Public Slots | Signals | Public Member Functions | Static Public Attributes | Private Slots | Private Member Functions | Private Attributes | List of all members
octomap::ViewerGui Class Reference

#include <ViewerGui.h>

Inheritance diagram for octomap::ViewerGui:
Inheritance graph
[legend]

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, unsigned int initTreeDepth=16)
 
 ~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_actionAlternateRendering_toggled (bool checked)
 
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 ()
 
void voxelSelected (const QMouseEvent *e)
 

Private Member Functions

void addNextScan ()
 
void addOctree (AbstractOcTree *tree, int id)
 
void addOctree (AbstractOcTree *tree, int id, pose6d origin)
 
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 More...
 
void openPC ()
 
void openPointcloud ()
 
void openTree ()
 open binary format OcTree More...
 
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. More...
 
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
 
QLabel * m_nodeSelected
 
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 55 of file ViewerGui.h.

Constructor & Destructor Documentation

◆ ViewerGui()

octomap::ViewerGui::ViewerGui ( const std::string &  filename = "",
QWidget *  parent = 0,
unsigned int  initTreeDepth = 16 
)

Definition at line 41 of file ViewerGui.cpp.

◆ ~ViewerGui()

octomap::ViewerGui::~ViewerGui ( )

Definition at line 137 of file ViewerGui.cpp.

Member Function Documentation

◆ addNextScan()

void octomap::ViewerGui::addNextScan ( )
private

Adds a scan from the graph to the OcTree

Definition at line 367 of file ViewerGui.cpp.

◆ addNextScans

void octomap::ViewerGui::addNextScans ( unsigned  scans)
slot

Definition at line 391 of file ViewerGui.cpp.

◆ addOctree() [1/2]

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

Definition at line 235 of file ViewerGui.cpp.

◆ addOctree() [2/2]

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

Definition at line 188 of file ViewerGui.cpp.

◆ changeCamPosition

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

◆ changeCurrentScan

void octomap::ViewerGui::changeCurrentScan ( unsigned  scans)
signal

◆ changeNumberOfScans

void octomap::ViewerGui::changeNumberOfScans ( unsigned  scans)
signal

◆ changeResolution

void octomap::ViewerGui::changeResolution ( double  resolution)
signal

◆ changeTreeDepth

void octomap::ViewerGui::changeTreeDepth ( int  depth)
slot

Definition at line 621 of file ViewerGui.cpp.

◆ generateOctree()

void octomap::ViewerGui::generateOctree ( )
private

(Re-)generates OcTree from the internally stored ScanGraph

Definition at line 310 of file ViewerGui.cpp.

◆ getOctreeRecord()

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

Definition at line 177 of file ViewerGui.cpp.

◆ gotoFirstScan

void octomap::ViewerGui::gotoFirstScan ( )
slot

Definition at line 348 of file ViewerGui.cpp.

◆ isShown

bool octomap::ViewerGui::isShown ( )
slot

Definition at line 163 of file ViewerGui.cpp.

◆ loadCameraPosition()

void octomap::ViewerGui::loadCameraPosition ( const char *  filename)
private

Definition at line 1265 of file ViewerGui.cpp.

◆ loadGraph()

void octomap::ViewerGui::loadGraph ( bool  completeGraph = true)
private

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

Definition at line 558 of file ViewerGui.cpp.

◆ on_action_bg_black_triggered

void octomap::ViewerGui::on_action_bg_black_triggered ( )
privateslot

Definition at line 1221 of file ViewerGui.cpp.

◆ on_action_bg_gray_triggered

void octomap::ViewerGui::on_action_bg_gray_triggered ( )
privateslot

Definition at line 1229 of file ViewerGui.cpp.

◆ on_action_bg_white_triggered

void octomap::ViewerGui::on_action_bg_white_triggered ( )
privateslot

Definition at line 1225 of file ViewerGui.cpp.

◆ on_actionAlternateRendering_toggled

void octomap::ViewerGui::on_actionAlternateRendering_toggled ( bool  checked)
privateslot

Definition at line 1061 of file ViewerGui.cpp.

◆ on_actionAxes_toggled

void octomap::ViewerGui::on_actionAxes_toggled ( bool  checked)
privateslot

Definition at line 1044 of file ViewerGui.cpp.

◆ on_actionClear_nodes_in_selection_triggered

void octomap::ViewerGui::on_actionClear_nodes_in_selection_triggered ( )
privateslot

Definition at line 759 of file ViewerGui.cpp.

◆ on_actionClear_selection_triggered

void octomap::ViewerGui::on_actionClear_selection_triggered ( )
privateslot

Definition at line 767 of file ViewerGui.cpp.

◆ on_actionClear_triggered

void octomap::ViewerGui::on_actionClear_triggered ( )
privateslot

Definition at line 1068 of file ViewerGui.cpp.

◆ on_actionClear_unknown_in_selection_triggered

void octomap::ViewerGui::on_actionClear_unknown_in_selection_triggered ( )
privateslot

Definition at line 775 of file ViewerGui.cpp.

◆ on_actionConvert_ml_tree_triggered

void octomap::ViewerGui::on_actionConvert_ml_tree_triggered ( )
privateslot

Definition at line 1132 of file ViewerGui.cpp.

◆ on_actionDelete_nodes_in_selection_triggered

void octomap::ViewerGui::on_actionDelete_nodes_in_selection_triggered ( )
privateslot

Definition at line 809 of file ViewerGui.cpp.

◆ on_actionDelete_nodes_outside_of_selection_triggered

void octomap::ViewerGui::on_actionDelete_nodes_outside_of_selection_triggered ( )
privateslot

Definition at line 832 of file ViewerGui.cpp.

◆ on_actionExit_triggered

void octomap::ViewerGui::on_actionExit_triggered ( )
privateslot

Definition at line 633 of file ViewerGui.cpp.

◆ on_actionExpand_tree_triggered

void octomap::ViewerGui::on_actionExpand_tree_triggered ( )
privateslot

Definition at line 1168 of file ViewerGui.cpp.

◆ on_actionExport_sequence_triggered

void octomap::ViewerGui::on_actionExport_sequence_triggered ( bool  checked)
privateslot

Definition at line 959 of file ViewerGui.cpp.

◆ on_actionExport_view_triggered

void octomap::ViewerGui::on_actionExport_view_triggered ( )
privateslot

Definition at line 954 of file ViewerGui.cpp.

◆ on_actionFill_nodes_in_selection_triggered

void octomap::ViewerGui::on_actionFill_nodes_in_selection_triggered ( )
privateslot

Definition at line 801 of file ViewerGui.cpp.

◆ on_actionFill_selection_triggered

void octomap::ViewerGui::on_actionFill_selection_triggered ( )
privateslot

Definition at line 793 of file ViewerGui.cpp.

◆ on_actionFill_unknown_in_selection_triggered

void octomap::ViewerGui::on_actionFill_unknown_in_selection_triggered ( )
privateslot

Definition at line 784 of file ViewerGui.cpp.

◆ on_actionFree_toggled

void octomap::ViewerGui::on_actionFree_toggled ( bool  enabled)
privateslot

Definition at line 1203 of file ViewerGui.cpp.

◆ on_actionHeight_map_toggled

void octomap::ViewerGui::on_actionHeight_map_toggled ( bool  checked)
privateslot

Definition at line 995 of file ViewerGui.cpp.

◆ on_actionHelp_triggered

void octomap::ViewerGui::on_actionHelp_triggered ( )
privateslot

Definition at line 637 of file ViewerGui.cpp.

◆ on_actionHideBackground_toggled

void octomap::ViewerGui::on_actionHideBackground_toggled ( bool  checked)
privateslot

Definition at line 1052 of file ViewerGui.cpp.

◆ on_actionOctree_cells_toggled

void octomap::ViewerGui::on_actionOctree_cells_toggled ( bool  enabled)
privateslot

Definition at line 1187 of file ViewerGui.cpp.

◆ on_actionOctree_structure_toggled

void octomap::ViewerGui::on_actionOctree_structure_toggled ( bool  enabled)
privateslot

Definition at line 1195 of file ViewerGui.cpp.

◆ on_actionOpen_file_triggered

void octomap::ViewerGui::on_actionOpen_file_triggered ( )
privateslot

Definition at line 675 of file ViewerGui.cpp.

◆ on_actionOpen_graph_incremental_triggered

void octomap::ViewerGui::on_actionOpen_graph_incremental_triggered ( )
privateslot

Definition at line 690 of file ViewerGui.cpp.

◆ on_actionPointcloud_toggled

void octomap::ViewerGui::on_actionPointcloud_toggled ( bool  checked)
privateslot

Definition at line 1026 of file ViewerGui.cpp.

◆ on_actionPrintout_mode_toggled

void octomap::ViewerGui::on_actionPrintout_mode_toggled ( bool  checked)
privateslot

Definition at line 973 of file ViewerGui.cpp.

◆ on_actionPrune_tree_triggered

void octomap::ViewerGui::on_actionPrune_tree_triggered ( )
privateslot

Definition at line 1153 of file ViewerGui.cpp.

◆ on_actionReload_Octree_triggered

void octomap::ViewerGui::on_actionReload_Octree_triggered ( )
privateslot

Definition at line 1124 of file ViewerGui.cpp.

◆ on_actionRestore_camera_triggered

void octomap::ViewerGui::on_actionRestore_camera_triggered ( )
privateslot

Definition at line 1020 of file ViewerGui.cpp.

◆ on_actionSave_file_triggered

void octomap::ViewerGui::on_actionSave_file_triggered ( )
privateslot

Definition at line 707 of file ViewerGui.cpp.

◆ on_actionSelected_toggled

void octomap::ViewerGui::on_actionSelected_toggled ( bool  enabled)
privateslot

Definition at line 1212 of file ViewerGui.cpp.

◆ on_actionSelection_box_toggled

void octomap::ViewerGui::on_actionSelection_box_toggled ( bool  checked)
privateslot

Definition at line 982 of file ViewerGui.cpp.

◆ on_actionSemanticColoring_toggled

void octomap::ViewerGui::on_actionSemanticColoring_toggled ( bool  checked)
privateslot

Definition at line 1003 of file ViewerGui.cpp.

◆ on_actionSettings_triggered

void octomap::ViewerGui::on_actionSettings_triggered ( )
privateslot

Definition at line 641 of file ViewerGui.cpp.

◆ on_actionStore_camera_triggered

void octomap::ViewerGui::on_actionStore_camera_triggered ( )
privateslot

Definition at line 1013 of file ViewerGui.cpp.

◆ on_actionTest_triggered

void octomap::ViewerGui::on_actionTest_triggered ( )
privateslot

Definition at line 1120 of file ViewerGui.cpp.

◆ on_actionTrajectory_toggled

void octomap::ViewerGui::on_actionTrajectory_toggled ( bool  checked)
privateslot

Definition at line 1035 of file ViewerGui.cpp.

◆ on_loadcampose_triggered

void octomap::ViewerGui::on_loadcampose_triggered ( )
privateslot

Definition at line 1244 of file ViewerGui.cpp.

◆ on_savecampose_triggered

void octomap::ViewerGui::on_savecampose_triggered ( )
privateslot

Definition at line 1233 of file ViewerGui.cpp.

◆ openFile()

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 400 of file ViewerGui.cpp.

◆ openGraph()

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 429 of file ViewerGui.cpp.

◆ openMapCollection()

void octomap::ViewerGui::openMapCollection ( )
private

Definition at line 526 of file ViewerGui.cpp.

◆ openOcTree()

void octomap::ViewerGui::openOcTree ( )
private

open "regular" file containing an octree

Definition at line 499 of file ViewerGui.cpp.

◆ openPC()

void octomap::ViewerGui::openPC ( )
private

Opens a .pc PointCloud

◆ openPointcloud()

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 442 of file ViewerGui.cpp.

◆ openTree()

void octomap::ViewerGui::openTree ( )
private

open binary format OcTree

Definition at line 487 of file ViewerGui.cpp.

◆ saveCameraPosition()

void octomap::ViewerGui::saveCameraPosition ( const char *  filename) const
private

Definition at line 1257 of file ViewerGui.cpp.

◆ setNodesInBBX()

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

Definition at line 896 of file ViewerGui.cpp.

◆ setNonNodesInBBX()

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

Definition at line 924 of file ViewerGui.cpp.

◆ setOcTreeUISwitches()

void octomap::ViewerGui::setOcTreeUISwitches ( )
private

Definition at line 470 of file ViewerGui.cpp.

◆ showInfo()

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

Definition at line 167 of file ViewerGui.cpp.

◆ showOcTree()

void octomap::ViewerGui::showOcTree ( )
private

Definition at line 240 of file ViewerGui.cpp.

◆ updateNodesInBBX()

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

Definition at line 865 of file ViewerGui.cpp.

◆ updateStatusBar

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

◆ voxelSelected

void octomap::ViewerGui::voxelSelected ( const QMouseEvent *  e)
privateslot

Definition at line 1079 of file ViewerGui.cpp.

Member Data Documentation

◆ DEFAULT_OCTREE_ID

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

Definition at line 66 of file ViewerGui.h.

◆ LASERTYPE_SICK

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

Definition at line 63 of file ViewerGui.h.

◆ LASERTYPE_URG

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

Definition at line 62 of file ViewerGui.h.

◆ m_cameraFollowMode

CameraFollowMode* octomap::ViewerGui::m_cameraFollowMode
private

Definition at line 210 of file ViewerGui.h.

◆ m_cameraStored

bool octomap::ViewerGui::m_cameraStored
private

Definition at line 216 of file ViewerGui.h.

◆ m_filename

std::string octomap::ViewerGui::m_filename
private

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

Definition at line 222 of file ViewerGui.h.

◆ m_glwidget

ViewerWidget* octomap::ViewerGui::m_glwidget
private

Definition at line 207 of file ViewerGui.h.

◆ m_laserMaxRange

double octomap::ViewerGui::m_laserMaxRange
private

Definition at line 212 of file ViewerGui.h.

◆ m_laserType

unsigned int octomap::ViewerGui::m_laserType
private

Definition at line 215 of file ViewerGui.h.

◆ m_mapMemoryStatus

QLabel* octomap::ViewerGui::m_mapMemoryStatus
private

Definition at line 219 of file ViewerGui.h.

◆ m_mapSizeStatus

QLabel* octomap::ViewerGui::m_mapSizeStatus
private

Definition at line 218 of file ViewerGui.h.

◆ m_max_tree_depth

unsigned int octomap::ViewerGui::m_max_tree_depth
private

Definition at line 214 of file ViewerGui.h.

◆ m_nextScanToAdd

ScanGraph::iterator octomap::ViewerGui::m_nextScanToAdd
private

Definition at line 204 of file ViewerGui.h.

◆ m_nodeSelected

QLabel* octomap::ViewerGui::m_nodeSelected
private

Definition at line 217 of file ViewerGui.h.

◆ m_occupancyThresh

double octomap::ViewerGui::m_occupancyThresh
private

Definition at line 213 of file ViewerGui.h.

◆ m_octreeResolution

double octomap::ViewerGui::m_octreeResolution
private

Definition at line 211 of file ViewerGui.h.

◆ m_octrees

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

Definition at line 201 of file ViewerGui.h.

◆ m_pointcloudDrawer

PointcloudDrawer* octomap::ViewerGui::m_pointcloudDrawer
private

Definition at line 209 of file ViewerGui.h.

◆ m_scanGraph

ScanGraph* octomap::ViewerGui::m_scanGraph
private

Definition at line 203 of file ViewerGui.h.

◆ m_trajectoryDrawer

TrajectoryDrawer* octomap::ViewerGui::m_trajectoryDrawer
private

Definition at line 208 of file ViewerGui.h.

◆ ui

Ui::ViewerGuiClass octomap::ViewerGui::ui
private

Definition at line 206 of file ViewerGui.h.

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

octovis
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Apr 3 2025 02:40:44