rtabmap::GraphViewer Class Reference

#include <GraphViewer.h>

Inheritance diagram for rtabmap::GraphViewer:

Public Slots
void	restoreDefaults ()

Signals
void	configChanged ()
void	mapShownRequested ()

Public Member Functions
void	clearAll ()
void	clearGraph ()
void	clearMap ()
void	clearPosterior ()
const QColor &	getCurrentGoalColor () const
const QColor &	getGlobalLoopClosureColor () const
const QColor &	getGlobalPathColor () const
const QColor &	getGPSColor () const
const QColor &	getGTColor () const
const QColor &	getInterSessionLoopColor () const
const QColor &	getIntraSessionLoopColor () const
float	getLinkWidth () const
const QColor &	getLocalLoopClosureColor () const
const QColor &	getLocalPathColor () const
float	getLoopClosureOutlierThr () const
float	getMaxLinkLength () const
const QColor &	getNeighborColor () const
const QColor &	getNeighborMergedColor () const
const QColor &	getNodeColor () const
float	getNodeRadius () const
const QColor &	getRejectedLoopClosureColor () const
const QColor &	getUserLoopClosureColor () const
const QColor &	getVirtualLoopClosureColor () const
const QString &	getWorkingDirectory () const
float	getWorldMapRotation () const
	GraphViewer (QWidget *parent=0)
bool	isGlobalPathVisible () const
bool	isGPSGraphVisible () const
bool	isGraphVisible () const
bool	isGridMapVisible () const
bool	isGtGraphVisible () const
bool	isIntraInterSessionColorsEnabled () const
bool	isLocalPathVisible () const
bool	isLocalRadiusVisible () const
bool	isOrientationENU () const
bool	isOriginVisible () const
bool	isReferentialVisible () const
void	loadSettings (QSettings &settings, const QString &group="")
void	saveSettings (QSettings &settings, const QString &group="") const
void	setCurrentGoalColor (const QColor &color)
void	setCurrentGoalID (int id, const Transform &pose=Transform())
void	setGlobalLoopClosureColor (const QColor &color)
void	setGlobalPath (const std::vector< std::pair< int, Transform > > &globalPath)
void	setGlobalPathColor (const QColor &color)
void	setGlobalPathVisible (bool visible)
void	setGPSColor (const QColor &color)
void	setGPSGraphVisible (bool visible)
void	setGraphVisible (bool visible)
void	setGridMapVisible (bool visible)
void	setGTColor (const QColor &color)
void	setGtGraphVisible (bool visible)
void	setInterSessionLoopColor (const QColor &color)
void	setIntraInterSessionColorsEnabled (bool enabled)
void	setIntraSessionLoopColor (const QColor &color)
void	setLandmarkColor (const QColor &color)
void	setLinkWidth (float width)
void	setLocalLoopClosureColor (const QColor &color)
void	setLocalPathColor (const QColor &color)
void	setLocalPathVisible (bool visible)
void	setLocalRadius (float radius)
void	setLocalRadiusVisible (bool visible)
void	setLoopClosureOutlierThr (float value)
void	setMaxLinkLength (float value)
void	setNeighborColor (const QColor &color)
void	setNeighborMergedColor (const QColor &color)
void	setNodeColor (const QColor &color)
void	setNodeRadius (float radius)
void	setNodeVisible (bool visible)
void	setOrientationENU (bool enabled)
void	setOriginVisible (bool visible)
void	setReferentialVisible (bool visible)
void	setRejectedLoopClosureColor (const QColor &color)
void	setUserLoopClosureColor (const QColor &color)
void	setVirtualLoopClosureColor (const QColor &color)
void	setWorkingDirectory (const QString &path)
void	setWorldMapRotation (const float &theta)
void	updateGPSGraph (const std::map< int, Transform > &gpsMapPoses, const std::map< int, GPS > &gpsValues)
void	updateGraph (const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, const std::map< int, int > &mapIds, const std::map< int, int > &weights=std::map< int, int >())
void	updateGTGraph (const std::map< int, Transform > &poses)
void	updateLocalPath (const std::vector< int > &localPath)
void	updateMap (const cv::Mat &map8U, float resolution, float xMin, float yMin)
void	updatePosterior (const std::map< int, float > &posterior, float fixedMax=0.0f, int zValueOffset=0)
void	updateReferentialPosition (const Transform &t)
virtual	~GraphViewer ()

Protected Member Functions
virtual void	contextMenuEvent (QContextMenuEvent *event)
virtual void	wheelEvent (QWheelEvent *event)

Private Attributes
QColor	_currentGoalColor
QColor	_globalPathColor
QMultiMap< int, LinkItem * >	_globalPathLinkItems
QGraphicsItem *	_globalPathRoot
QGraphicsItem *	_gpsGraphRoot
QMultiMap< int, LinkItem * >	_gpsLinkItems
QMap< int, NodeItem * >	_gpsNodeItems
QColor	_gpsPathColor
QGraphicsItem *	_graphRoot
float	_gridCellSize
QGraphicsPixmapItem *	_gridMap
QGraphicsItem *	_gtGraphRoot
QMultiMap< int, LinkItem * >	_gtLinkItems
QMap< int, NodeItem * >	_gtNodeItems
QColor	_gtPathColor
bool	_intraInterSessionColors
QColor	_landmarkColor
QMultiMap< int, LinkItem * >	_linkItems
float	_linkWidth
QColor	_localPathColor
QMultiMap< int, LinkItem * >	_localPathLinkItems
QGraphicsItem *	_localPathRoot
QGraphicsEllipseItem *	_localRadius
QColor	_loopClosureColor
QColor	_loopClosureLocalColor
float	_loopClosureOutlierThr
QColor	_loopClosureRejectedColor
QColor	_loopClosureUserColor
QColor	_loopClosureVirtualColor
QColor	_loopInterSessionColor
QColor	_loopIntraSessionColor
float	_maxLinkLength
QColor	_neighborColor
QColor	_neighborMergedColor
QColor	_nodeColor
QMap< int, NodeItem * >	_nodeItems
float	_nodeRadius
bool	_nodeVisible
bool	_orientationENU
QGraphicsItemGroup *	_originReferential
QGraphicsItemGroup *	_referential
QGraphicsItem *	_root
QString	_workingDirectory
QGraphicsItem *	_world
float	_worldMapRotation

Detailed Description

Definition at line 51 of file GraphViewer.h.

Constructor & Destructor Documentation

rtabmap::GraphViewer::GraphViewer

(

QWidget *

parent = 0

)

Definition at line 243 of file GraphViewer.cpp.

rtabmap::GraphViewer::~GraphViewer ( )

virtual

Definition at line 351 of file GraphViewer.cpp.

Member Function Documentation

void rtabmap::GraphViewer::clearAll

(

)

Definition at line 1074 of file GraphViewer.cpp.

void rtabmap::GraphViewer::clearGraph

(

)

Definition at line 1033 of file GraphViewer.cpp.

void rtabmap::GraphViewer::clearMap

(

)

Definition at line 1059 of file GraphViewer.cpp.

void rtabmap::GraphViewer::clearPosterior

(

)

Definition at line 1066 of file GraphViewer.cpp.

void rtabmap::GraphViewer::configChanged ( )

signal

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

protectedvirtual

Definition at line 1547 of file GraphViewer.cpp.

const QColor& rtabmap::GraphViewer::getCurrentGoalColor ( ) const

inline

Definition at line 90 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGlobalLoopClosureColor ( ) const

inline

Definition at line 92 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGlobalPathColor ( ) const

inline

Definition at line 99 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGPSColor ( ) const

inline

Definition at line 101 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getGTColor ( ) const

inline

Definition at line 100 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getInterSessionLoopColor ( ) const

inline

Definition at line 103 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getIntraSessionLoopColor ( ) const

inline

Definition at line 102 of file GraphViewer.h.

float rtabmap::GraphViewer::getLinkWidth ( ) const

inline

Definition at line 88 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getLocalLoopClosureColor ( ) const

inline

Definition at line 93 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getLocalPathColor ( ) const

inline

Definition at line 98 of file GraphViewer.h.

float rtabmap::GraphViewer::getLoopClosureOutlierThr ( ) const

inline

Definition at line 109 of file GraphViewer.h.

float rtabmap::GraphViewer::getMaxLinkLength ( ) const

inline

Definition at line 110 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getNeighborColor ( ) const

inline

Definition at line 91 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getNeighborMergedColor ( ) const

inline

Definition at line 96 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getNodeColor ( ) const

inline

Definition at line 89 of file GraphViewer.h.

float rtabmap::GraphViewer::getNodeRadius ( ) const

inline

Definition at line 87 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getRejectedLoopClosureColor ( ) const

inline

Definition at line 97 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getUserLoopClosureColor ( ) const

inline

Definition at line 94 of file GraphViewer.h.

const QColor& rtabmap::GraphViewer::getVirtualLoopClosureColor ( ) const

inline

Definition at line 95 of file GraphViewer.h.

const QString& rtabmap::GraphViewer::getWorkingDirectory ( ) const

inline

Definition at line 86 of file GraphViewer.h.

float rtabmap::GraphViewer::getWorldMapRotation ( ) const

inline

Definition at line 60 of file GraphViewer.h.

bool rtabmap::GraphViewer::isGlobalPathVisible

(

)

const

Definition at line 1184 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGPSGraphVisible

(

)

const

Definition at line 1196 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGraphVisible

(

)

const

Definition at line 1180 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGridMapVisible

(

)

const

Definition at line 1164 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isGtGraphVisible

(

)

const

Definition at line 1192 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isIntraInterSessionColorsEnabled ( ) const

inline

Definition at line 104 of file GraphViewer.h.

bool rtabmap::GraphViewer::isLocalPathVisible

(

)

const

Definition at line 1188 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isLocalRadiusVisible

(

)

const

Definition at line 1176 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isOrientationENU

(

)

const

Definition at line 1200 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isOriginVisible

(

)

const

Definition at line 1168 of file GraphViewer.cpp.

bool rtabmap::GraphViewer::isReferentialVisible

(

)

const

Definition at line 1172 of file GraphViewer.cpp.

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

Definition at line 1122 of file GraphViewer.cpp.

void rtabmap::GraphViewer::mapShownRequested ( )

signal

void rtabmap::GraphViewer::restoreDefaults ( )

slot

Definition at line 1509 of file GraphViewer.cpp.

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

Definition at line 1080 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setCurrentGoalColor

(

const QColor &

color

)

Definition at line 1264 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setCurrentGoalID	(	int	id,
		const Transform &	pose = Transform()
	)

Definition at line 937 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalLoopClosureColor

(

const QColor &

color

)

Definition at line 1279 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalPath

(

const std::vector< std::pair< int, Transform > > &

globalPath

)

Definition at line 911 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalPathColor

(

const QColor &

color

)

Definition at line 1362 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGlobalPathVisible

(

bool

visible

)

Definition at line 1470 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGPSColor

(

const QColor &

color

)

Definition at line 1378 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGPSGraphVisible

(

bool

visible

)

Definition at line 1482 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGraphVisible

(

bool

visible

)

Definition at line 1466 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGridMapVisible

(

bool

visible

)

Definition at line 1442 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGTColor

(

const QColor &

color

)

Definition at line 1366 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setGtGraphVisible

(

bool

visible

)

Definition at line 1478 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setInterSessionLoopColor

(

const QColor &

color

)

Definition at line 1408 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setIntraInterSessionColorsEnabled

(

bool

enabled

)

Definition at line 1427 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setIntraSessionLoopColor

(

const QColor &

color

)

Definition at line 1390 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLandmarkColor

(

const QColor &

color

)

Definition at line 1343 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLinkWidth

(

float

width

)

Definition at line 1241 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalLoopClosureColor

(

const QColor &

color

)

Definition at line 1294 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalPathColor

(

const QColor &

color

)

Definition at line 1358 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalPathVisible

(

bool

visible

)

Definition at line 1474 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalRadius

(

float

radius

)

Definition at line 961 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLocalRadiusVisible

(

bool

visible

)

Definition at line 1454 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setLoopClosureOutlierThr

(

float

value

)

Definition at line 1458 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setMaxLinkLength

(

float

value

)

Definition at line 1462 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNeighborColor

(

const QColor &

color

)

Definition at line 1268 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNeighborMergedColor

(

const QColor &

color

)

Definition at line 1332 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNodeColor

(

const QColor &

color

)

Definition at line 1256 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNodeRadius

(

float

radius

)

Definition at line 1225 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setNodeVisible

(

bool

visible

)

Definition at line 1209 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setOrientationENU

(

bool

enabled

)

Definition at line 1486 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setOriginVisible

(

bool

visible

)

Definition at line 1446 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setReferentialVisible

(

bool

visible

)

Definition at line 1450 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setRejectedLoopClosureColor

(

const QColor &

color

)

Definition at line 1354 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setUserLoopClosureColor

(

const QColor &

color

)

Definition at line 1310 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setVirtualLoopClosureColor

(

const QColor &

color

)

Definition at line 1321 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setWorkingDirectory

(

const QString &

path

)

Definition at line 1205 of file GraphViewer.cpp.

void rtabmap::GraphViewer::setWorldMapRotation

(

const float &

theta

)

Definition at line 355 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateGPSGraph	(	const std::map< int, Transform > &	gpsMapPoses,
		const std::map< int, GPS > &	gpsValues
	)

Definition at line 713 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateGraph	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints,
		const std::map< int, int > &	mapIds,
		const std::map< int, int > &	weights = std::map<int, int>()
	)

Definition at line 361 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateGTGraph

(

const std::map< int, Transform > &

poses

)

Definition at line 586 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateLocalPath

(

const std::vector< int > &

localPath

)

Definition at line 966 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateMap	(	const cv::Mat &	map8U,
		float	resolution,
		float	xMin,
		float	yMin
	)

Definition at line 859 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updatePosterior	(	const std::map< int, float > &	posterior,
		float	fixedMax = 0.0f,
		int	zValueOffset = 0
	)

Definition at line 879 of file GraphViewer.cpp.

void rtabmap::GraphViewer::updateReferentialPosition

(

const Transform &

t

)

Definition at line 843 of file GraphViewer.cpp.

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

protectedvirtual

Definition at line 1528 of file GraphViewer.cpp.

Member Data Documentation

QColor rtabmap::GraphViewer::_currentGoalColor

private

Definition at line 167 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_globalPathColor

private

Definition at line 177 of file GraphViewer.h.

QMultiMap<int, LinkItem*> rtabmap::GraphViewer::_globalPathLinkItems

private

Definition at line 198 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_globalPathRoot

private

Definition at line 187 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_gpsGraphRoot

private

Definition at line 190 of file GraphViewer.h.

QMultiMap<int, LinkItem*> rtabmap::GraphViewer::_gpsLinkItems

private

Definition at line 196 of file GraphViewer.h.

QMap<int, NodeItem*> rtabmap::GraphViewer::_gpsNodeItems

private

Definition at line 194 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_gpsPathColor

private

Definition at line 179 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_graphRoot

private

Definition at line 186 of file GraphViewer.h.

float rtabmap::GraphViewer::_gridCellSize

private

Definition at line 205 of file GraphViewer.h.

QGraphicsPixmapItem* rtabmap::GraphViewer::_gridMap

private

Definition at line 202 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_gtGraphRoot

private

Definition at line 189 of file GraphViewer.h.

QMultiMap<int, LinkItem*> rtabmap::GraphViewer::_gtLinkItems

private

Definition at line 195 of file GraphViewer.h.

QMap<int, NodeItem*> rtabmap::GraphViewer::_gtNodeItems

private

Definition at line 193 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_gtPathColor

private

Definition at line 178 of file GraphViewer.h.

bool rtabmap::GraphViewer::_intraInterSessionColors

private

Definition at line 182 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_landmarkColor

private

Definition at line 174 of file GraphViewer.h.

QMultiMap<int, LinkItem*> rtabmap::GraphViewer::_linkItems

private

Definition at line 192 of file GraphViewer.h.

float rtabmap::GraphViewer::_linkWidth

private

Definition at line 201 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_localPathColor

private

Definition at line 176 of file GraphViewer.h.

QMultiMap<int, LinkItem*> rtabmap::GraphViewer::_localPathLinkItems

private

Definition at line 197 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_localPathRoot

private

Definition at line 188 of file GraphViewer.h.

QGraphicsEllipseItem* rtabmap::GraphViewer::_localRadius

private

Definition at line 206 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopClosureColor

private

Definition at line 169 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopClosureLocalColor

private

Definition at line 170 of file GraphViewer.h.

float rtabmap::GraphViewer::_loopClosureOutlierThr

private

Definition at line 207 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopClosureRejectedColor

private

Definition at line 175 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopClosureUserColor

private

Definition at line 171 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopClosureVirtualColor

private

Definition at line 172 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopInterSessionColor

private

Definition at line 181 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_loopIntraSessionColor

private

Definition at line 180 of file GraphViewer.h.

float rtabmap::GraphViewer::_maxLinkLength

private

Definition at line 208 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_neighborColor

private

Definition at line 168 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_neighborMergedColor

private

Definition at line 173 of file GraphViewer.h.

QColor rtabmap::GraphViewer::_nodeColor

private

Definition at line 166 of file GraphViewer.h.

QMap<int, NodeItem*> rtabmap::GraphViewer::_nodeItems

private

Definition at line 191 of file GraphViewer.h.

float rtabmap::GraphViewer::_nodeRadius

private

Definition at line 200 of file GraphViewer.h.

bool rtabmap::GraphViewer::_nodeVisible

private

Definition at line 199 of file GraphViewer.h.

bool rtabmap::GraphViewer::_orientationENU

private

Definition at line 209 of file GraphViewer.h.

QGraphicsItemGroup* rtabmap::GraphViewer::_originReferential

private

Definition at line 204 of file GraphViewer.h.

QGraphicsItemGroup* rtabmap::GraphViewer::_referential

private

Definition at line 203 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_root

private

Definition at line 185 of file GraphViewer.h.

QString rtabmap::GraphViewer::_workingDirectory

private

Definition at line 165 of file GraphViewer.h.

QGraphicsItem* rtabmap::GraphViewer::_world

private

Definition at line 184 of file GraphViewer.h.

float rtabmap::GraphViewer::_worldMapRotation

private

Definition at line 183 of file GraphViewer.h.

---

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

• GraphViewer.h
• GraphViewer.cpp