#include <RTABMapApp.h>

Inheritance diagram for RTABMapApp:

Public Member Functions
void	addEnvSensor (int type, float value)

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 ()

bool	isBuiltWith (int cameraDriver) const

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, bool clearDatabase)

void	postCameraPoseEvent (float x, float y, float z, float qx, float qy, float qz, float qw, double stamp)

bool	postExportation (bool visualize)

void	postOdometryEvent (rtabmap::Transform pose, float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy, float depth_fx, float depth_fy, float depth_cx, float depth_cy, const rtabmap::Transform &rgbFrame, const rtabmap::Transform &depthFrame, double stamp, double depthStamp, const void yPlane, const void uPlane, const void vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat, const void depth, int depthLen, int depthWidth, int depthHeight, int depthFormat, const void conf, int confLen, int confWidth, int confHeight, int confFormat, const float points, int pointsLen, int pointsChannels, const rtabmap::Transform &viewMatrix, float p00, float p11, float p02, float p12, float p22, float p32, float p23, float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)

int	postProcessing (int approach)

bool	recover (const std::string &from, const std::string &to)

int	Render ()

	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	setDepthConfidence (int value)

void	setDepthFromMotion (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	setMeshDecimationFactor (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	setupSwiftCallbacks (void classPtr, void(progressCallback)(void , int, int), void(initCallback)(void , int, const char ), void(statsUpdatedCallback)(void , int, int, int, int, float, int, int, int, int, int, int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float))

void	SetViewPort (int width, int height)

void	setWireframe (bool enabled)

bool	startCamera ()

void	stopCamera ()

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, rtabmap::Mesh &mesh)

int	updateMeshDecimation (int width, int height)

Private Attributes
bool	appendMode_

float	backgroundColor_

bool	bilateralFilteringOnNextRender_

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

rtabmap::CameraMobile *	camera_

bool	cameraColor_

int	cameraDriver_

bool	cameraJustInitialized_

boost::mutex	cameraMutex_

bool	clearSceneOnNextRender_

int	cloudDensityLevel_

float	clusterRatio_

std::map< int, rtabmap::Mesh >	createdMeshes_

bool	dataRecorderMode_

int	depthConfidence_

bool	depthFromMotion_

bool	exportedMeshUpdated_

bool	exporting_

bool	filterPolygonsOnNextRender_

UTimer	fpsTime_

bool	fullResolution_

int	gainCompensationOnNextRender_

bool	graphOptimization_

int	lastDrawnCloudsCount_

double	lastPoseEventTime_

double	lastPostRenderEventTime_

bool	localizationMode_

rtabmap::LogHandler *	logHandler_

Scene	main_scene_

rtabmap::ParametersMap	mappingParameters_

rtabmap::Transform	mapToOdom_

float	maxCloudDepth_

float	maxGainRadius_

float	meshAngleToleranceDeg_

float	meshDecimationFactor_

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_

std::map< double, rtabmap::Transform >	poseBuffer_

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_

void *	swiftClassPtr_

void(*	swiftInitCallback )(void , int, const char )

void(*	swiftStatsUpdatedCallback )(void *, int, int, int, int, float, int, int, int, int, int, int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float)

bool	takeScreenshotOnNextRender_

int	totalPoints_

int	totalPolygons_

bool	trajectoryMode_

bool	visualizingMesh_

Detailed Description

Definition at line 51 of file RTABMapApp.h.

Constructor & Destructor Documentation

◆ RTABMapApp()

RTABMapApp::RTABMapApp ( )

Definition at line 201 of file RTABMapApp.cpp.

◆ ~RTABMapApp()

RTABMapApp::~RTABMapApp ( )

Definition at line 315 of file RTABMapApp.cpp.

Member Function Documentation

◆ addEnvSensor()

void RTABMapApp::addEnvSensor	(	int	type,
		float	value
	)

Definition at line 2536 of file RTABMapApp.cpp.

◆ cancelProcessing()

void RTABMapApp::cancelProcessing ( )

Definition at line 2617 of file RTABMapApp.cpp.

◆ exportMesh()

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 2623 of file RTABMapApp.cpp.

◆ filterOrganizedPolygons()

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

private

Definition at line 967 of file RTABMapApp.cpp.

◆ filterPolygons()

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

private

Definition at line 1034 of file RTABMapApp.cpp.

◆ gainCompensation()

void RTABMapApp::gainCompensation ( bool full = false )

private

Definition at line 1183 of file RTABMapApp.cpp.

◆ getRtabmapParameters()

rtabmap::ParametersMap RTABMapApp::getRtabmapParameters ( )

private

Definition at line 123 of file RTABMapApp.cpp.

◆ handleEvent()

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 3990 of file RTABMapApp.cpp.

◆ InitializeGLContent()

void RTABMapApp::InitializeGLContent ( )

Definition at line 1077 of file RTABMapApp.cpp.

◆ isBuiltWith()

bool RTABMapApp::isBuiltWith ( int cameraDriver ) const

Definition at line 839 of file RTABMapApp.cpp.

◆ OnTouchEvent()

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

Definition at line 2228 of file RTABMapApp.cpp.

◆ openDatabase()

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

Definition at line 352 of file RTABMapApp.cpp.

◆ postCameraPoseEvent()

void RTABMapApp::postCameraPoseEvent	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		double	stamp
	)

Definition at line 3703 of file RTABMapApp.cpp.

◆ postExportation()

bool RTABMapApp::postExportation ( bool visualize )

Definition at line 3418 of file RTABMapApp.cpp.

◆ postOdometryEvent()

void RTABMapApp::postOdometryEvent	(	rtabmap::Transform	pose,
		float	rgb_fx,
		float	rgb_fy,
		float	rgb_cx,
		float	rgb_cy,
		float	depth_fx,
		float	depth_fy,
		float	depth_cx,
		float	depth_cy,
		const rtabmap::Transform &	rgbFrame,
		const rtabmap::Transform &	depthFrame,
		double	stamp,
		double	depthStamp,
		const void *	yPlane,
		const void *	uPlane,
		const void *	vPlane,
		int	yPlaneLen,
		int	rgbWidth,
		int	rgbHeight,
		int	rgbFormat,
		const void *	depth,
		int	depthLen,
		int	depthWidth,
		int	depthHeight,
		int	depthFormat,
		const void *	conf,
		int	confLen,
		int	confWidth,
		int	confHeight,
		int	confFormat,
		const float *	points,
		int	pointsLen,
		int	pointsChannels,
		const rtabmap::Transform &	viewMatrix,
		float	p00,
		float	p11,
		float	p02,
		float	p12,
		float	p22,
		float	p32,
		float	p23,
		float	t0,
		float	t1,
		float	t2,
		float	t3,
		float	t4,
		float	t5,
		float	t6,
		float	t7
	)

Definition at line 3728 of file RTABMapApp.cpp.

◆ postProcessing()

int RTABMapApp::postProcessing ( int approach )

Definition at line 3604 of file RTABMapApp.cpp.

◆ recover()

bool RTABMapApp::recover	(	const std::string &	from,
		const std::string &	to
	)

Definition at line 2597 of file RTABMapApp.cpp.

◆ Render()

int RTABMapApp::Render ( )

Definition at line 1239 of file RTABMapApp.cpp.

◆ save()

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

Definition at line 2545 of file RTABMapApp.cpp.

◆ setAppendMode()

void RTABMapApp::setAppendMode ( bool enabled )

Definition at line 2397 of file RTABMapApp.cpp.

◆ setBackfaceCulling()

void RTABMapApp::setBackfaceCulling ( bool enabled )

Definition at line 2296 of file RTABMapApp.cpp.

◆ setBackgroundColor()

void RTABMapApp::setBackgroundColor ( float gray )

Definition at line 2466 of file RTABMapApp.cpp.

◆ setCameraColor()

void RTABMapApp::setCameraColor ( bool enabled )

Definition at line 2365 of file RTABMapApp.cpp.

◆ SetCameraType()

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

Definition at line 2223 of file RTABMapApp.cpp.

◆ setCloudDensityLevel()

void RTABMapApp::setCloudDensityLevel ( int value )

Definition at line 2430 of file RTABMapApp.cpp.

◆ setClusterRatio()

void RTABMapApp::setClusterRatio ( float value )

Definition at line 2450 of file RTABMapApp.cpp.

◆ setDataRecorderMode()

void RTABMapApp::setDataRecorderMode ( bool enabled )

Definition at line 2408 of file RTABMapApp.cpp.

◆ setDepthConfidence()

void RTABMapApp::setDepthConfidence ( int value )

Definition at line 2474 of file RTABMapApp.cpp.

◆ setDepthFromMotion()

void RTABMapApp::setDepthFromMotion ( bool enabled )

Definition at line 2389 of file RTABMapApp.cpp.

◆ setFOV()

void RTABMapApp::setFOV ( float angle )

Definition at line 2280 of file RTABMapApp.cpp.

◆ setFullResolution()

void RTABMapApp::setFullResolution ( bool enabled )

Definition at line 2373 of file RTABMapApp.cpp.

◆ setGPS()

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

Definition at line 2527 of file RTABMapApp.cpp.

◆ setGraphOptimization()

void RTABMapApp::setGraphOptimization ( bool enabled )

Definition at line 2319 of file RTABMapApp.cpp.

◆ setGraphVisible()

void RTABMapApp::setGraphVisible ( bool visible )

Definition at line 2346 of file RTABMapApp.cpp.

◆ setGridRotation()

void RTABMapApp::setGridRotation ( float value )

Definition at line 2288 of file RTABMapApp.cpp.

◆ setGridVisible()

void RTABMapApp::setGridVisible ( bool visible )

Definition at line 2352 of file RTABMapApp.cpp.

◆ setLighting()

void RTABMapApp::setLighting ( bool enabled )

Definition at line 2292 of file RTABMapApp.cpp.

◆ setLocalizationMode()

void RTABMapApp::setLocalizationMode ( bool enabled )

Definition at line 2305 of file RTABMapApp.cpp.

◆ setMapCloudShown()

void RTABMapApp::setMapCloudShown ( bool shown )

Definition at line 2263 of file RTABMapApp.cpp.

◆ setMappingParameter()

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

Definition at line 2483 of file RTABMapApp.cpp.

◆ setMaxCloudDepth()

void RTABMapApp::setMaxCloudDepth ( float value )

Definition at line 2420 of file RTABMapApp.cpp.

◆ setMaxGainRadius()

void RTABMapApp::setMaxGainRadius ( float value )

Definition at line 2455 of file RTABMapApp.cpp.

◆ setMeshAngleTolerance()

void RTABMapApp::setMeshAngleTolerance ( float value )

Definition at line 2435 of file RTABMapApp.cpp.

◆ setMeshDecimationFactor()

void RTABMapApp::setMeshDecimationFactor ( float value )

Definition at line 2440 of file RTABMapApp.cpp.

◆ setMeshRendering()

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

Definition at line 2272 of file RTABMapApp.cpp.

◆ setMeshTriangleSize()

void RTABMapApp::setMeshTriangleSize ( int value )

Definition at line 2445 of file RTABMapApp.cpp.

◆ setMinCloudDepth()

void RTABMapApp::setMinCloudDepth ( float value )

Definition at line 2425 of file RTABMapApp.cpp.

◆ setNodesFiltering()

void RTABMapApp::setNodesFiltering ( bool enabled )

Definition at line 2341 of file RTABMapApp.cpp.

◆ setOdomCloudShown()

void RTABMapApp::setOdomCloudShown ( bool shown )

Definition at line 2267 of file RTABMapApp.cpp.

◆ setOnlineBlending()

void RTABMapApp::setOnlineBlending ( bool enabled )

Definition at line 2259 of file RTABMapApp.cpp.

◆ setOrthoCropFactor()

void RTABMapApp::setOrthoCropFactor ( float value )

Definition at line 2284 of file RTABMapApp.cpp.

◆ setPausedMapping()

void RTABMapApp::setPausedMapping ( bool paused )

Definition at line 2234 of file RTABMapApp.cpp.

◆ setPointSize()

void RTABMapApp::setPointSize ( float value )

Definition at line 2276 of file RTABMapApp.cpp.

◆ setRawScanSaved()

void RTABMapApp::setRawScanSaved ( bool enabled )

Definition at line 2357 of file RTABMapApp.cpp.

◆ setRenderingTextureDecimation()

void RTABMapApp::setRenderingTextureDecimation ( int value )

Definition at line 2460 of file RTABMapApp.cpp.

◆ setScreenRotation()

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

Definition at line 339 of file RTABMapApp.cpp.

◆ setSmoothing()

void RTABMapApp::setSmoothing ( bool enabled )

Definition at line 2381 of file RTABMapApp.cpp.

◆ setTrajectoryMode()

void RTABMapApp::setTrajectoryMode ( bool enabled )

Definition at line 2313 of file RTABMapApp.cpp.

◆ setupSwiftCallbacks()

void RTABMapApp::setupSwiftCallbacks	(	void *	classPtr,
		void()(void , int, int)	progressCallback,
		void()(void , int, const char *)	initCallback,
		void()(void , int, int, int, int, float, int, int, int, int, int, int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float)	statsUpdatedCallback
	)

Definition at line 293 of file RTABMapApp.cpp.

◆ SetViewPort()

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

Definition at line 1087 of file RTABMapApp.cpp.

◆ setWireframe()

void RTABMapApp::setWireframe ( bool enabled )

Definition at line 2300 of file RTABMapApp.cpp.

◆ smoothMesh()

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

private

Definition at line 1118 of file RTABMapApp.cpp.

◆ startCamera()

bool RTABMapApp::startCamera ( )

Definition at line 873 of file RTABMapApp.cpp.

◆ stopCamera()

void RTABMapApp::stopCamera ( )

Definition at line 946 of file RTABMapApp.cpp.

◆ updateMeshDecimation()

int RTABMapApp::updateMeshDecimation	(	int	width,
		int	height
	)

private

Definition at line 770 of file RTABMapApp.cpp.

◆ writeExportedMesh()

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

Definition at line 3494 of file RTABMapApp.cpp.

Member Data Documentation

◆ appendMode_

bool RTABMapApp::appendMode_

private

Definition at line 226 of file RTABMapApp.h.

◆ backgroundColor_

float RTABMapApp::backgroundColor_

private

Definition at line 236 of file RTABMapApp.h.

◆ bilateralFilteringOnNextRender_

bool RTABMapApp::bilateralFilteringOnNextRender_

private

Definition at line 248 of file RTABMapApp.h.

◆ bufferedStatsData_

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

private

Definition at line 257 of file RTABMapApp.h.

◆ camera_

rtabmap::CameraMobile* RTABMapApp::camera_

private

Definition at line 211 of file RTABMapApp.h.

◆ cameraColor_

bool RTABMapApp::cameraColor_

private

Definition at line 224 of file RTABMapApp.h.

◆ cameraDriver_

int RTABMapApp::cameraDriver_

private

Definition at line 210 of file RTABMapApp.h.

◆ cameraJustInitialized_

bool RTABMapApp::cameraJustInitialized_

private

Definition at line 250 of file RTABMapApp.h.

◆ cameraMutex_

boost::mutex RTABMapApp::cameraMutex_

private

Definition at line 279 of file RTABMapApp.h.

◆ clearSceneOnNextRender_

bool RTABMapApp::clearSceneOnNextRender_

private

Definition at line 242 of file RTABMapApp.h.

◆ cloudDensityLevel_

int RTABMapApp::cloudDensityLevel_

private

Definition at line 229 of file RTABMapApp.h.

◆ clusterRatio_

float RTABMapApp::clusterRatio_

private

Definition at line 233 of file RTABMapApp.h.

◆ createdMeshes_

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

private

Definition at line 288 of file RTABMapApp.h.

◆ dataRecorderMode_

bool RTABMapApp::dataRecorderMode_

private

Definition at line 241 of file RTABMapApp.h.

◆ depthConfidence_

int RTABMapApp::depthConfidence_

private

Definition at line 237 of file RTABMapApp.h.

◆ depthFromMotion_

bool RTABMapApp::depthFromMotion_

private

Definition at line 223 of file RTABMapApp.h.

◆ exportedMeshUpdated_

bool RTABMapApp::exportedMeshUpdated_

private

Definition at line 260 of file RTABMapApp.h.

◆ exporting_

bool RTABMapApp::exporting_

private

Definition at line 244 of file RTABMapApp.h.

◆ filterPolygonsOnNextRender_

bool RTABMapApp::filterPolygonsOnNextRender_

private

Definition at line 246 of file RTABMapApp.h.

◆ fpsTime_

UTimer RTABMapApp::fpsTime_

private

Definition at line 270 of file RTABMapApp.h.

◆ fullResolution_

bool RTABMapApp::fullResolution_

private

Definition at line 225 of file RTABMapApp.h.

◆ gainCompensationOnNextRender_

int RTABMapApp::gainCompensationOnNextRender_

private

Definition at line 247 of file RTABMapApp.h.

◆ graphOptimization_

bool RTABMapApp::graphOptimization_

private

Definition at line 217 of file RTABMapApp.h.

◆ lastDrawnCloudsCount_

int RTABMapApp::lastDrawnCloudsCount_

private

Definition at line 253 of file RTABMapApp.h.

◆ lastPoseEventTime_

double RTABMapApp::lastPoseEventTime_

private

Definition at line 256 of file RTABMapApp.h.

◆ lastPostRenderEventTime_

double RTABMapApp::lastPostRenderEventTime_

private

Definition at line 255 of file RTABMapApp.h.

◆ localizationMode_

bool RTABMapApp::localizationMode_

private

Definition at line 219 of file RTABMapApp.h.

◆ logHandler_

rtabmap::LogHandler* RTABMapApp::logHandler_

private

Definition at line 214 of file RTABMapApp.h.

◆ main_scene_

Scene RTABMapApp::main_scene_

private

Definition at line 268 of file RTABMapApp.h.

◆ mappingParameters_

rtabmap::ParametersMap RTABMapApp::mappingParameters_

private

Definition at line 239 of file RTABMapApp.h.

◆ mapToOdom_

rtabmap::Transform RTABMapApp::mapToOdom_

private

Definition at line 277 of file RTABMapApp.h.

◆ maxCloudDepth_

float RTABMapApp::maxCloudDepth_

private

Definition at line 227 of file RTABMapApp.h.

◆ maxGainRadius_

float RTABMapApp::maxGainRadius_

private

Definition at line 234 of file RTABMapApp.h.

◆ meshAngleToleranceDeg_

float RTABMapApp::meshAngleToleranceDeg_

private

Definition at line 231 of file RTABMapApp.h.

◆ meshDecimationFactor_

float RTABMapApp::meshDecimationFactor_

private

Definition at line 232 of file RTABMapApp.h.

◆ meshesMutex_

boost::mutex RTABMapApp::meshesMutex_

private

Definition at line 281 of file RTABMapApp.h.

◆ meshTrianglePix_

int RTABMapApp::meshTrianglePix_

private

Definition at line 230 of file RTABMapApp.h.

◆ minCloudDepth_

float RTABMapApp::minCloudDepth_

private

Definition at line 228 of file RTABMapApp.h.

◆ nodesFiltering_

bool RTABMapApp::nodesFiltering_

private

Definition at line 218 of file RTABMapApp.h.

◆ odomCloudShown_

bool RTABMapApp::odomCloudShown_

private

Definition at line 216 of file RTABMapApp.h.

◆ odomEvents_

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

private

Definition at line 273 of file RTABMapApp.h.

◆ odomMutex_

boost::mutex RTABMapApp::odomMutex_

private

Definition at line 282 of file RTABMapApp.h.

◆ openingDatabase_

bool RTABMapApp::openingDatabase_

private

Definition at line 243 of file RTABMapApp.h.

◆ optMesh_

pcl::TextureMesh::Ptr RTABMapApp::optMesh_

private

Definition at line 261 of file RTABMapApp.h.

◆ optRefId_

int RTABMapApp::optRefId_

private

Definition at line 263 of file RTABMapApp.h.

◆ optRefPose_

rtabmap::Transform* RTABMapApp::optRefPose_

private

Definition at line 264 of file RTABMapApp.h.

◆ optTexture_

cv::Mat RTABMapApp::optTexture_

private

Definition at line 262 of file RTABMapApp.h.

◆ poseBuffer_

std::map<double, rtabmap::Transform> RTABMapApp::poseBuffer_

private

Definition at line 275 of file RTABMapApp.h.

◆ poseEvents_

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

private

Definition at line 274 of file RTABMapApp.h.

◆ poseMutex_

boost::mutex RTABMapApp::poseMutex_

private

Definition at line 283 of file RTABMapApp.h.

◆ postProcessing_

bool RTABMapApp::postProcessing_

private

Definition at line 245 of file RTABMapApp.h.

◆ progressionStatus_

rtabmap::ProgressionStatus RTABMapApp::progressionStatus_

private

Definition at line 293 of file RTABMapApp.h.

◆ rawPoses_

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

private

Definition at line 289 of file RTABMapApp.h.

◆ rawScanSaved_

bool RTABMapApp::rawScanSaved_

private

Definition at line 221 of file RTABMapApp.h.

◆ renderingMutex_

boost::mutex RTABMapApp::renderingMutex_

private

Definition at line 284 of file RTABMapApp.h.

◆ renderingTextureDecimation_

int RTABMapApp::renderingTextureDecimation_

private

Definition at line 235 of file RTABMapApp.h.

◆ renderingTime_

float RTABMapApp::renderingTime_

private

Definition at line 254 of file RTABMapApp.h.

◆ rtabmap_

rtabmap::Rtabmap* RTABMapApp::rtabmap_

private

Definition at line 213 of file RTABMapApp.h.

◆ rtabmapEvents_

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

private

Definition at line 272 of file RTABMapApp.h.

◆ rtabmapMutex_

boost::mutex RTABMapApp::rtabmapMutex_

private

Definition at line 280 of file RTABMapApp.h.

◆ rtabmapThread_

rtabmap::RtabmapThread* RTABMapApp::rtabmapThread_

private

Definition at line 212 of file RTABMapApp.h.

◆ screenshotReady_

USemaphore RTABMapApp::screenshotReady_

private

Definition at line 286 of file RTABMapApp.h.

◆ smoothing_

bool RTABMapApp::smoothing_

private

Definition at line 222 of file RTABMapApp.h.

◆ status_

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

private

Definition at line 291 of file RTABMapApp.h.

◆ swiftClassPtr_

void* RTABMapApp::swiftClassPtr_

private

Definition at line 296 of file RTABMapApp.h.

◆ swiftInitCallback

void(* RTABMapApp::swiftInitCallback) (void *, int, const char *)

private

Definition at line 297 of file RTABMapApp.h.

◆ swiftStatsUpdatedCallback

void(* RTABMapApp::swiftStatsUpdatedCallback) (void *, int, int, int, int, float, int, int, int, int, int,int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float)

private

Definition at line 298 of file RTABMapApp.h.

◆ takeScreenshotOnNextRender_

bool RTABMapApp::takeScreenshotOnNextRender_

private

Definition at line 249 of file RTABMapApp.h.

◆ totalPoints_

int RTABMapApp::totalPoints_

private

Definition at line 251 of file RTABMapApp.h.

◆ totalPolygons_

int RTABMapApp::totalPolygons_

private

Definition at line 252 of file RTABMapApp.h.

◆ trajectoryMode_

bool RTABMapApp::trajectoryMode_

private

Definition at line 220 of file RTABMapApp.h.

◆ visualizingMesh_

bool RTABMapApp::visualizingMesh_

private

Definition at line 259 of file RTABMapApp.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RTABMapApp()

◆ ~RTABMapApp()

Member Function Documentation

◆ addEnvSensor()

◆ cancelProcessing()

◆ exportMesh()

◆ filterOrganizedPolygons()

◆ filterPolygons()

◆ gainCompensation()

◆ getRtabmapParameters()

◆ handleEvent()

◆ InitializeGLContent()

◆ isBuiltWith()

◆ OnTouchEvent()

◆ openDatabase()

◆ postCameraPoseEvent()

◆ postExportation()

◆ postOdometryEvent()

◆ postProcessing()

◆ recover()

◆ Render()

◆ save()

◆ setAppendMode()

◆ setBackfaceCulling()

◆ setBackgroundColor()

◆ setCameraColor()

◆ SetCameraType()

◆ setCloudDensityLevel()

◆ setClusterRatio()

◆ setDataRecorderMode()

◆ setDepthConfidence()

◆ setDepthFromMotion()

◆ setFOV()

◆ setFullResolution()

◆ setGPS()

◆ setGraphOptimization()

◆ setGraphVisible()

◆ setGridRotation()

◆ setGridVisible()

◆ setLighting()

◆ setLocalizationMode()

◆ setMapCloudShown()

◆ setMappingParameter()

◆ setMaxCloudDepth()

◆ setMaxGainRadius()

◆ setMeshAngleTolerance()

◆ setMeshDecimationFactor()

◆ setMeshRendering()

◆ setMeshTriangleSize()

◆ setMinCloudDepth()

◆ setNodesFiltering()

◆ setOdomCloudShown()

◆ setOnlineBlending()

◆ setOrthoCropFactor()

◆ setPausedMapping()

◆ setPointSize()

◆ setRawScanSaved()

◆ setRenderingTextureDecimation()

◆ setScreenRotation()

◆ setSmoothing()

◆ setTrajectoryMode()

◆ setupSwiftCallbacks()

◆ SetViewPort()

◆ setWireframe()

◆ smoothMesh()

◆ startCamera()

◆ stopCamera()

◆ updateMeshDecimation()

◆ writeExportedMesh()

Member Data Documentation

◆ appendMode_

◆ backgroundColor_

◆ bilateralFilteringOnNextRender_

◆ bufferedStatsData_