#include <CloudViewer.h>

Public Slots
virtual void	clear ()
void	setBackgroundColor (const QColor &color)
void	setCloudOpacity (const std::string &id, double opacity=1.0)
void	setCloudPointSize (const std::string &id, int size)
void	setCloudVisibility (const std::string &id, bool isVisible)
void	setDefaultBackgroundColor (const QColor &color)
Signals
void	configChanged ()
Public Member Functions
bool	addCloud (const std::string &id, const pcl::PCLPointCloud2Ptr &binaryCloud, const Transform &pose, bool rgb, const QColor &color=QColor())
bool	addCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())
bool	addCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())
bool	addCloudMesh (const std::string &id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::vector< pcl::Vertices > &polygons, const Transform &pose=Transform::getIdentity())
bool	addCloudMesh (const std::string &id, const pcl::PolygonMesh::Ptr &mesh, const Transform &pose=Transform::getIdentity())
bool	addOccupancyGridMap (const cv::Mat &map8U, float resolution, float xMin, float yMin, float opacity)
bool	addOrUpdateCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())
bool	addOrUpdateCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())
void	addOrUpdateGraph (const std::string &id, const pcl::PointCloud< pcl::PointXYZ >::Ptr &graph, const QColor &color=Qt::gray)
void	clearTrajectory ()
	CloudViewer (QWidget *parent=0)
const QMap< std::string, Transform > &	getAddedClouds () const
const QColor &	getBackgroundColor () const
void	getCameraPosition (float &x, float &y, float &z, float &focalX, float &focalY, float &focalZ, float &upX, float &upY, float &upZ) const
bool	getCloudVisibility (const std::string &id)
const QColor &	getDefaultBackgroundColor () const
unsigned int	getGridCellCount () const
float	getGridCellSize () const
bool	getPose (const std::string &id, Transform &pose)
Transform	getTargetPose () const
unsigned int	getTrajectorySize () const
bool	isCameraFree () const
bool	isCameraLockZ () const
bool	isCameraTargetFollow () const
bool	isCameraTargetLocked () const
bool	isGridShown () const
bool	isTrajectoryShown () const
void	loadSettings (QSettings &settings, const QString &group="")
void	removeAllClouds ()
void	removeAllGraphs ()
bool	removeCloud (const std::string &id)
void	removeGraph (const std::string &id)
void	removeOccupancyGridMap ()
void	saveSettings (QSettings &settings, const QString &group="") const
void	setCameraFree ()
void	setCameraLockZ (bool enabled=true)
void	setCameraPosition (float x, float y, float z, float focalX, float focalY, float focalZ, float upX, float upY, float upZ)
void	setCameraTargetFollow (bool enabled=true)
void	setCameraTargetLocked (bool enabled=true)
void	setGridCellCount (unsigned int count)
void	setGridCellSize (float size)
void	setGridShown (bool shown)
void	setTrajectoryShown (bool shown)
void	setTrajectorySize (unsigned int value)
void	setWorkingDirectory (const QString &path)
void	updateCameraTargetPosition (const Transform &pose)
bool	updateCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())
bool	updateCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())
bool	updateCloudPose (const std::string &id, const Transform &pose)
virtual	~CloudViewer ()
Protected Member Functions
virtual void	contextMenuEvent (QContextMenuEvent *event)
virtual void	handleAction (QAction *event)
virtual void	keyPressEvent (QKeyEvent *event)
virtual void	keyReleaseEvent (QKeyEvent *event)
QMenu *	menu ()
virtual void	mouseMoveEvent (QMouseEvent *event)
virtual void	mousePressEvent (QMouseEvent *event)
Private Member Functions
void	addGrid ()
void	createMenu ()
void	mouseEventOccurred (const pcl::visualization::MouseEvent &event, void *viewer_void)
void	removeGrid ()
Private Attributes
QAction *	_aClearTrajectory
QMap< std::string, Transform >	_addedClouds
QAction *	_aFollowCamera
QAction *	_aLockCamera
QAction *	_aLockViewZ
QAction *	_aResetCamera
QAction *	_aSetBackgroundColor
QAction *	_aSetGridCellCount
QAction *	_aSetGridCellSize
QAction *	_aSetTrajectorySize
QAction *	_aShowGrid
QAction *	_aShowTrajectory
QColor	_currentBgColor
QColor	_defaultBgColor
std::set< std::string >	_graphes
unsigned int	_gridCellCount
float	_gridCellSize
std::list< std::string >	_gridLines
QSet< Qt::Key >	_keysPressed
Transform	_lastPose
unsigned int	_maxTrajectorySize
QMenu *	_menu
pcl::PointCloud< pcl::PointXYZ > ::Ptr	_trajectory
pcl::visualization::PCLVisualizer *	_visualizer
QString	_workingDirectory

Detailed Description

Definition at line 59 of file CloudViewer.h.

Constructor & Destructor Documentation

rtabmap::CloudViewer::CloudViewer ( QWidget * parent = 0 )

Definition at line 59 of file CloudViewer.cpp.

rtabmap::CloudViewer::~CloudViewer ( ) [virtual]

Definition at line 103 of file CloudViewer.cpp.

Member Function Documentation

bool rtabmap::CloudViewer::addCloud	(	const std::string &	id,
		const pcl::PCLPointCloud2Ptr &	binaryCloud,
		const Transform &	pose,
		bool	rgb,
		const QColor &	color = `QColor()`
	)

Definition at line 336 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addCloud	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const Transform &	pose = `Transform::getIdentity()`,
		const QColor &	color = `QColor()`
	)

Definition at line 389 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addCloud	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const Transform &	pose = `Transform::getIdentity()`,
		const QColor &	color = `QColor()`
	)

Definition at line 406 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addCloudMesh	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const std::vector< pcl::Vertices > &	polygons,
		const Transform &	pose = `Transform::getIdentity()`
	)

Definition at line 423 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addCloudMesh	(	const std::string &	id,
		const pcl::PolygonMesh::Ptr &	mesh,
		const Transform &	pose = `Transform::getIdentity()`
	)

Definition at line 442 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addGrid ( ) [private]

Definition at line 970 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addOccupancyGridMap	(	const cv::Mat &	map8U,
		float	resolution,
		float	xMin,
		float	yMin,
		float	opacity
	)

Definition at line 460 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addOrUpdateCloud	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const Transform &	pose = `Transform::getIdentity()`,
		const QColor &	color = `QColor()`
	)

Definition at line 310 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addOrUpdateCloud	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const Transform &	pose = `Transform::getIdentity()`,
		const QColor &	color = `QColor()`
	)

Definition at line 323 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateGraph	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	graph,
		const QColor &	color = `Qt::gray`
	)

Definition at line 540 of file CloudViewer.cpp.

virtual void rtabmap::CloudViewer::clear ( ) [inline, virtual, slot]

Definition at line 193 of file CloudViewer.h.

void rtabmap::CloudViewer::clearTrajectory ( )

Definition at line 620 of file CloudViewer.cpp.

void rtabmap::CloudViewer::configChanged ( ) [signal]

void rtabmap::CloudViewer::contextMenuEvent ( QContextMenuEvent * event ) [protected, virtual]

Definition at line 1189 of file CloudViewer.cpp.

void rtabmap::CloudViewer::createMenu ( ) [private]

Definition at line 111 of file CloudViewer.cpp.

const QMap<std::string, Transform>& rtabmap::CloudViewer::getAddedClouds ( ) const [inline]

Definition at line 158 of file CloudViewer.h.

const QColor & rtabmap::CloudViewer::getBackgroundColor ( ) const

Definition at line 815 of file CloudViewer.cpp.

void rtabmap::CloudViewer::getCameraPosition	(	float &	x,
		float &	y,
		float &	z,
		float &	focalX,
		float &	focalY,
		float &	focalZ,
		float &	upX,
		float &	upY,
		float &	upZ
	)		const

Definition at line 660 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::getCloudVisibility ( const std::string & id )

Definition at line 840 of file CloudViewer.cpp.

const QColor & rtabmap::CloudViewer::getDefaultBackgroundColor ( ) const

Definition at line 801 of file CloudViewer.cpp.

unsigned int rtabmap::CloudViewer::getGridCellCount ( ) const

Definition at line 929 of file CloudViewer.cpp.

float rtabmap::CloudViewer::getGridCellSize ( ) const

Definition at line 933 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::getPose	(	const std::string &	id,
		Transform &	pose
	)

Definition at line 641 of file CloudViewer.cpp.

Transform rtabmap::CloudViewer::getTargetPose ( ) const

Definition at line 651 of file CloudViewer.cpp.

unsigned int rtabmap::CloudViewer::getTrajectorySize ( ) const

Definition at line 605 of file CloudViewer.cpp.

void rtabmap::CloudViewer::handleAction ( QAction * event ) [protected, virtual]

Definition at line 1199 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraFree ( ) const

Definition at line 917 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraLockZ ( ) const

Definition at line 921 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraTargetFollow ( ) const

Definition at line 913 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraTargetLocked ( ) const

Definition at line 909 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isGridShown ( ) const

Definition at line 925 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isTrajectoryShown ( ) const

Definition at line 600 of file CloudViewer.cpp.

void rtabmap::CloudViewer::keyPressEvent ( QKeyEvent * event ) [protected, virtual]

Definition at line 1055 of file CloudViewer.cpp.

void rtabmap::CloudViewer::keyReleaseEvent ( QKeyEvent * event ) [protected, virtual]

Definition at line 1041 of file CloudViewer.cpp.

void rtabmap::CloudViewer::loadSettings	(	QSettings &	settings,
		const QString &	group = `""`
	)

Definition at line 216 of file CloudViewer.cpp.

QMenu* rtabmap::CloudViewer::menu ( ) [inline, protected]

Definition at line 205 of file CloudViewer.h.

void rtabmap::CloudViewer::mouseEventOccurred	(	const pcl::visualization::MouseEvent &	event,
		void *	viewer_void
	)		`[private]`

Definition at line 50 of file CloudViewer.cpp.

void rtabmap::CloudViewer::mouseMoveEvent ( QMouseEvent * event ) [protected, virtual]

Definition at line 1167 of file CloudViewer.cpp.

void rtabmap::CloudViewer::mousePressEvent ( QMouseEvent * event ) [protected, virtual]

Definition at line 1155 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllClouds ( )

Definition at line 627 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllGraphs ( )

Definition at line 590 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::removeCloud ( const std::string & id )

Definition at line 634 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeGraph ( const std::string & id )

Definition at line 574 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeGrid ( ) [private]

Definition at line 997 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeOccupancyGridMap ( )

Definition at line 530 of file CloudViewer.cpp.

void rtabmap::CloudViewer::saveSettings	(	QSettings &	settings,
		const QString &	group = `""`
	)		const

Definition at line 167 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setBackgroundColor ( const QColor & color ) [slot]

Definition at line 820 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraFree ( )

Definition at line 885 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraLockZ ( bool enabled = true )

Definition at line 891 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraPosition	(	float	x,
		float	y,
		float	z,
		float	focalX,
		float	focalY,
		float	focalZ,
		float	upX,
		float	upY,
		float	upZ
	)

Definition at line 678 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraTargetFollow ( bool enabled = true )

Definition at line 880 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraTargetLocked ( bool enabled = true )

Definition at line 875 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCloudOpacity	(	const std::string &	id,
		double	opacity = `1.0`
	)		`[slot]`

Definition at line 855 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCloudPointSize	(	const std::string &	id,
		int	size
	)		`[slot]`

Definition at line 865 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCloudVisibility	(	const std::string &	id,
		bool	isVisible
	)		`[slot]`

Definition at line 826 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setDefaultBackgroundColor ( const QColor & color ) [slot]

Definition at line 806 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setGridCellCount ( unsigned int count )

Definition at line 938 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setGridCellSize ( float size )

Definition at line 954 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setGridShown ( bool shown )

Definition at line 896 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setTrajectoryShown ( bool shown )

Definition at line 610 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setTrajectorySize ( unsigned int value )

Definition at line 615 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setWorkingDirectory ( const QString & path ) [inline]

Definition at line 185 of file CloudViewer.h.

void rtabmap::CloudViewer::updateCameraTargetPosition ( const Transform & pose )

Definition at line 686 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::updateCloud	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const Transform &	pose = `Transform::getIdentity()`,
		const QColor &	color = `QColor()`
	)

Definition at line 270 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::updateCloud	(	const std::string &	id,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const Transform &	pose = `Transform::getIdentity()`,
		const QColor &	color = `QColor()`
	)