslot

Definition at line 6043 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoUsb ( )

protectedslot

Definition at line 6052 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoZed ( )

protectedslot

Definition at line 6047 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStream ( )

protectedslot

Definition at line 5988 of file MainWindow.cpp.

void rtabmap::MainWindow::sendGoal ( )

protectedslot

Definition at line 6067 of file MainWindow.cpp.

void rtabmap::MainWindow::sendWaypoints ( )

protectedslot

Definition at line 6081 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio	(	int	w,
		int	h
	)

protectedslot

Definition at line 6546 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio1080p ( )

protectedslot

Definition at line 6607 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio16_10 ( )

protectedslot

Definition at line 6577 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio16_9 ( )

protectedslot

Definition at line 6572 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio240p ( )

protectedslot

Definition at line 6587 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio360p ( )

protectedslot

Definition at line 6592 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio480p ( )

protectedslot

Definition at line 6597 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio4_3 ( )

protectedslot

Definition at line 6582 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio720p ( )

protectedslot

Definition at line 6602 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatioCustom ( )

protectedslot

Definition at line 6612 of file MainWindow.cpp.

void rtabmap::MainWindow::setCloudViewer ( rtabmap::CloudViewer * cloudViewer )

protected

Definition at line 672 of file MainWindow.cpp.

void rtabmap::MainWindow::setDefaultViews ( )

protectedvirtualslot

Definition at line 6436 of file MainWindow.cpp.

void rtabmap::MainWindow::setLoopClosureViewer ( rtabmap::LoopClosureViewer * loopClosureViewer )

protected

Definition at line 686 of file MainWindow.cpp.

void rtabmap::MainWindow::setMonitoringState ( bool pauseChecked = false )

Definition at line 7265 of file MainWindow.cpp.

void rtabmap::MainWindow::setNewDatabasePathOutput ( const QString & newDatabasePathOutput )

inlineprotected

Definition at line 294 of file MainWindow.h.

void rtabmap::MainWindow::setupMainLayout ( bool vertical )

private

Definition at line 660 of file MainWindow.cpp.

void rtabmap::MainWindow::showEvent ( QShowEvent * anEvent )

protectedvirtual

Definition at line 4265 of file MainWindow.cpp.

void rtabmap::MainWindow::startDetection ( )

protectedvirtualslot

Definition at line 4744 of file MainWindow.cpp.

const State& rtabmap::MainWindow::state ( ) const

inlineprotected

Definition at line 272 of file MainWindow.h.

void rtabmap::MainWindow::stateChanged ( MainWindow::State )

signal

void rtabmap::MainWindow::statsProcessed ( )

signal

void rtabmap::MainWindow::statsReceived ( const rtabmap::Statistics & )

signal

void rtabmap::MainWindow::stopDetection ( )

protectedvirtualslot

Definition at line 5041 of file MainWindow.cpp.

void rtabmap::MainWindow::takeScreenshot ( )

protectedslot

Definition at line 6541 of file MainWindow.cpp.

void rtabmap::MainWindow::thresholdsChanged	(	int	,
		int
	)

signal

void rtabmap::MainWindow::timeLimitChanged ( float )

signal

void rtabmap::MainWindow::triggerNewMap ( )

protectedvirtualslot

Definition at line 7203 of file MainWindow.cpp.

void rtabmap::MainWindow::twistReceived	(	float	x,
		float	y,
		float	z,
		float	roll,
		float	pitch,
		float	yaw,
		int	row,
		int	col
	)

signal

Ui_mainWindow* rtabmap::MainWindow::ui ( )

inlineprotected

Definition at line 271 of file MainWindow.h.

void rtabmap::MainWindow::update3DMapVisibility	(	bool	cloudsShown,
		bool	scansShown
	)

private

void rtabmap::MainWindow::updateCacheFromDatabase ( const QString & path )

slot

Definition at line 6150 of file MainWindow.cpp.

void rtabmap::MainWindow::updateCacheFromDatabase ( )

protectedslot

Definition at line 6140 of file MainWindow.cpp.

void rtabmap::MainWindow::updateEditMenu ( )

protectedslot

Definition at line 5972 of file MainWindow.cpp.

void rtabmap::MainWindow::updateElapsedTime ( )

protectedslot

Definition at line 6362 of file MainWindow.cpp.

void rtabmap::MainWindow::updateGraphView ( )

protectedslot

Definition at line 3655 of file MainWindow.cpp.

void rtabmap::MainWindow::updateMapCloud	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints,
		const std::map< int, int > &	mapIds,
		const std::map< int, std::string > &	labels,
		const std::map< int, Transform > &	groundTruths,
		bool	verboseProgress = `false`,
		std::map< std::string, float > *	stats = `0`
	)

private

Definition at line 2048 of file MainWindow.cpp.

void rtabmap::MainWindow::updateNodeVisibility	(	int	nodeId,
		bool	visible
	)

protectedslot

Definition at line 3597 of file MainWindow.cpp.

void rtabmap::MainWindow::updateParameters ( const rtabmap::ParametersMap & parameters )

slot

Definition at line 4424 of file MainWindow.cpp.

void rtabmap::MainWindow::updateSelectSourceMenu ( )

private

Definition at line 4314 of file MainWindow.cpp.

void rtabmap::MainWindow::viewClouds ( )

protectedslot

Definition at line 6733 of file MainWindow.cpp.

Member Data Documentation

AboutDialog* rtabmap::MainWindow::_aboutDialog

private

Definition at line 307 of file MainWindow.h.

QMap<QString, QByteArray> rtabmap::MainWindow::_autoScreenCaptureCachedImages

private

Definition at line 376 of file MainWindow.h.

bool rtabmap::MainWindow::_autoScreenCaptureOdomSync

private

Definition at line 373 of file MainWindow.h.

bool rtabmap::MainWindow::_autoScreenCapturePNG

private

Definition at line 375 of file MainWindow.h.

bool rtabmap::MainWindow::_autoScreenCaptureRAM

private

Definition at line 374 of file MainWindow.h.

std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > rtabmap::MainWindow::_cachedClouds

private

Definition at line 339 of file MainWindow.h.

std::set<int> rtabmap::MainWindow::_cachedEmptyClouds

private

Definition at line 341 of file MainWindow.h.

std::map<int, float> rtabmap::MainWindow::_cachedLocalizationsCount

private

Definition at line 344 of file MainWindow.h.

long rtabmap::MainWindow::_cachedMemoryUsage

private

Definition at line 333 of file MainWindow.h.

QMap<int, Signature> rtabmap::MainWindow::_cachedSignatures

private

Definition at line 332 of file MainWindow.h.

std::map<int, float> rtabmap::MainWindow::_cachedWordsCount

private

Definition at line 343 of file MainWindow.h.

rtabmap::CameraThread* rtabmap::MainWindow::_camera

private

Definition at line 301 of file MainWindow.h.

CloudViewer* rtabmap::MainWindow::_cloudViewer

private

Definition at line 367 of file MainWindow.h.

long rtabmap::MainWindow::_createdCloudsMemoryUsage

private

Definition at line 340 of file MainWindow.h.

std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> rtabmap::MainWindow::_createdFeatures

private

Definition at line 351 of file MainWindow.h.

std::map<int, LaserScan> rtabmap::MainWindow::_createdScans

private

Definition at line 346 of file MainWindow.h.

std::map<int, Transform> rtabmap::MainWindow::_currentGTPosesMap

private

Definition at line 335 of file MainWindow.h.

std::map<int, std::string> rtabmap::MainWindow::_currentLabels

private

Definition at line 338 of file MainWindow.h.

std::multimap<int, Link> rtabmap::MainWindow::_currentLinksMap

private

Definition at line 336 of file MainWindow.h.

std::map<int, int> rtabmap::MainWindow::_currentMapIds

private

Definition at line 337 of file MainWindow.h.

std::map<int, Transform> rtabmap::MainWindow::_currentPosesMap

private

Definition at line 334 of file MainWindow.h.

bool rtabmap::MainWindow::_databaseUpdated

private

Definition at line 324 of file MainWindow.h.

DataRecorder* rtabmap::MainWindow::_dataRecorder

private

Definition at line 312 of file MainWindow.h.

DepthCalibrationDialog* rtabmap::MainWindow::_depthCalibrationDialog

private

Definition at line 311 of file MainWindow.h.

QTime* rtabmap::MainWindow::_elapsedTime

private

Definition at line 358 of file MainWindow.h.

ExportBundlerDialog* rtabmap::MainWindow::_exportBundlerDialog

private

Definition at line 309 of file MainWindow.h.

ExportCloudsDialog* rtabmap::MainWindow::_exportCloudsDialog

private

Definition at line 308 of file MainWindow.h.

QMap<int, QString> rtabmap::MainWindow::_exportPosesFileName

private

Definition at line 372 of file MainWindow.h.

bool rtabmap::MainWindow::_exportPosesFrame

private

Definition at line 371 of file MainWindow.h.

bool rtabmap::MainWindow::_firstCall

private

Definition at line 381 of file MainWindow.h.

double rtabmap::MainWindow::_firstStamp

private

Definition at line 316 of file MainWindow.h.

QString rtabmap::MainWindow::_graphSavingFileName

private

Definition at line 370 of file MainWindow.h.

rtabmap::IMUThread* rtabmap::MainWindow::_imuThread

private

Definition at line 303 of file MainWindow.h.

int rtabmap::MainWindow::_lastId

private

Definition at line 315 of file MainWindow.h.

QSet<int> rtabmap::MainWindow::_lastIds

private

Definition at line 314 of file MainWindow.h.

Transform rtabmap::MainWindow::_lastOdomPose

private

Definition at line 354 of file MainWindow.h.

PdfPlotCurve* rtabmap::MainWindow::_likelihoodCurve

private

Definition at line 362 of file MainWindow.h.

QTime* rtabmap::MainWindow::_logEventTime

private

Definition at line 359 of file MainWindow.h.

QVector<int> rtabmap::MainWindow::_loopClosureIds

private

Definition at line 379 of file MainWindow.h.

LoopClosureViewer* rtabmap::MainWindow::_loopClosureViewer

private

Definition at line 368 of file MainWindow.h.

QString rtabmap::MainWindow::_newDatabasePath

private

Definition at line 321 of file MainWindow.h.

QString rtabmap::MainWindow::_newDatabasePathOutput

private

Definition at line 322 of file MainWindow.h.

rtabmap::OccupancyGrid* rtabmap::MainWindow::_occupancyGrid

private

Definition at line 348 of file MainWindow.h.

rtabmap::OctoMap* rtabmap::MainWindow::_octomap

private

Definition at line 349 of file MainWindow.h.

Transform rtabmap::MainWindow::_odometryCorrection

private

Definition at line 353 of file MainWindow.h.

bool rtabmap::MainWindow::_odometryReceived

private

Definition at line 320 of file MainWindow.h.

bool rtabmap::MainWindow::_odomImageDepthShow

private

Definition at line 326 of file MainWindow.h.

bool rtabmap::MainWindow::_odomImageShow

private

Definition at line 325 of file MainWindow.h.

rtabmap::OdometryThread* rtabmap::MainWindow::_odomThread

private

Definition at line 302 of file MainWindow.h.

QTimer* rtabmap::MainWindow::_oneSecondTimer

private

Definition at line 357 of file MainWindow.h.

QString rtabmap::MainWindow::_openedDatabasePath

private

Definition at line 323 of file MainWindow.h.

PdfPlotCurve* rtabmap::MainWindow::_posteriorCurve

private

Definition at line 361 of file MainWindow.h.

PostProcessingDialog* rtabmap::MainWindow::_postProcessingDialog

private

Definition at line 310 of file MainWindow.h.

PreferencesDialog* rtabmap::MainWindow::_preferencesDialog

private

Definition at line 306 of file MainWindow.h.

std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > rtabmap::MainWindow::_previousCloud

private

Definition at line 342 of file MainWindow.h.

bool rtabmap::MainWindow::_processingDownloadedMap

private

Definition at line 318 of file MainWindow.h.

bool rtabmap::MainWindow::_processingOdometry

private

Definition at line 355 of file MainWindow.h.

bool rtabmap::MainWindow::_processingStatistics

private

Definition at line 317 of file MainWindow.h.

bool rtabmap::MainWindow::_progressCanceled

private

Definition at line 382 of file MainWindow.h.

ProgressDialog* rtabmap::MainWindow::_progressDialog

private

Definition at line 365 of file MainWindow.h.

PdfPlotCurve* rtabmap::MainWindow::_rawLikelihoodCurve

private

Definition at line 363 of file MainWindow.h.

bool rtabmap::MainWindow::_recovering

private

Definition at line 319 of file MainWindow.h.

std::vector<CameraModel> rtabmap::MainWindow::_rectCameraModels

private

Definition at line 330 of file MainWindow.h.

QVector<int> rtabmap::MainWindow::_refIds

private

Definition at line 378 of file MainWindow.h.

bool rtabmap::MainWindow::_savedMaximized

private

Definition at line 327 of file MainWindow.h.

State rtabmap::MainWindow::_state

private

Definition at line 300 of file MainWindow.h.

Ui_mainWindow* rtabmap::MainWindow::_ui

private

Definition at line 298 of file MainWindow.h.

QStringList rtabmap::MainWindow::_waypoints

private

Definition at line 328 of file MainWindow.h.

int rtabmap::MainWindow::_waypointsIndex

private

Definition at line 329 of file MainWindow.h.

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

Public Types

Public Slots

Signals

Public Member Functions

Protected Slots

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation