#include <CloudViewer.h>

Inheritance diagram for rtabmap::CloudViewer:

Public Slots
virtual void	clear ()

void	setBackgroundColor (const QColor &color)

void	setCloudColorIndex (const std::string &id, int index)

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, bool hasNormals, bool hasIntensity, const QColor &color=QColor(), int viewport=1)

bool	addCloud (const std::string &id, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), 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::PointXYZINormal >::Ptr &cloud, const Transform &pose=Transform::getIdentity(), const QColor &color=QColor())

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

bool	addCloud (const std::string &id, const pcl::PointCloud< pcl::PointNormal >::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::PointXYZ >::Ptr &cloud, const std::vector< pcl::Vertices > &polygons, const Transform &pose=Transform::getIdentity())

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::PointCloud< pcl::PointXYZRGBNormal >::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	addCloudTextureMesh (const std::string &id, const pcl::TextureMesh::Ptr &textureMesh, const cv::Mat &texture, const Transform &pose=Transform::getIdentity())

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

bool	addOctomap (const OctoMap *octomap, unsigned int treeDepth=0, bool volumeRepresentation=true)

void	addOrUpdateCoordinate (const std::string &id, const Transform &transform, double scale, bool foreground=false)

void	addOrUpdateCube (const std::string &id, const Transform &pose, float width, float height, float depth, const QColor &color, bool wireframe=false, bool foreground=false)

void	addOrUpdateFrustum (const std::string &id, const Transform &pose, const Transform &localTransform, double scale, const QColor &color=QColor(), float fovX=1.1, float fovY=0.85)

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

void	addOrUpdateLine (const std::string &id, const Transform &from, const Transform &to, const QColor &color, bool arrow=false, bool foreground=false)

void	addOrUpdateQuad (const std::string &id, const Transform &pose, float width, float height, const QColor &color, bool foreground=false)

void	addOrUpdateQuad (const std::string &id, const Transform &pose, float widthLeft, float widthRight, float heightBottom, float heightTop, const QColor &color, bool foreground=false)

void	addOrUpdateSphere (const std::string &id, const Transform &pose, float radius, const QColor &color, bool foreground=false)

void	addOrUpdateText (const std::string &id, const std::string &text, const Transform &position, double scale, const QColor &color, bool foreground=true)

bool	addTextureMesh (const pcl::TextureMesh &mesh, const cv::Mat &texture, const std::string &id="texture", int viewport=0)

void	buildPickingLocator (bool enable)

void	clearTrajectory ()

	CloudViewer (QWidget parent=0, CloudViewerInteractorStyle style=CloudViewerInteractorStyle::New())

const QMap< std::string, Transform > &	getAddedClouds () const

const std::set< std::string > &	getAddedCoordinates () const

const std::set< std::string > &	getAddedCubes () const

const QMap< std::string, Transform > &	getAddedFrustums () const

const std::set< std::string > &	getAddedLines () const

const std::set< std::string > &	getAddedQuads () const

const std::set< std::string > &	getAddedSpheres () const

const std::set< std::string > &	getAddedTexts () 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)

QColor	getColor (const std::string &id)

double	getCoordinateFrameScale () const

const QColor &	getDefaultBackgroundColor () const

QColor	getFrustumColor () const

float	getFrustumScale () const

unsigned int	getGridCellCount () const

float	getGridCellSize () const

std::string	getIdByActor (vtkProp *actor) const

float	getIntensityMax () const

const std::map< std::string, vtkSmartPointer< vtkOBBTree > > &	getLocators () const

float	getNormalsScale () const

int	getNormalsStep () const

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

double	getRenderingRate () const

Transform	getTargetPose () const

unsigned int	getTrajectorySize () const

bool	isBackfaceCulling () const

bool	isCameraAxisShown () const

bool	isCameraFree () const

bool	isCameraLockZ () const

bool	isCameraOrtho () const

bool	isCameraTargetFollow () const

bool	isCameraTargetLocked () const

bool	isEdgeVisible () const

bool	isEDLShadingOn () const

bool	isFrontfaceCulling () const

bool	isFrustumShown () const

bool	isGridShown () const

bool	isIntensityRainbowColormap () const

bool	isIntensityRedColormap () const

bool	isLightingOn () const

bool	isNormalsShown () const

bool	isPolygonPicking () const

bool	isShadingOn () const

bool	isTrajectoryShown () const

void	loadSettings (QSettings &settings, const QString &group="")

void	removeAllClouds ()

void	removeAllCoordinates (const std::string &prefix="")

void	removeAllCubes ()

void	removeAllFrustums (bool exceptCameraReference=false)

void	removeAllGraphs ()

void	removeAllLines ()

void	removeAllQuads ()

void	removeAllSpheres ()

void	removeAllTexts ()

bool	removeCloud (const std::string &id)

void	removeCoordinate (const std::string &id)

void	removeCube (const std::string &id)

void	removeFrustum (const std::string &id)

void	removeGraph (const std::string &id)

void	removeLine (const std::string &id)

void	removeOccupancyGridMap ()

void	removeOctomap ()

void	removeQuad (const std::string &id)

void	removeSphere (const std::string &id)

void	removeText (const std::string &id)

void	resetCamera ()

void	saveSettings (QSettings &settings, const QString &group="") const

void	setBackfaceCulling (bool enabled, bool frontfaceCulling)

void	setCameraAxisShown (bool shown)

void	setCameraFree ()

void	setCameraLockZ (bool enabled=true)

void	setCameraOrtho (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	setColor (const std::string &id, const QColor &color)

void	setCoordinateFrameScale (double scale)

void	setEdgeVisibility (bool visible)

void	setEDLShading (bool on)

void	setFrustumColor (QColor value)

void	setFrustumScale (float value)

void	setFrustumShown (bool shown)

void	setGridCellCount (unsigned int count)

void	setGridCellSize (float size)

void	setGridShown (bool shown)

void	setIntensityMax (float value)

void	setIntensityRainbowColormap (bool value)

void	setIntensityRedColormap (bool value)

void	setInteractorLayer (int layer)

void	setLighting (bool on)

void	setNormalsScale (float scale)

void	setNormalsShown (bool shown)

void	setNormalsStep (int step)

void	setPolygonPicking (bool enabled)

void	setRenderingRate (double rate)

void	setShading (bool on)

void	setTrajectoryShown (bool shown)

void	setTrajectorySize (unsigned int value)

void	updateCameraFrustum (const Transform &pose, const StereoCameraModel &model)

void	updateCameraFrustum (const Transform &pose, const CameraModel &model)

void	updateCameraFrustums (const Transform &pose, const std::vector< CameraModel > &models)

void	updateCameraTargetPosition (const Transform &pose)

bool	updateCloudPose (const std::string &id, const Transform &pose)

bool	updateCoordinatePose (const std::string &id, const Transform &transform)

bool	updateFrustumPose (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)

pcl::visualization::PCLVisualizer *	visualizer ()

virtual void	wheelEvent (QWheelEvent *event)

Private Member Functions
void	addGrid ()

void	createMenu ()

void	removeGrid ()

Private Attributes
QAction *	_aBackfaceCulling

QAction *	_aCameraOrtho

QAction *	_aClearTrajectory

QMap< std::string, Transform >	_addedClouds

QAction *	_aFollowCamera

QAction *	_aLockCamera

QAction *	_aLockViewZ

QAction *	_aPolygonPicking

QAction *	_aResetCamera

QAction *	_aSetBackgroundColor

QAction *	_aSetEdgeVisibility

QAction *	_aSetEDLShading

QAction *	_aSetFlatShading

QAction *	_aSetFrameScale

QAction *	_aSetFrustumColor

QAction *	_aSetFrustumScale

QAction *	_aSetGridCellCount

QAction *	_aSetGridCellSize

QAction *	_aSetIntensityMaximum

QAction *	_aSetIntensityRainbowColormap

QAction *	_aSetIntensityRedColormap

QAction *	_aSetLighting

QAction *	_aSetNormalsScale

QAction *	_aSetNormalsStep

QAction *	_aSetRenderingRate

QAction *	_aSetTrajectorySize

QAction *	_aShowCameraAxis

QAction *	_aShowFrustum

QAction *	_aShowGrid

QAction *	_aShowNormals

QAction *	_aShowTrajectory

bool	_buildLocator

double	_coordinateFrameScale

std::set< std::string >	_coordinates

std::set< std::string >	_cubes

QColor	_currentBgColor

QColor	_defaultBgColor

bool	_frontfaceCulling

QColor	_frustumColor

QMap< std::string, Transform >	_frustums

float	_frustumScale

std::set< std::string >	_graphes

unsigned int	_gridCellCount

float	_gridCellSize

std::list< std::string >	_gridLines

float	_intensityAbsMax

QSet< Qt::Key >	_keysPressed

cv::Vec3d	_lastCameraOrientation

cv::Vec3d	_lastCameraPose

Transform	_lastPose

std::set< std::string >	_lines

std::map< std::string, vtkSmartPointer< vtkOBBTree > >	_locators

unsigned int	_maxTrajectorySize

QMenu *	_menu

float	_normalsScale

int	_normalsStep

vtkProp *	_octomapActor

std::set< std::string >	_quads

double	_renderingRate

std::set< std::string >	_spheres

std::set< std::string >	_texts

pcl::PointCloud< pcl::PointXYZ >::Ptr	_trajectory

pcl::visualization::PCLVisualizer *	_visualizer

Detailed Description

Definition at line 69 of file CloudViewer.h.

Constructor & Destructor Documentation

rtabmap::CloudViewer::CloudViewer	(	QWidget *	parent = `0`,
		CloudViewerInteractorStyle *	style = `CloudViewerInteractorStyle::New()`
	)

Definition at line 90 of file CloudViewer.cpp.

rtabmap::CloudViewer::~CloudViewer ( )

virtual

Definition at line 215 of file CloudViewer.cpp.

Member Function Documentation

bool rtabmap::CloudViewer::addCloud	(	const std::string &	id,
		const pcl::PCLPointCloud2Ptr &	binaryCloud,
		const Transform &	pose,
		bool	rgb,
		bool	hasNormals,
		bool	hasIntensity,
		const QColor &	color = `QColor()`,
		int	viewport = `1`
	)

Definition at line 697 of file CloudViewer.cpp.

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

Definition at line 809 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 820 of file CloudViewer.cpp.

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

Definition at line 831 of file CloudViewer.cpp.

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

Definition at line 842 of file CloudViewer.cpp.

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

Definition at line 853 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 864 of file CloudViewer.cpp.

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

Definition at line 875 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 913 of file CloudViewer.cpp.

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

Definition at line 951 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 989 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addCloudTextureMesh	(	const std::string &	id,
		const pcl::TextureMesh::Ptr &	textureMesh,
		const cv::Mat &	texture,
		const Transform &	pose = `Transform::getIdentity()`
	)

Definition at line 1026 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addGrid ( )

private

Definition at line 3240 of file CloudViewer.cpp.

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

Definition at line 1479 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addOctomap	(	const OctoMap *	octomap,
		unsigned int	treeDepth = `0`,
		bool	volumeRepresentation = `true`
	)

Definition at line 1065 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateCoordinate	(	const std::string &	id,
		const Transform &	transform,
		double	scale,
		bool	foreground = `false`
	)

Definition at line 1559 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateCube	(	const std::string &	id,
		const Transform &	pose,
		float	width,
		float	height,
		float	depth,
		const QColor &	color,
		bool	wireframe = `false`,
		bool	foreground = `false`
	)

Definition at line 1756 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateFrustum	(	const std::string &	id,
		const Transform &	pose,
		const Transform &	localTransform,
		double	scale,
		const QColor &	color = `QColor()`,
		float	fovX = `1.1`,
		float	fovY = `0.85`
	)

Definition at line 1970 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 2120 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateLine	(	const std::string &	id,
		const Transform &	from,
		const Transform &	to,
		const QColor &	color,
		bool	arrow = `false`,
		bool	foreground = `false`
	)

Definition at line 1634 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateQuad	(	const std::string &	id,
		const Transform &	pose,
		float	width,
		float	height,
		const QColor &	color,
		bool	foreground = `false`
	)

Definition at line 1818 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateQuad	(	const std::string &	id,
		const Transform &	pose,
		float	widthLeft,
		float	widthRight,
		float	heightBottom,
		float	heightTop,
		const QColor &	color,
		bool	foreground = `false`
	)

Definition at line 1829 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateSphere	(	const std::string &	id,
		const Transform &	pose,
		float	radius,
		const QColor &	color,
		bool	foreground = `false`
	)

Definition at line 1700 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateText	(	const std::string &	id,
		const std::string &	text,
		const Transform &	position,
		double	scale,
		const QColor &	color,
		bool	foreground = `true`
	)

Definition at line 2183 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::addTextureMesh	(	const pcl::TextureMesh &	mesh,
		const cv::Mat &	texture,
		const std::string &	id = `"texture"`,
		int	viewport = `0`
	)

Definition at line 1290 of file CloudViewer.cpp.

void rtabmap::CloudViewer::buildPickingLocator ( bool enable )

Definition at line 3378 of file CloudViewer.cpp.

void rtabmap::CloudViewer::clear ( )

virtualslot

Definition at line 223 of file CloudViewer.cpp.

void rtabmap::CloudViewer::clearTrajectory ( )

Definition at line 2259 of file CloudViewer.cpp.

void rtabmap::CloudViewer::configChanged ( )

signal

void rtabmap::CloudViewer::contextMenuEvent ( QContextMenuEvent * event )

protectedvirtual

Definition at line 3613 of file CloudViewer.cpp.

void rtabmap::CloudViewer::createMenu ( )

private

Definition at line 246 of file CloudViewer.cpp.

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

inline

Definition at line 314 of file CloudViewer.h.

const std::set<std::string>& rtabmap::CloudViewer::getAddedCoordinates ( ) const

inline

Definition at line 202 of file CloudViewer.h.

const std::set<std::string>& rtabmap::CloudViewer::getAddedCubes ( ) const

inline

Definition at line 236 of file CloudViewer.h.

const QMap<std::string, Transform>& rtabmap::CloudViewer::getAddedFrustums ( ) const

inline

Definition at line 271 of file CloudViewer.h.

const std::set<std::string>& rtabmap::CloudViewer::getAddedLines ( ) const

inline

Definition at line 213 of file CloudViewer.h.

const std::set<std::string>& rtabmap::CloudViewer::getAddedQuads ( ) const

inline

Definition at line 256 of file CloudViewer.h.

const std::set<std::string>& rtabmap::CloudViewer::getAddedSpheres ( ) const

inline

Definition at line 223 of file CloudViewer.h.

const std::set<std::string>& rtabmap::CloudViewer::getAddedTexts ( ) const

inline

Definition at line 289 of file CloudViewer.h.

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

Definition at line 2981 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 2729 of file CloudViewer.cpp.

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

Definition at line 3025 of file CloudViewer.cpp.

QColor rtabmap::CloudViewer::getColor ( const std::string & id )

Definition at line 2478 of file CloudViewer.cpp.

double rtabmap::CloudViewer::getCoordinateFrameScale ( ) const

Definition at line 2285 of file CloudViewer.cpp.

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

Definition at line 2967 of file CloudViewer.cpp.

QColor rtabmap::CloudViewer::getFrustumColor ( ) const

Definition at line 2305 of file CloudViewer.cpp.

float rtabmap::CloudViewer::getFrustumScale ( ) const

Definition at line 2300 of file CloudViewer.cpp.

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

Definition at line 3200 of file CloudViewer.cpp.

float rtabmap::CloudViewer::getGridCellSize ( ) const

Definition at line 3204 of file CloudViewer.cpp.

std::string rtabmap::CloudViewer::getIdByActor ( vtkProp * actor ) const

Definition at line 2447 of file CloudViewer.cpp.

float rtabmap::CloudViewer::getIntensityMax ( ) const

Definition at line 3345 of file CloudViewer.cpp.

const std::map<std::string, vtkSmartPointer<vtkOBBTree> >& rtabmap::CloudViewer::getLocators ( ) const

inline

Definition at line 378 of file CloudViewer.h.

float rtabmap::CloudViewer::getNormalsScale ( ) const

Definition at line 3310 of file CloudViewer.cpp.

int rtabmap::CloudViewer::getNormalsStep ( ) const

Definition at line 3306 of file CloudViewer.cpp.

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

Definition at line 2428 of file CloudViewer.cpp.

double rtabmap::CloudViewer::getRenderingRate ( ) const

Definition at line 3179 of file CloudViewer.cpp.

Transform rtabmap::CloudViewer::getTargetPose ( ) const

Definition at line 2438 of file CloudViewer.cpp.

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

Definition at line 2244 of file CloudViewer.cpp.

void rtabmap::CloudViewer::handleAction ( QAction * event )

protectedvirtual

Definition at line 3623 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isBackfaceCulling ( ) const

Definition at line 3151 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraAxisShown ( ) const

Definition at line 2266 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraFree ( ) const

Definition at line 3139 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraLockZ ( ) const

Definition at line 3143 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraOrtho ( ) const

Definition at line 3147 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraTargetFollow ( ) const

Definition at line 3135 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraTargetLocked ( ) const

Definition at line 3131 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isEdgeVisible ( ) const

Definition at line 3175 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isEDLShadingOn ( ) const

Definition at line 3163 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isFrontfaceCulling ( ) const

Definition at line 3155 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isFrustumShown ( ) const

Definition at line 2295 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isGridShown ( ) const

Definition at line 3196 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isIntensityRainbowColormap ( ) const

Definition at line 3341 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isIntensityRedColormap ( ) const

Definition at line 3337 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isLightingOn ( ) const

Definition at line 3167 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isNormalsShown ( ) const

Definition at line 3302 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isPolygonPicking ( ) const

Definition at line 3159 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isShadingOn ( ) const

Definition at line 3171 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isTrajectoryShown ( ) const

Definition at line 2239 of file CloudViewer.cpp.

void rtabmap::CloudViewer::keyPressEvent ( QKeyEvent * event )

protectedvirtual

Definition at line 3432 of file CloudViewer.cpp.

void rtabmap::CloudViewer::keyReleaseEvent ( QKeyEvent * event )

protectedvirtual

Definition at line 3418 of file CloudViewer.cpp.

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

Definition at line 441 of file CloudViewer.cpp.

QMenu* rtabmap::CloudViewer::menu ( )

inlineprotected

Definition at line 400 of file CloudViewer.h.

void rtabmap::CloudViewer::mouseMoveEvent ( QMouseEvent * event )

protectedvirtual

Definition at line 3542 of file CloudViewer.cpp.

void rtabmap::CloudViewer::mousePressEvent ( QMouseEvent * event )

protectedvirtual

Definition at line 3530 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllClouds ( )

Definition at line 2399 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllCoordinates ( const std::string & prefix = "" )

Definition at line 1621 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllCubes ( )

Definition at line 1808 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllFrustums ( bool exceptCameraReference = false )

Definition at line 2107 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllGraphs ( )

Definition at line 2173 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllLines ( )

Definition at line 1690 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllQuads ( )

Definition at line 1950 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllSpheres ( )

Definition at line 1746 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllTexts ( )

Definition at line 2229 of file CloudViewer.cpp.

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

Definition at line 2412 of file CloudViewer.cpp.

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

Definition at line 1601 of file CloudViewer.cpp.

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

Definition at line 1793 of file CloudViewer.cpp.

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

Definition at line 2092 of file CloudViewer.cpp.

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

Definition at line 2157 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeGrid ( )

private

Definition at line 3280 of file CloudViewer.cpp.

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

Definition at line 1675 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeOccupancyGridMap ( )

Definition at line 1544 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeOctomap ( )

Definition at line 1273 of file CloudViewer.cpp.

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

Definition at line 1935 of file CloudViewer.cpp.

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

Definition at line 1731 of file CloudViewer.cpp.

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

Definition at line 2214 of file CloudViewer.cpp.

void rtabmap::CloudViewer::resetCamera ( )

Definition at line 2354 of file CloudViewer.cpp.

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

Definition at line 376 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setBackfaceCulling	(	bool	enabled,
		bool	frontfaceCulling
	)

Definition at line 2556 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setBackgroundColor ( const QColor & color )

slot

Definition at line 2986 of file CloudViewer.cpp.

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

Definition at line 2271 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraFree ( )

Definition at line 3109 of file CloudViewer.cpp.

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

Definition at line 3115 of file CloudViewer.cpp.

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

Definition at line 3120 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 2754 of file CloudViewer.cpp.

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

Definition at line 3104 of file CloudViewer.cpp.

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

Definition at line 3099 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCloudColorIndex	(	const std::string &	id,
		int	index
	)

slot

Definition at line 3052 of file CloudViewer.cpp.

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

slot

Definition at line 3060 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCloudPointSize	(	const std::string &	id,
		int	size
	)

slot

Definition at line 3087 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCloudVisibility	(	const std::string &	id,
		bool	isVisible
	)

slot

Definition at line 2992 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setColor	(	const std::string &	id,
		const QColor &	color
	)

Definition at line 2520 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCoordinateFrameScale ( double scale )

Definition at line 2290 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setDefaultBackgroundColor ( const QColor & color )

slot

Definition at line 2972 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setEdgeVisibility ( bool visible )

Definition at line 2689 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setEDLShading ( bool on )

Definition at line 2610 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setFrustumColor ( QColor value )

Definition at line 2340 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setFrustumScale ( float value )

Definition at line 2335 of file CloudViewer.cpp.

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

Definition at line 2310 of file CloudViewer.cpp.

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

Definition at line 3208 of file CloudViewer.cpp.

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

Definition at line 3224 of file CloudViewer.cpp.

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

Definition at line 3184 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setIntensityMax ( float value )

Definition at line 3366 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setIntensityRainbowColormap ( bool value )

Definition at line 3358 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setIntensityRedColormap ( bool value )

Definition at line 3350 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setInteractorLayer ( int layer )

Definition at line 2711 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setLighting ( bool on )

Definition at line 2645 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setNormalsScale ( float scale )

Definition at line 3325 of file CloudViewer.cpp.

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

Definition at line 3289 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setNormalsStep ( int step )

Definition at line 3314 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setPolygonPicking ( bool enabled )

Definition at line 2582 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setRenderingRate ( double rate )

Definition at line 2604 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setShading ( bool on )

Definition at line 2667 of file CloudViewer.cpp.

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

Definition at line 2249 of file CloudViewer.cpp.

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

Definition at line 2254 of file CloudViewer.cpp.

void rtabmap::CloudViewer::updateCameraFrustum	(	const Transform &	pose,
		const StereoCameraModel &	model
	)

Definition at line 2921 of file CloudViewer.cpp.

void rtabmap::CloudViewer::updateCameraFrustum	(	const Transform &	pose,
		const CameraModel &	model
	)

Definition at line 2934 of file CloudViewer.cpp.

void rtabmap::CloudViewer::updateCameraFrustums	(	const Transform &	pose,
		const std::vector< CameraModel > &	models
	)

Definition at line 2941 of file CloudViewer.cpp.

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

Definition at line 2797 of file CloudViewer.cpp.

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

Definition at line 499 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::updateCoordinatePose	(	const std::string &	id,
		const Transform &	transform
	)

Definition at line 1585 of file CloudViewer.cpp.

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

Definition at line 2049 of file CloudViewer.cpp.

pcl::visualization::PCLVisualizer* rtabmap::CloudViewer::visualizer ( )

inlineprotected

Definition at line 401 of file CloudViewer.h.

void rtabmap::CloudViewer::wheelEvent ( QWheelEvent * event )

protectedvirtual

Definition at line 3593 of file CloudViewer.cpp.

Member Data Documentation

QAction* rtabmap::CloudViewer::_aBackfaceCulling

private

Definition at line 438 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aCameraOrtho

private

Definition at line 414 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aClearTrajectory

private

Definition at line 417 of file CloudViewer.h.

QMap<std::string, Transform> rtabmap::CloudViewer::_addedClouds

private

Definition at line 461 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aFollowCamera

private

Definition at line 411 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aLockCamera

private

Definition at line 410 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aLockViewZ

private

Definition at line 413 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aPolygonPicking

private

Definition at line 439 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aResetCamera

private

Definition at line 412 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetBackgroundColor

private

Definition at line 432 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetEdgeVisibility

private

Definition at line 437 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetEDLShading

private

Definition at line 434 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFlatShading

private

Definition at line 436 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFrameScale

private

Definition at line 419 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFrustumColor

private

Definition at line 422 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFrustumScale

private

Definition at line 421 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetGridCellCount

private

Definition at line 424 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetGridCellSize

private

Definition at line 425 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetIntensityMaximum

private

Definition at line 431 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetIntensityRainbowColormap

private

Definition at line 430 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetIntensityRedColormap

private

Definition at line 429 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetLighting

private

Definition at line 435 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetNormalsScale

private

Definition at line 428 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetNormalsStep

private

Definition at line 427 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetRenderingRate

private

Definition at line 433 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetTrajectorySize

private

Definition at line 416 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowCameraAxis

private

Definition at line 418 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowFrustum

private

Definition at line 420 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowGrid

private

Definition at line 423 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowNormals

private

Definition at line 426 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowTrajectory

private

Definition at line 415 of file CloudViewer.h.

bool rtabmap::CloudViewer::_buildLocator

private

Definition at line 457 of file CloudViewer.h.

double rtabmap::CloudViewer::_coordinateFrameScale

private

Definition at line 471 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_coordinates

private

Definition at line 442 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_cubes

private

Definition at line 446 of file CloudViewer.h.

QColor rtabmap::CloudViewer::_currentBgColor

private

Definition at line 466 of file CloudViewer.h.

QColor rtabmap::CloudViewer::_defaultBgColor

private

Definition at line 465 of file CloudViewer.h.

bool rtabmap::CloudViewer::_frontfaceCulling

private

Definition at line 467 of file CloudViewer.h.

QColor rtabmap::CloudViewer::_frustumColor

private

Definition at line 452 of file CloudViewer.h.

QMap<std::string, Transform> rtabmap::CloudViewer::_frustums

private

Definition at line 448 of file CloudViewer.h.

float rtabmap::CloudViewer::_frustumScale

private

Definition at line 451 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_graphes

private

Definition at line 441 of file CloudViewer.h.

unsigned int rtabmap::CloudViewer::_gridCellCount

private

Definition at line 453 of file CloudViewer.h.

float rtabmap::CloudViewer::_gridCellSize

private

Definition at line 454 of file CloudViewer.h.

std::list<std::string> rtabmap::CloudViewer::_gridLines

private

Definition at line 463 of file CloudViewer.h.

float rtabmap::CloudViewer::_intensityAbsMax

private

Definition at line 470 of file CloudViewer.h.

QSet<Qt::Key> rtabmap::CloudViewer::_keysPressed

private

Definition at line 464 of file CloudViewer.h.

cv::Vec3d rtabmap::CloudViewer::_lastCameraOrientation

private

Definition at line 459 of file CloudViewer.h.

cv::Vec3d rtabmap::CloudViewer::_lastCameraPose

private

Definition at line 460 of file CloudViewer.h.

Transform rtabmap::CloudViewer::_lastPose

private

Definition at line 462 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_lines

private

Definition at line 444 of file CloudViewer.h.

std::map<std::string, vtkSmartPointer<vtkOBBTree> > rtabmap::CloudViewer::_locators

private

Definition at line 458 of file CloudViewer.h.

unsigned int rtabmap::CloudViewer::_maxTrajectorySize

private

Definition at line 450 of file CloudViewer.h.

QMenu* rtabmap::CloudViewer::_menu

private

Definition at line 440 of file CloudViewer.h.

float rtabmap::CloudViewer::_normalsScale

private

Definition at line 456 of file CloudViewer.h.

int rtabmap::CloudViewer::_normalsStep

private

Definition at line 455 of file CloudViewer.h.

vtkProp* rtabmap::CloudViewer::_octomapActor

private

Definition at line 469 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_quads

private

Definition at line 447 of file CloudViewer.h.

double rtabmap::CloudViewer::_renderingRate

private

Definition at line 468 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_spheres

private

Definition at line 445 of file CloudViewer.h.

std::set<std::string> rtabmap::CloudViewer::_texts

private

Definition at line 443 of file CloudViewer.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::CloudViewer::_trajectory

private

Definition at line 449 of file CloudViewer.h.

pcl::visualization::PCLVisualizer* rtabmap::CloudViewer::_visualizer

private

Definition at line 409 of file CloudViewer.h.

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

Public Slots

Signals

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation