LoopClosureViewer.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef RTABMAP_LOOPCLOSUREVIEWER_H_
29 #define RTABMAP_LOOPCLOSUREVIEWER_H_
30 
31 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
32 
34 #include <rtabmap/core/Transform.h>
35 #include <rtabmap/core/Signature.h>
36 #include <opencv2/opencv.hpp>
37 #include <QWidget>
38 
39 class Ui_loopClosureViewer;
40 
41 namespace rtabmap {
42 
43 class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
44 
45  Q_OBJECT
46 
47 public:
48  LoopClosureViewer(QWidget * parent = 0);
49  virtual ~LoopClosureViewer();
50 
51  void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA
52 
53  const Signature & sA() const {return sA_;}
54  const Signature & sB() const {return sB_;}
55 
56 public Q_SLOTS:
57  void setDecimation(int decimation) {decimation_ = decimation;}
58  void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
59  void setMinDepth(int minDepth) {minDepth_ = minDepth;}
60  void updateView(const Transform & AtoB = Transform(), const ParametersMap & parameters = ParametersMap());
61 
62 protected:
63  virtual void showEvent(QShowEvent * event);
64 
65 private:
66  Ui_loopClosureViewer * ui_;
67 
71 
73  float maxDepth_;
74  float minDepth_;
75 };
76 
77 } /* namespace rtabmap */
78 #endif /* LOOPCLOSUREVIEWER_H_ */
#define RTABMAPGUI_EXP
Definition: RtabmapGuiExp.h:38
void setMaxDepth(int maxDepth)
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
Ui_loopClosureViewer * ui_
void setDecimation(int decimation)
const Signature & sB() const
void setMinDepth(int minDepth)
const Signature & sA() const


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59