RTABMapApp Class Reference

#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, const std::string &databaseSource=std::string())
void	postCameraPoseEvent (float x, float y, float z, float qx, float qy, float qz, float qw)
bool	postExportation (bool visualize)
void	postOdometryEvent (float x, float y, float z, float qx, float qy, float qz, float qw, float fx, float fy, float cx, float cy, double stamp, void *yPlane, void *uPlane, void *vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat, void *depth, int depthLen, int depthWidth, int depthHeight, int depthFormat, float *points, int pointsLen)
int	postProcessing (int approach)
int	Render ()
	RTABMapApp (JNIEnv *env, jobject caller_activity)
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	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	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	SetViewPort (int width, int height)
void	setWireframe (bool enabled)
bool	startCamera (JNIEnv *env, jobject iBinder, jobject context, jobject activity, int driver)
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)

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_
bool	depthFromMotion_
bool	exportedMeshUpdated_
bool	exporting_
bool	filterPolygonsOnNextRender_
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_
int	meshDecimation_
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::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_
bool	takeScreenshotOnNextRender_
int	totalPoints_
int	totalPolygons_
bool	trajectoryMode_
bool	visualizingMesh_

Detailed Description

Definition at line 49 of file RTABMapApp.h.

Constructor & Destructor Documentation

RTABMapApp::RTABMapApp	(	JNIEnv *	env,
		jobject	caller_activity
	)

Definition at line 156 of file RTABMapApp.cpp.

RTABMapApp::~RTABMapApp

(

)

Definition at line 234 of file RTABMapApp.cpp.

Member Function Documentation

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

Definition at line 2270 of file RTABMapApp.cpp.

void RTABMapApp::cancelProcessing

(

)

Definition at line 2330 of file RTABMapApp.cpp.

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 2336 of file RTABMapApp.cpp.

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

private

Definition at line 820 of file RTABMapApp.cpp.

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

private

Definition at line 887 of file RTABMapApp.cpp.

void RTABMapApp::gainCompensation ( bool  full = false )

private

Definition at line 1037 of file RTABMapApp.cpp.

rtabmap::ParametersMap RTABMapApp::getRtabmapParameters ( )

private

Definition at line 81 of file RTABMapApp.cpp.

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 3477 of file RTABMapApp.cpp.

void RTABMapApp::InitializeGLContent

(

)

Definition at line 930 of file RTABMapApp.cpp.

bool RTABMapApp::isBuiltWith

(

int

cameraDriver

)

const

Definition at line 628 of file RTABMapApp.cpp.

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

Definition at line 1980 of file RTABMapApp.cpp.

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

Definition at line 271 of file RTABMapApp.cpp.

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

Definition at line 3372 of file RTABMapApp.cpp.

bool RTABMapApp::postExportation

(

bool

visualize

)

Definition at line 3106 of file RTABMapApp.cpp.

void RTABMapApp::postOdometryEvent	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		float	fx,
		float	fy,
		float	cx,
		float	cy,
		double	stamp,
		void *	yPlane,
		void *	uPlane,
		void *	vPlane,
		int	yPlaneLen,
		int	rgbWidth,
		int	rgbHeight,
		int	rgbFormat,
		void *	depth,
		int	depthLen,
		int	depthWidth,
		int	depthHeight,
		int	depthFormat,
		float *	points,
		int	pointsLen
	)

Definition at line 3384 of file RTABMapApp.cpp.

int RTABMapApp::postProcessing

(

int

approach

)

Definition at line 3274 of file RTABMapApp.cpp.

int RTABMapApp::Render

(

)

Definition at line 1093 of file RTABMapApp.cpp.

void RTABMapApp::save

(

const std::string &

databasePath

)

Definition at line 2279 of file RTABMapApp.cpp.

void RTABMapApp::setAppendMode

(

bool

enabled

)

Definition at line 2145 of file RTABMapApp.cpp.

void RTABMapApp::setBackfaceCulling

(

bool

enabled

)

Definition at line 2048 of file RTABMapApp.cpp.

void RTABMapApp::setBackgroundColor

(

float

gray

)

Definition at line 2209 of file RTABMapApp.cpp.

void RTABMapApp::setCameraColor

(

bool

enabled

)

Definition at line 2113 of file RTABMapApp.cpp.

void RTABMapApp::SetCameraType

(

tango_gl::GestureCamera::CameraType

camera_type

)

Definition at line 1975 of file RTABMapApp.cpp.

void RTABMapApp::setCloudDensityLevel

(

int

value

)

Definition at line 2178 of file RTABMapApp.cpp.

void RTABMapApp::setClusterRatio

(

float

value

)

Definition at line 2193 of file RTABMapApp.cpp.

void RTABMapApp::setDataRecorderMode

(

bool

enabled

)

Definition at line 2156 of file RTABMapApp.cpp.

void RTABMapApp::setDepthFromMotion

(

bool

enabled

)

Definition at line 2137 of file RTABMapApp.cpp.

void RTABMapApp::setFOV

(

float

angle

)

Definition at line 2032 of file RTABMapApp.cpp.

void RTABMapApp::setFullResolution

(

bool

enabled

)

Definition at line 2121 of file RTABMapApp.cpp.

void RTABMapApp::setGPS

(

const rtabmap::GPS &

gps

)

Definition at line 2261 of file RTABMapApp.cpp.

void RTABMapApp::setGraphOptimization

(

bool

enabled

)

Definition at line 2068 of file RTABMapApp.cpp.

void RTABMapApp::setGraphVisible

(

bool

visible

)

Definition at line 2095 of file RTABMapApp.cpp.

void RTABMapApp::setGridRotation

(

float

value

)

Definition at line 2040 of file RTABMapApp.cpp.

void RTABMapApp::setGridVisible

(

bool

visible

)

Definition at line 2100 of file RTABMapApp.cpp.

void RTABMapApp::setLighting

(

bool

enabled

)

Definition at line 2044 of file RTABMapApp.cpp.

void RTABMapApp::setLocalizationMode

(

bool

enabled

)

Definition at line 2057 of file RTABMapApp.cpp.

void RTABMapApp::setMapCloudShown

(

bool

shown

)

Definition at line 2015 of file RTABMapApp.cpp.

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

Definition at line 2217 of file RTABMapApp.cpp.

void RTABMapApp::setMaxCloudDepth

(

float

value

)

Definition at line 2168 of file RTABMapApp.cpp.

void RTABMapApp::setMaxGainRadius

(

float

value

)

Definition at line 2198 of file RTABMapApp.cpp.

void RTABMapApp::setMeshAngleTolerance

(

float

value

)

Definition at line 2183 of file RTABMapApp.cpp.

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

Definition at line 2024 of file RTABMapApp.cpp.

void RTABMapApp::setMeshTriangleSize

(

int

value

)

Definition at line 2188 of file RTABMapApp.cpp.

void RTABMapApp::setMinCloudDepth

(

float

value

)

Definition at line 2173 of file RTABMapApp.cpp.

void RTABMapApp::setNodesFiltering

(

bool

enabled

)

Definition at line 2090 of file RTABMapApp.cpp.

void RTABMapApp::setOdomCloudShown

(

bool

shown

)

Definition at line 2019 of file RTABMapApp.cpp.

void RTABMapApp::setOnlineBlending

(

bool

enabled

)

Definition at line 2011 of file RTABMapApp.cpp.

void RTABMapApp::setOrthoCropFactor

(

float

value

)

Definition at line 2036 of file RTABMapApp.cpp.

void RTABMapApp::setPausedMapping

(

bool

paused

)

Definition at line 1986 of file RTABMapApp.cpp.

void RTABMapApp::setPointSize

(

float

value

)

Definition at line 2028 of file RTABMapApp.cpp.

void RTABMapApp::setRawScanSaved

(

bool

enabled

)

Definition at line 2105 of file RTABMapApp.cpp.

void RTABMapApp::setRenderingTextureDecimation

(

int

value

)

Definition at line 2203 of file RTABMapApp.cpp.

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

Definition at line 258 of file RTABMapApp.cpp.

void RTABMapApp::setSmoothing

(

bool

enabled

)

Definition at line 2129 of file RTABMapApp.cpp.

void RTABMapApp::setTrajectoryMode

(

bool

enabled

)

Definition at line 2062 of file RTABMapApp.cpp.

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

Definition at line 940 of file RTABMapApp.cpp.

void RTABMapApp::setWireframe

(

bool

enabled

)

Definition at line 2052 of file RTABMapApp.cpp.

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

private

Definition at line 972 of file RTABMapApp.cpp.

bool RTABMapApp::startCamera	(	JNIEnv *	env,
		jobject	iBinder,
		jobject	context,
		jobject	activity,
		int	driver
	)

Definition at line 659 of file RTABMapApp.cpp.

void RTABMapApp::stopCamera

(

)

Definition at line 805 of file RTABMapApp.cpp.

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

Definition at line 3164 of file RTABMapApp.cpp.

Member Data Documentation

bool RTABMapApp::appendMode_

private

Definition at line 190 of file RTABMapApp.h.

float RTABMapApp::backgroundColor_

private

Definition at line 199 of file RTABMapApp.h.

bool RTABMapApp::bilateralFilteringOnNextRender_

private

Definition at line 210 of file RTABMapApp.h.

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

private

Definition at line 220 of file RTABMapApp.h.

rtabmap::CameraMobile* RTABMapApp::camera_

private

Definition at line 175 of file RTABMapApp.h.

bool RTABMapApp::cameraColor_

private

Definition at line 188 of file RTABMapApp.h.

int RTABMapApp::cameraDriver_

private

Definition at line 174 of file RTABMapApp.h.

bool RTABMapApp::cameraJustInitialized_

private

Definition at line 212 of file RTABMapApp.h.

boost::mutex RTABMapApp::cameraMutex_

private

Definition at line 239 of file RTABMapApp.h.

bool RTABMapApp::clearSceneOnNextRender_

private

Definition at line 204 of file RTABMapApp.h.

int RTABMapApp::cloudDensityLevel_

private

Definition at line 193 of file RTABMapApp.h.

float RTABMapApp::clusterRatio_

private

Definition at line 196 of file RTABMapApp.h.

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

private

Definition at line 248 of file RTABMapApp.h.

bool RTABMapApp::dataRecorderMode_

private

Definition at line 203 of file RTABMapApp.h.

bool RTABMapApp::depthFromMotion_

private

Definition at line 187 of file RTABMapApp.h.

bool RTABMapApp::exportedMeshUpdated_

private

Definition at line 223 of file RTABMapApp.h.

bool RTABMapApp::exporting_

private

Definition at line 206 of file RTABMapApp.h.

bool RTABMapApp::filterPolygonsOnNextRender_

private

Definition at line 208 of file RTABMapApp.h.

bool RTABMapApp::fullResolution_

private

Definition at line 189 of file RTABMapApp.h.

int RTABMapApp::gainCompensationOnNextRender_

private

Definition at line 209 of file RTABMapApp.h.

bool RTABMapApp::graphOptimization_

private

Definition at line 181 of file RTABMapApp.h.

int RTABMapApp::lastDrawnCloudsCount_

private

Definition at line 216 of file RTABMapApp.h.

double RTABMapApp::lastPoseEventTime_

private

Definition at line 219 of file RTABMapApp.h.

double RTABMapApp::lastPostRenderEventTime_

private

Definition at line 218 of file RTABMapApp.h.

bool RTABMapApp::localizationMode_

private

Definition at line 183 of file RTABMapApp.h.

rtabmap::LogHandler* RTABMapApp::logHandler_

private

Definition at line 178 of file RTABMapApp.h.

Scene RTABMapApp::main_scene_

private

Definition at line 231 of file RTABMapApp.h.

rtabmap::ParametersMap RTABMapApp::mappingParameters_

private

Definition at line 201 of file RTABMapApp.h.

rtabmap::Transform RTABMapApp::mapToOdom_

private

Definition at line 237 of file RTABMapApp.h.

float RTABMapApp::maxCloudDepth_

private

Definition at line 191 of file RTABMapApp.h.

float RTABMapApp::maxGainRadius_

private

Definition at line 197 of file RTABMapApp.h.

float RTABMapApp::meshAngleToleranceDeg_

private

Definition at line 195 of file RTABMapApp.h.

int RTABMapApp::meshDecimation_

private

Definition at line 213 of file RTABMapApp.h.

boost::mutex RTABMapApp::meshesMutex_

private

Definition at line 241 of file RTABMapApp.h.

int RTABMapApp::meshTrianglePix_

private

Definition at line 194 of file RTABMapApp.h.

float RTABMapApp::minCloudDepth_

private

Definition at line 192 of file RTABMapApp.h.

bool RTABMapApp::nodesFiltering_

private

Definition at line 182 of file RTABMapApp.h.

bool RTABMapApp::odomCloudShown_

private

Definition at line 180 of file RTABMapApp.h.

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

private

Definition at line 234 of file RTABMapApp.h.

boost::mutex RTABMapApp::odomMutex_

private

Definition at line 242 of file RTABMapApp.h.

bool RTABMapApp::openingDatabase_

private

Definition at line 205 of file RTABMapApp.h.

pcl::TextureMesh::Ptr RTABMapApp::optMesh_

private

Definition at line 224 of file RTABMapApp.h.

int RTABMapApp::optRefId_

private

Definition at line 226 of file RTABMapApp.h.

rtabmap::Transform* RTABMapApp::optRefPose_

private

Definition at line 227 of file RTABMapApp.h.

cv::Mat RTABMapApp::optTexture_

private

Definition at line 225 of file RTABMapApp.h.

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

private

Definition at line 235 of file RTABMapApp.h.

boost::mutex RTABMapApp::poseMutex_

private

Definition at line 243 of file RTABMapApp.h.

bool RTABMapApp::postProcessing_

private

Definition at line 207 of file RTABMapApp.h.

rtabmap::ProgressionStatus RTABMapApp::progressionStatus_

private

Definition at line 253 of file RTABMapApp.h.

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

private

Definition at line 249 of file RTABMapApp.h.

bool RTABMapApp::rawScanSaved_

private

Definition at line 185 of file RTABMapApp.h.

boost::mutex RTABMapApp::renderingMutex_

private

Definition at line 244 of file RTABMapApp.h.

int RTABMapApp::renderingTextureDecimation_

private

Definition at line 198 of file RTABMapApp.h.

float RTABMapApp::renderingTime_

private

Definition at line 217 of file RTABMapApp.h.

rtabmap::Rtabmap* RTABMapApp::rtabmap_

private

Definition at line 177 of file RTABMapApp.h.

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

private

Definition at line 233 of file RTABMapApp.h.

boost::mutex RTABMapApp::rtabmapMutex_

private

Definition at line 240 of file RTABMapApp.h.

rtabmap::RtabmapThread* RTABMapApp::rtabmapThread_

private

Definition at line 176 of file RTABMapApp.h.

USemaphore RTABMapApp::screenshotReady_

private

Definition at line 246 of file RTABMapApp.h.

bool RTABMapApp::smoothing_

private

Definition at line 186 of file RTABMapApp.h.

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

private

Definition at line 251 of file RTABMapApp.h.

bool RTABMapApp::takeScreenshotOnNextRender_

private

Definition at line 211 of file RTABMapApp.h.

int RTABMapApp::totalPoints_

private

Definition at line 214 of file RTABMapApp.h.

int RTABMapApp::totalPolygons_

private

Definition at line 215 of file RTABMapApp.h.

bool RTABMapApp::trajectoryMode_

private

Definition at line 184 of file RTABMapApp.h.

bool RTABMapApp::visualizingMesh_

private

Definition at line 222 of file RTABMapApp.h.

---

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

• RTABMapApp.h
• RTABMapApp.cpp