Public Types | Public Slots | Signals | Public Member Functions | Protected Slots | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::MainWindow Class Reference

#include <MainWindow.h>

Inheritance diagram for rtabmap::MainWindow:
Inheritance graph
[legend]

Public Types

enum  State {
  kIdle, kInitializing, kInitialized, kApplicationClosing,
  kClosing, kStartingDetection, kDetecting, kPaused,
  kMonitoring, kMonitoringPaused
}
 

Public Slots

void openDatabase (const QString &path, const rtabmap::ParametersMap &overridedParameters=rtabmap::ParametersMap())
 
virtual void processStats (const rtabmap::Statistics &stat)
 
void updateCacheFromDatabase (const QString &path)
 
void updateParameters (const rtabmap::ParametersMap &parameters)
 

Signals

void cameraInfoProcessed ()
 
void cameraInfoReceived (const rtabmap::CameraInfo &)
 
void detectionRateChanged (double)
 
void imgRateChanged (double)
 
void loopClosureThrChanged (qreal)
 
void mappingModeChanged (bool)
 
void noMoreImagesReceived ()
 
void odometryProcessed ()
 
void odometryReceived (const rtabmap::OdometryEvent &, bool)
 
void rtabmapEvent3DMapProcessed ()
 
void rtabmapEvent3DMapReceived (const rtabmap::RtabmapEvent3DMap &event)
 
void rtabmapEventInitReceived (int status, const QString &info)
 
void rtabmapGlobalPathEventReceived (const rtabmap::RtabmapGlobalPathEvent &event)
 
void rtabmapGoalStatusEventReceived (int status)
 
void rtabmapLabelErrorReceived (int id, const QString &label)
 
void stateChanged (MainWindow::State)
 
void statsProcessed ()
 
void statsReceived (const rtabmap::Statistics &)
 
void thresholdsChanged (int, int)
 
void timeLimitChanged (float)
 
void twistReceived (float x, float y, float z, float roll, float pitch, float yaw, int row, int col)
 

Public Member Functions

QString getWorkingDirectory () const
 
bool isDatabaseUpdated () const
 
bool isProcessingOdometry () const
 
bool isProcessingStatistics () const
 
bool isSavedMaximized () const
 
 MainWindow (PreferencesDialog *prefDialog=0, QWidget *parent=0, bool showSplashScreen=true)
 
void setMonitoringState (bool pauseChecked=false)
 
virtual ~MainWindow ()
 
- Public Member Functions inherited from UEventsHandler
void registerToEventsManager ()
 
void unregisterFromEventsManager ()
 
- Public Member Functions inherited from UEventsSender
 UEventsSender ()
 
virtual ~UEventsSender ()
 

Protected Slots

void anchorCloudsToGroundTruth ()
 
void applyPrefSettings (PreferencesDialog::PANEL_FLAGS flags)
 
void applyPrefSettings (const rtabmap::ParametersMap &parameters)
 
void beep ()
 
void cancelGoal ()
 
void cancelProgress ()
 
void changeDetectionRateSetting ()
 
void changeImgRateSetting ()
 
void changeMappingMode ()
 
virtual void changeState (MainWindow::State state)
 
void changeTimeLimitSetting ()
 
virtual void clearTheCache ()
 
virtual bool closeDatabase ()
 
void configGUIModified ()
 
void dataRecorder ()
 
void dataRecorderDestroyed ()
 
virtual void deleteMemory ()
 
void depthCalibration ()
 
virtual void downloadAllClouds ()
 
virtual void downloadPoseGraph ()
 
void dumpTheMemory ()
 
void dumpThePrediction ()
 
void editDatabase ()
 
void exportBundlerFormat ()
 
void exportClouds ()
 
void exportGridMap ()
 
void exportImages ()
 
void exportOctomap ()
 
void exportPosesG2O ()
 
void exportPosesKITTI ()
 
void exportPosesRaw ()
 
void exportPosesRGBDSLAM ()
 
void exportPosesRGBDSLAMMotionCapture ()
 
void exportPosesTORO ()
 
void generateGraphDOT ()
 
void label ()
 
virtual void newDatabase ()
 
void notifyNoMoreImages ()
 
virtual void openDatabase ()
 
virtual void openHelp ()
 
virtual void openPreferences ()
 
virtual void openPreferencesSource ()
 
void openWorkingDirectory ()
 
virtual void pauseDetection ()
 
void postGoal (const QString &goal)
 
void postProcessing ()
 
void printLoopClosureIds ()
 
void processCameraInfo (const rtabmap::CameraInfo &info)
 
void processOdometry (const rtabmap::OdometryEvent &odom, bool dataIgnored)
 
void processRtabmapEvent3DMap (const rtabmap::RtabmapEvent3DMap &event)
 
void processRtabmapEventInit (int status, const QString &info)
 
void processRtabmapGlobalPathEvent (const rtabmap::RtabmapGlobalPathEvent &event)
 
void processRtabmapGoalStatusEvent (int status)
 
void processRtabmapLabelErrorEvent (int id, const QString &label)
 
virtual void resetOdometry ()
 
virtual void saveConfigGUI ()
 
void selectFreenect ()
 
void selectFreenect2 ()
 
void selectK4A ()
 
void selectK4W2 ()
 
void selectMyntEyeS ()
 
void selectOpenni ()
 
void selectOpenni2 ()
 
void selectOpenniCv ()
 
void selectOpenniCvAsus ()
 
void selectRealSense ()
 
void selectRealSense2 ()
 
void selectRealSense2Stereo ()
 
void selectScreenCaptureFormat (bool checked)
 
void selectStereoDC1394 ()
 
void selectStereoFlyCapture2 ()
 
void selectStereoTara ()
 
void selectStereoUsb ()
 
void selectStereoZed ()
 
void selectStream ()
 
void sendGoal ()
 
void sendWaypoints ()
 
void setAspectRatio (int w, int h)
 
void setAspectRatio1080p ()
 
void setAspectRatio16_10 ()
 
void setAspectRatio16_9 ()
 
void setAspectRatio240p ()
 
void setAspectRatio360p ()
 
void setAspectRatio480p ()
 
void setAspectRatio4_3 ()
 
void setAspectRatio720p ()
 
void setAspectRatioCustom ()
 
virtual void setDefaultViews ()
 
virtual void startDetection ()
 
virtual void stopDetection ()
 
void takeScreenshot ()
 
virtual void triggerNewMap ()
 
void updateCacheFromDatabase ()
 
void updateEditMenu ()
 
void updateElapsedTime ()
 
void updateGraphView ()
 
void updateNodeVisibility (int, bool)
 
void viewClouds ()
 

Protected Member Functions

const std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > > & cachedClouds () const
 
const QMap< int, Signature > & cachedSignatures () const
 
virtual void closeEvent (QCloseEvent *event)
 
rtabmap::CloudViewer * cloudViewer () const
 
virtual Camera * createCamera ()
 
const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > & createdFeatures () const
 
const std::map< int, LaserScan > & createdScans () const
 
const std::map< int, Transform > & currentGTPosesMap () const
 
const std::map< int, std::string > & currentLabels () const
 
const std::multimap< int, Link > & currentLinksMap () const
 
const std::map< int, int > & currentMapIds () const
 
const std::map< int, Transform > & currentPosesMap () const
 
virtual bool eventFilter (QObject *obj, QEvent *event)
 
virtual ParametersMap getCustomParameters ()
 
virtual bool handleEvent (UEvent *anEvent)
 
virtual void keyPressEvent (QKeyEvent *event)
 
rtabmap::LoopClosureViewer * loopClosureViewer () const
 
virtual void moveEvent (QMoveEvent *anEvent)
 
const QString & newDatabasePathOutput () const
 
const rtabmap::OccupancyGrid * occupancyGrid () const
 
const rtabmap::OctoMap * octomap () const
 
rtabmap::ProgressDialog * progressDialog ()
 
virtual void resizeEvent (QResizeEvent *anEvent)
 
void setCloudViewer (rtabmap::CloudViewer *cloudViewer)
 
void setLoopClosureViewer (rtabmap::LoopClosureViewer *loopClosureViewer)
 
void setNewDatabasePathOutput (const QString &newDatabasePathOutput)
 
virtual void showEvent (QShowEvent *anEvent)
 
const State & state () const
 
Ui_mainWindow * ui ()
 
- 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

Transform alignPosesToGroundTruth (const std::map< int, Transform > &poses, const std::map< int, Transform > &groundTruth)
 
void applyPrefSettings (const rtabmap::ParametersMap &parameters, bool postParamEvent)
 
QString captureScreen (bool cacheInRAM=false, bool png=true)
 
std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > createAndAddCloudToMap (int nodeId, const Transform &pose, int mapId)
 
void createAndAddFeaturesToMap (int nodeId, const Transform &pose, int mapId)
 
void createAndAddScanToMap (int nodeId, const Transform &pose, int mapId)
 
void drawKeypoints (const std::multimap< int, cv::KeyPoint > &refWords, const std::multimap< int, cv::KeyPoint > &loopWords)
 
void drawLandmarks (cv::Mat &image, const Signature &signature)
 
void exportPoses (int format)
 
void loadFigures ()
 
void saveFigures ()
 
void setupMainLayout (bool vertical)
 
void update3DMapVisibility (bool cloudsShown, bool scansShown)
 
void updateMapCloud (const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, const std::map< int, int > &mapIds, const std::map< int, std::string > &labels, const std::map< int, Transform > &groundTruths, bool verboseProgress=false, std::map< std::string, float > *stats=0)
 
void updateSelectSourceMenu ()
 

Private Attributes

AboutDialog * _aboutDialog
 
QMap< QString, QByteArray > _autoScreenCaptureCachedImages
 
bool _autoScreenCaptureOdomSync
 
bool _autoScreenCapturePNG
 
bool _autoScreenCaptureRAM
 
std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > > _cachedClouds
 
std::set< int > _cachedEmptyClouds
 
std::map< int, float > _cachedLocalizationsCount
 
long _cachedMemoryUsage
 
QMap< int, Signature > _cachedSignatures
 
std::map< int, float > _cachedWordsCount
 
rtabmap::CameraThread * _camera
 
CloudViewer * _cloudViewer
 
long _createdCloudsMemoryUsage
 
std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > _createdFeatures
 
std::map< int, LaserScan > _createdScans
 
std::map< int, Transform > _currentGTPosesMap
 
std::map< int, std::string > _currentLabels
 
std::multimap< int, Link > _currentLinksMap
 
std::map< int, int > _currentMapIds
 
std::map< int, Transform > _currentPosesMap
 
bool _databaseUpdated
 
DataRecorder * _dataRecorder
 
QString _defaultOpenDatabasePath
 
DepthCalibrationDialog * _depthCalibrationDialog
 
QTime * _elapsedTime
 
ExportBundlerDialog * _exportBundlerDialog
 
ExportCloudsDialog * _exportCloudsDialog
 
QMap< int, QString > _exportPosesFileName
 
int _exportPosesFrame
 
bool _firstCall
 
double _firstStamp
 
QString _graphSavingFileName
 
rtabmap::IMUThread * _imuThread
 
int _lastId
 
QSet< int > _lastIds
 
Transform _lastOdomPose
 
PdfPlotCurve * _likelihoodCurve
 
QTime * _logEventTime
 
QVector< int > _loopClosureIds
 
LoopClosureViewer * _loopClosureViewer
 
QString _newDatabasePath
 
QString _newDatabasePathOutput
 
rtabmap::OccupancyGrid * _occupancyGrid
 
rtabmap::OctoMap * _octomap
 
Transform _odometryCorrection
 
bool _odometryReceived
 
bool _odomImageDepthShow
 
bool _odomImageShow
 
rtabmap::OdometryThread * _odomThread
 
QTimer * _oneSecondTimer
 
QString _openedDatabasePath
 
PdfPlotCurve * _posteriorCurve
 
PostProcessingDialog * _postProcessingDialog
 
PreferencesDialog * _preferencesDialog
 
std::pair< int, std::pair< std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr >, pcl::IndicesPtr > > _previousCloud
 
bool _processingDownloadedMap
 
bool _processingOdometry
 
bool _processingStatistics
 
bool _progressCanceled
 
ProgressDialog * _progressDialog
 
PdfPlotCurve * _rawLikelihoodCurve
 
bool _recovering
 
std::vector< CameraModel > _rectCameraModels
 
QVector< int > _refIds
 
bool _savedMaximized
 
State _state
 
Ui_mainWindow * _ui
 
QStringList _waypoints
 
int _waypointsIndex
 

Detailed Description

Definition at line 77 of file MainWindow.h.

Member Enumeration Documentation

enum rtabmap::MainWindow::State
Enumerator
kIdle 
kInitializing 
kInitialized 
kApplicationClosing 
kClosing 
kStartingDetection 
kDetecting 
kPaused 
kMonitoring 
kMonitoringPaused 

Definition at line 82 of file MainWindow.h.

Constructor & Destructor Documentation

rtabmap::MainWindow::MainWindow ( PreferencesDialog *  prefDialog = 0,
QWidget *  parent = 0,
bool  showSplashScreen = true 
)
Parameters
prefDialogIf NULL, a default dialog is created. This dialog is automatically destroyed with the MainWindow.

Definition at line 137 of file MainWindow.cpp.

rtabmap::MainWindow::~MainWindow ( )
virtual

Definition at line 675 of file MainWindow.cpp.

Member Function Documentation

Transform rtabmap::MainWindow::alignPosesToGroundTruth ( const std::map< int, Transform > &  poses,
const std::map< int, Transform > &  groundTruth 
)
private

Definition at line 3886 of file MainWindow.cpp.

void rtabmap::MainWindow::anchorCloudsToGroundTruth ( )
protectedslot

Definition at line 6739 of file MainWindow.cpp.

void rtabmap::MainWindow::applyPrefSettings ( PreferencesDialog::PANEL_FLAGS  flags)
protectedslot

Definition at line 4340 of file MainWindow.cpp.

void rtabmap::MainWindow::applyPrefSettings ( const rtabmap::ParametersMap &  parameters)
protectedslot

Definition at line 4405 of file MainWindow.cpp.

void rtabmap::MainWindow::applyPrefSettings ( const rtabmap::ParametersMap &  parameters,
bool  postParamEvent 
)
private

Definition at line 4410 of file MainWindow.cpp.

void rtabmap::MainWindow::beep ( )
protectedslot

Definition at line 4807 of file MainWindow.cpp.

const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> >& rtabmap::MainWindow::cachedClouds ( ) const
inlineprotected

Definition at line 286 of file MainWindow.h.

const QMap<int, Signature>& rtabmap::MainWindow::cachedSignatures ( ) const
inlineprotected

Definition at line 280 of file MainWindow.h.

void rtabmap::MainWindow::cameraInfoProcessed ( )
signal
void rtabmap::MainWindow::cameraInfoReceived ( const rtabmap::CameraInfo &  )
signal
void rtabmap::MainWindow::cancelGoal ( )
protectedslot

Definition at line 6586 of file MainWindow.cpp.

void rtabmap::MainWindow::cancelProgress ( )
protectedslot

Definition at line 4812 of file MainWindow.cpp.

QString rtabmap::MainWindow::captureScreen ( bool  cacheInRAM = false,
bool  png = true 
)
private

Definition at line 4766 of file MainWindow.cpp.

void rtabmap::MainWindow::changeDetectionRateSetting ( )
protectedslot

Definition at line 4751 of file MainWindow.cpp.

void rtabmap::MainWindow::changeImgRateSetting ( )
protectedslot

Definition at line 4746 of file MainWindow.cpp.

void rtabmap::MainWindow::changeMappingMode ( )
protectedslot

Definition at line 4761 of file MainWindow.cpp.

void rtabmap::MainWindow::changeState ( MainWindow::State  state)
protectedvirtualslot

Definition at line 7581 of file MainWindow.cpp.

void rtabmap::MainWindow::changeTimeLimitSetting ( )
protectedslot

Definition at line 4756 of file MainWindow.cpp.

void rtabmap::MainWindow::clearTheCache ( )
protectedvirtualslot

Definition at line 6749 of file MainWindow.cpp.

bool rtabmap::MainWindow::closeDatabase ( )
protectedvirtualslot

Definition at line 5066 of file MainWindow.cpp.

void rtabmap::MainWindow::closeEvent ( QCloseEvent *  event)
protectedvirtual

Definition at line 724 of file MainWindow.cpp.

rtabmap::CloudViewer* rtabmap::MainWindow::cloudViewer ( ) const
inlineprotected

Definition at line 294 of file MainWindow.h.

void rtabmap::MainWindow::configGUIModified ( )
protectedslot

Definition at line 4818 of file MainWindow.cpp.

std::pair< pcl::PointCloud< pcl::PointXYZRGB >::Ptr, pcl::IndicesPtr > rtabmap::MainWindow::createAndAddCloudToMap ( int  nodeId,
const Transform &  pose,
int  mapId 
)
private

Definition at line 3084 of file MainWindow.cpp.

void rtabmap::MainWindow::createAndAddFeaturesToMap ( int  nodeId,
const Transform &  pose,
int  mapId 
)
private

Definition at line 3770 of file MainWindow.cpp.

void rtabmap::MainWindow::createAndAddScanToMap ( int  nodeId,
const Transform &  pose,
int  mapId 
)
private

Definition at line 3459 of file MainWindow.cpp.

Camera * rtabmap::MainWindow::createCamera ( )
protectedvirtual

Definition at line 5155 of file MainWindow.cpp.

const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>& rtabmap::MainWindow::createdFeatures ( ) const
inlineprotected

Definition at line 288 of file MainWindow.h.

const std::map<int, LaserScan>& rtabmap::MainWindow::createdScans ( ) const
inlineprotected

Definition at line 287 of file MainWindow.h.

const std::map<int, Transform>& rtabmap::MainWindow::currentGTPosesMap ( ) const
inlineprotected

Definition at line 282 of file MainWindow.h.

const std::map<int, std::string>& rtabmap::MainWindow::currentLabels ( ) const
inlineprotected

Definition at line 285 of file MainWindow.h.

const std::multimap<int, Link>& rtabmap::MainWindow::currentLinksMap ( ) const
inlineprotected

Definition at line 283 of file MainWindow.h.

const std::map<int, int>& rtabmap::MainWindow::currentMapIds ( ) const
inlineprotected

Definition at line 284 of file MainWindow.h.

const std::map<int, Transform>& rtabmap::MainWindow::currentPosesMap ( ) const
inlineprotected

Definition at line 281 of file MainWindow.h.

void rtabmap::MainWindow::dataRecorder ( )
protectedslot

Definition at line 7519 of file MainWindow.cpp.

void rtabmap::MainWindow::dataRecorderDestroyed ( )
protectedslot

Definition at line 7564 of file MainWindow.cpp.

void rtabmap::MainWindow::deleteMemory ( )
protectedvirtualslot

Definition at line 6356 of file MainWindow.cpp.

void rtabmap::MainWindow::depthCalibration ( )
protectedslot

Definition at line 6340 of file MainWindow.cpp.

void rtabmap::MainWindow::detectionRateChanged ( double  )
signal
void rtabmap::MainWindow::downloadAllClouds ( )
protectedvirtualslot

Definition at line 6650 of file MainWindow.cpp.

void rtabmap::MainWindow::downloadPoseGraph ( )
protectedvirtualslot

Definition at line 6694 of file MainWindow.cpp.

void rtabmap::MainWindow::drawKeypoints ( const std::multimap< int, cv::KeyPoint > &  refWords,
const std::multimap< int, cv::KeyPoint > &  loopWords 
)
private

Definition at line 4457 of file MainWindow.cpp.

void rtabmap::MainWindow::drawLandmarks ( cv::Mat &  image,
const Signature &  signature 
)
private

Definition at line 4613 of file MainWindow.cpp.

void rtabmap::MainWindow::dumpTheMemory ( )
protectedslot

Definition at line 6522 of file MainWindow.cpp.

void rtabmap::MainWindow::dumpThePrediction ( )
protectedslot

Definition at line 6527 of file MainWindow.cpp.

void rtabmap::MainWindow::editDatabase ( )
protectedslot

Definition at line 5112 of file MainWindow.cpp.

bool rtabmap::MainWindow::eventFilter ( QObject *  obj,
QEvent *  event 
)
protectedvirtual

Definition at line 4694 of file MainWindow.cpp.

void rtabmap::MainWindow::exportBundlerFormat ( )
protectedslot

Definition at line 7441 of file MainWindow.cpp.

void rtabmap::MainWindow::exportClouds ( )
protectedslot

Definition at line 7161 of file MainWindow.cpp.

void rtabmap::MainWindow::exportGridMap ( )
protectedslot

Definition at line 7091 of file MainWindow.cpp.

void rtabmap::MainWindow::exportImages ( )
protectedslot

Definition at line 7274 of file MainWindow.cpp.

void rtabmap::MainWindow::exportOctomap ( )
protectedslot

Definition at line 7236 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPoses ( int  format)
private

Definition at line 5616 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesG2O ( )
protectedslot

Definition at line 5611 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesKITTI ( )
protectedslot

Definition at line 5603 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesRaw ( )
protectedslot

Definition at line 5591 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesRGBDSLAM ( )
protectedslot

Definition at line 5599 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesRGBDSLAMMotionCapture ( )
protectedslot

Definition at line 5595 of file MainWindow.cpp.

void rtabmap::MainWindow::exportPosesTORO ( )
protectedslot

Definition at line 5607 of file MainWindow.cpp.

void rtabmap::MainWindow::generateGraphDOT ( )
protectedslot

Definition at line 5559 of file MainWindow.cpp.

virtual ParametersMap rtabmap::MainWindow::getCustomParameters ( )
inlineprotectedvirtual

Definition at line 303 of file MainWindow.h.

QString rtabmap::MainWindow::getWorkingDirectory ( ) const

Definition at line 6389 of file MainWindow.cpp.

bool rtabmap::MainWindow::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 818 of file MainWindow.cpp.

void rtabmap::MainWindow::imgRateChanged ( double  )
signal
bool rtabmap::MainWindow::isDatabaseUpdated ( ) const
inline

Definition at line 110 of file MainWindow.h.

bool rtabmap::MainWindow::isProcessingOdometry ( ) const
inline

Definition at line 108 of file MainWindow.h.

bool rtabmap::MainWindow::isProcessingStatistics ( ) const
inline

Definition at line 107 of file MainWindow.h.

bool rtabmap::MainWindow::isSavedMaximized ( ) const
inline

Definition at line 105 of file MainWindow.h.

void rtabmap::MainWindow::keyPressEvent ( QKeyEvent *  event)
protectedvirtual

Definition at line 4685 of file MainWindow.cpp.

void rtabmap::MainWindow::label ( )
protectedslot

Definition at line 6594 of file MainWindow.cpp.

void rtabmap::MainWindow::loadFigures ( )
private

Definition at line 6855 of file MainWindow.cpp.

void rtabmap::MainWindow::loopClosureThrChanged ( qreal  )
signal
rtabmap::LoopClosureViewer* rtabmap::MainWindow::loopClosureViewer ( ) const
inlineprotected

Definition at line 295 of file MainWindow.h.

void rtabmap::MainWindow::mappingModeChanged ( bool  )
signal
void rtabmap::MainWindow::moveEvent ( QMoveEvent *  anEvent)
protectedvirtual

Definition at line 4664 of file MainWindow.cpp.

void rtabmap::MainWindow::newDatabase ( )
protectedvirtualslot

Definition at line 4866 of file MainWindow.cpp.

const QString& rtabmap::MainWindow::newDatabasePathOutput ( ) const
inlineprotected

Definition at line 301 of file MainWindow.h.

void rtabmap::MainWindow::noMoreImagesReceived ( )
signal
void rtabmap::MainWindow::notifyNoMoreImages ( )
protectedslot

Definition at line 5533 of file MainWindow.cpp.

const rtabmap::OccupancyGrid* rtabmap::MainWindow::occupancyGrid ( ) const
inlineprotected

Definition at line 290 of file MainWindow.h.

const rtabmap::OctoMap* rtabmap::MainWindow::octomap ( ) const
inlineprotected

Definition at line 291 of file MainWindow.h.

void rtabmap::MainWindow::odometryProcessed ( )
signal
void rtabmap::MainWindow::odometryReceived ( const rtabmap::OdometryEvent &  ,
bool   
)
signal
void rtabmap::MainWindow::openDatabase ( const QString &  path,
const rtabmap::ParametersMap &  overridedParameters = rtabmap::ParametersMap() 
)
slot

Definition at line 4963 of file MainWindow.cpp.

void rtabmap::MainWindow::openDatabase ( )
protectedvirtualslot

Definition at line 4954 of file MainWindow.cpp.

void rtabmap::MainWindow::openHelp ( )
protectedvirtualslot

Definition at line 6815 of file MainWindow.cpp.

void rtabmap::MainWindow::openPreferences ( )
protectedvirtualslot

Definition at line 6888 of file MainWindow.cpp.

void rtabmap::MainWindow::openPreferencesSource ( )
protectedvirtualslot

Definition at line 6894 of file MainWindow.cpp.

void rtabmap::MainWindow::openWorkingDirectory ( )
protectedslot

Definition at line 6394 of file MainWindow.cpp.

void rtabmap::MainWindow::pauseDetection ( )
protectedvirtualslot

Definition at line 5437 of file MainWindow.cpp.

void rtabmap::MainWindow::postGoal ( const QString &  goal)
protectedslot

Definition at line 6567 of file MainWindow.cpp.

void rtabmap::MainWindow::postProcessing ( )
protectedslot

Definition at line 5793 of file MainWindow.cpp.

void rtabmap::MainWindow::printLoopClosureIds ( )
protectedslot

Definition at line 5540 of file MainWindow.cpp.

void rtabmap::MainWindow::processCameraInfo ( const rtabmap::CameraInfo &  info)
protectedslot

Definition at line 959 of file MainWindow.cpp.

void rtabmap::MainWindow::processOdometry ( const rtabmap::OdometryEvent &  odom,
bool  dataIgnored 
)
protectedslot

Definition at line 978 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapEvent3DMap ( const rtabmap::RtabmapEvent3DMap &  event)
protectedslot

Definition at line 4141 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapEventInit ( int  status,
const QString &  info 
)
protectedslot

Definition at line 4015 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapGlobalPathEvent ( const rtabmap::RtabmapGlobalPathEvent &  event)
protectedslot

Definition at line 4258 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapGoalStatusEvent ( int  status)
protectedslot

Definition at line 4331 of file MainWindow.cpp.

void rtabmap::MainWindow::processRtabmapLabelErrorEvent ( int  id,
const QString &  label 
)
protectedslot

Definition at line 4316 of file MainWindow.cpp.

void rtabmap::MainWindow::processStats ( const rtabmap::Statistics &  stat)
virtualslot

Definition at line 1718 of file MainWindow.cpp.

rtabmap::ProgressDialog* rtabmap::MainWindow::progressDialog ( )
inlineprotected

Definition at line 293 of file MainWindow.h.

void rtabmap::MainWindow::resetOdometry ( )
protectedvirtualslot

Definition at line 7507 of file MainWindow.cpp.

void rtabmap::MainWindow::resizeEvent ( QResizeEvent *  anEvent)
protectedvirtual

Definition at line 4677 of file MainWindow.cpp.

void rtabmap::MainWindow::rtabmapEvent3DMapProcessed ( )
signal
void rtabmap::MainWindow::rtabmapEvent3DMapReceived ( const rtabmap::RtabmapEvent3DMap &  event)
signal
void rtabmap::MainWindow::rtabmapEventInitReceived ( int  status,
const QString &  info 
)
signal
void rtabmap::MainWindow::rtabmapGlobalPathEventReceived ( const rtabmap::RtabmapGlobalPathEvent &  event)
signal
void rtabmap::MainWindow::rtabmapGoalStatusEventReceived ( int  status)
signal
void rtabmap::MainWindow::rtabmapLabelErrorReceived ( int  id,
const QString &  label 
)
signal
void rtabmap::MainWindow::saveConfigGUI ( )
protectedvirtualslot

Definition at line 4846 of file MainWindow.cpp.

void rtabmap::MainWindow::saveFigures ( )
private

Definition at line 6836 of file MainWindow.cpp.

void rtabmap::MainWindow::selectFreenect ( )
protectedslot

Definition at line 6443 of file MainWindow.cpp.

void rtabmap::MainWindow::selectFreenect2 ( )
protectedslot

Definition at line 6463 of file MainWindow.cpp.

void rtabmap::MainWindow::selectK4A ( )
protectedslot

Definition at line 6473 of file MainWindow.cpp.

void rtabmap::MainWindow::selectK4W2 ( )
protectedslot

Definition at line 6468 of file MainWindow.cpp.

void rtabmap::MainWindow::selectMyntEyeS ( )
protectedslot

Definition at line 6517 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenni ( )
protectedslot

Definition at line 6438 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenni2 ( )
protectedslot

Definition at line 6458 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenniCv ( )
protectedslot

Definition at line 6448 of file MainWindow.cpp.

void rtabmap::MainWindow::selectOpenniCvAsus ( )
protectedslot

Definition at line 6453 of file MainWindow.cpp.

void rtabmap::MainWindow::selectRealSense ( )
protectedslot

Definition at line 6478 of file MainWindow.cpp.

void rtabmap::MainWindow::selectRealSense2 ( )
protectedslot

Definition at line 6483 of file MainWindow.cpp.

void rtabmap::MainWindow::selectRealSense2Stereo ( )
protectedslot

Definition at line 6488 of file MainWindow.cpp.

void rtabmap::MainWindow::selectScreenCaptureFormat ( bool  checked)
protectedslot

Definition at line 6923 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoDC1394 ( )
protectedslot

Definition at line 6493 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoFlyCapture2 ( )
protectedslot

Definition at line 6498 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoTara ( )
protectedslot

Definition at line 6507 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoUsb ( )
protectedslot

Definition at line 6512 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStereoZed ( )
protectedslot

Definition at line 6502 of file MainWindow.cpp.

void rtabmap::MainWindow::selectStream ( )
protectedslot

Definition at line 6433 of file MainWindow.cpp.

void rtabmap::MainWindow::sendGoal ( )
protectedslot

Definition at line 6532 of file MainWindow.cpp.

void rtabmap::MainWindow::sendWaypoints ( )
protectedslot

Definition at line 6546 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio ( int  w,
int  h 
)
protectedslot

Definition at line 7011 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio1080p ( )
protectedslot

Definition at line 7072 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio16_10 ( )
protectedslot

Definition at line 7042 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio16_9 ( )
protectedslot

Definition at line 7037 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio240p ( )
protectedslot

Definition at line 7052 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio360p ( )
protectedslot

Definition at line 7057 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio480p ( )
protectedslot

Definition at line 7062 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio4_3 ( )
protectedslot

Definition at line 7047 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatio720p ( )
protectedslot

Definition at line 7067 of file MainWindow.cpp.

void rtabmap::MainWindow::setAspectRatioCustom ( )
protectedslot

Definition at line 7077 of file MainWindow.cpp.

void rtabmap::MainWindow::setCloudViewer ( rtabmap::CloudViewer *  cloudViewer)
protected

Definition at line 700 of file MainWindow.cpp.

void rtabmap::MainWindow::setDefaultViews ( )
protectedvirtualslot

Definition at line 6901 of file MainWindow.cpp.

void rtabmap::MainWindow::setLoopClosureViewer ( rtabmap::LoopClosureViewer *  loopClosureViewer)
protected

Definition at line 714 of file MainWindow.cpp.

void rtabmap::MainWindow::setMonitoringState ( bool  pauseChecked = false)

Definition at line 7575 of file MainWindow.cpp.

void rtabmap::MainWindow::setNewDatabasePathOutput ( const QString &  newDatabasePathOutput)
inlineprotected

Definition at line 300 of file MainWindow.h.

void rtabmap::MainWindow::setupMainLayout ( bool  vertical)
private

Definition at line 688 of file MainWindow.cpp.

void rtabmap::MainWindow::showEvent ( QShowEvent *  anEvent)
protectedvirtual

Definition at line 4658 of file MainWindow.cpp.

void rtabmap::MainWindow::startDetection ( )
protectedvirtualslot

Definition at line 5160 of file MainWindow.cpp.

const State& rtabmap::MainWindow::state ( ) const
inlineprotected

Definition at line 278 of file MainWindow.h.

void rtabmap::MainWindow::stateChanged ( MainWindow::State  )
signal
void rtabmap::MainWindow::statsProcessed ( )
signal
void rtabmap::MainWindow::statsReceived ( const rtabmap::Statistics &  )
signal
void rtabmap::MainWindow::stopDetection ( )
protectedvirtualslot

Definition at line 5471 of file MainWindow.cpp.

void rtabmap::MainWindow::takeScreenshot ( )
protectedslot

Definition at line 7006 of file MainWindow.cpp.

void rtabmap::MainWindow::thresholdsChanged ( int  ,
int   
)
signal
void rtabmap::MainWindow::timeLimitChanged ( float  )
signal
void rtabmap::MainWindow::triggerNewMap ( )
protectedvirtualslot

Definition at line 7513 of file MainWindow.cpp.

void rtabmap::MainWindow::twistReceived ( float  x,
float  y,
float  z,
float  roll,
float  pitch,
float  yaw,
int  row,
int  col 
)
signal
Ui_mainWindow* rtabmap::MainWindow::ui ( )
inlineprotected

Definition at line 277 of file MainWindow.h.

void rtabmap::MainWindow::update3DMapVisibility ( bool  cloudsShown,
bool  scansShown 
)
private
void rtabmap::MainWindow::updateCacheFromDatabase ( const QString &  path)
slot

Definition at line 6615 of file MainWindow.cpp.

void rtabmap::MainWindow::updateCacheFromDatabase ( )
protectedslot

Definition at line 6605 of file MainWindow.cpp.

void rtabmap::MainWindow::updateEditMenu ( )
protectedslot

Definition at line 6417 of file MainWindow.cpp.

void rtabmap::MainWindow::updateElapsedTime ( )
protectedslot

Definition at line 6827 of file MainWindow.cpp.

void rtabmap::MainWindow::updateGraphView ( )
protectedslot

Definition at line 3998 of file MainWindow.cpp.

void rtabmap::MainWindow::updateMapCloud ( const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  constraints,
const std::map< int, int > &  mapIds,
const std::map< int, std::string > &  labels,
const std::map< int, Transform > &  groundTruths,
bool  verboseProgress = false,
std::map< std::string, float > *  stats = 0 
)
private

Definition at line 2322 of file MainWindow.cpp.

void rtabmap::MainWindow::updateNodeVisibility ( int  nodeId,
bool  visible 
)
protectedslot

Definition at line 3940 of file MainWindow.cpp.

void rtabmap::MainWindow::updateParameters ( const rtabmap::ParametersMap &  parameters)
slot

Definition at line 4823 of file MainWindow.cpp.

void rtabmap::MainWindow::updateSelectSourceMenu ( )
private

Definition at line 4707 of file MainWindow.cpp.

void rtabmap::MainWindow::viewClouds ( )
protectedslot

Definition at line 7198 of file MainWindow.cpp.

Member Data Documentation

AboutDialog* rtabmap::MainWindow::_aboutDialog
private

Definition at line 316 of file MainWindow.h.

QMap<QString, QByteArray> rtabmap::MainWindow::_autoScreenCaptureCachedImages
private

Definition at line 386 of file MainWindow.h.

bool rtabmap::MainWindow::_autoScreenCaptureOdomSync
private

Definition at line 383 of file MainWindow.h.

bool rtabmap::MainWindow::_autoScreenCapturePNG
private

Definition at line 385 of file MainWindow.h.

bool rtabmap::MainWindow::_autoScreenCaptureRAM
private

Definition at line 384 of file MainWindow.h.

std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > rtabmap::MainWindow::_cachedClouds
private

Definition at line 349 of file MainWindow.h.

std::set<int> rtabmap::MainWindow::_cachedEmptyClouds
private

Definition at line 351 of file MainWindow.h.

std::map<int, float> rtabmap::MainWindow::_cachedLocalizationsCount
private

Definition at line 354 of file MainWindow.h.

long rtabmap::MainWindow::_cachedMemoryUsage
private

Definition at line 343 of file MainWindow.h.

QMap<int, Signature> rtabmap::MainWindow::_cachedSignatures
private

Definition at line 342 of file MainWindow.h.

std::map<int, float> rtabmap::MainWindow::_cachedWordsCount
private

Definition at line 353 of file MainWindow.h.

rtabmap::CameraThread* rtabmap::MainWindow::_camera
private

Definition at line 310 of file MainWindow.h.

CloudViewer* rtabmap::MainWindow::_cloudViewer
private

Definition at line 377 of file MainWindow.h.

long rtabmap::MainWindow::_createdCloudsMemoryUsage
private

Definition at line 350 of file MainWindow.h.

std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> rtabmap::MainWindow::_createdFeatures
private

Definition at line 361 of file MainWindow.h.

std::map<int, LaserScan> rtabmap::MainWindow::_createdScans
private

Definition at line 356 of file MainWindow.h.

std::map<int, Transform> rtabmap::MainWindow::_currentGTPosesMap
private

Definition at line 345 of file MainWindow.h.

std::map<int, std::string> rtabmap::MainWindow::_currentLabels
private

Definition at line 348 of file MainWindow.h.

std::multimap<int, Link> rtabmap::MainWindow::_currentLinksMap
private

Definition at line 346 of file MainWindow.h.

std::map<int, int> rtabmap::MainWindow::_currentMapIds
private

Definition at line 347 of file MainWindow.h.

std::map<int, Transform> rtabmap::MainWindow::_currentPosesMap
private

Definition at line 344 of file MainWindow.h.

bool rtabmap::MainWindow::_databaseUpdated
private

Definition at line 334 of file MainWindow.h.

DataRecorder* rtabmap::MainWindow::_dataRecorder
private

Definition at line 321 of file MainWindow.h.

QString rtabmap::MainWindow::_defaultOpenDatabasePath
private

Definition at line 333 of file MainWindow.h.

DepthCalibrationDialog* rtabmap::MainWindow::_depthCalibrationDialog
private

Definition at line 320 of file MainWindow.h.

QTime* rtabmap::MainWindow::_elapsedTime
private

Definition at line 368 of file MainWindow.h.

ExportBundlerDialog* rtabmap::MainWindow::_exportBundlerDialog
private

Definition at line 318 of file MainWindow.h.

ExportCloudsDialog* rtabmap::MainWindow::_exportCloudsDialog
private

Definition at line 317 of file MainWindow.h.

QMap<int, QString> rtabmap::MainWindow::_exportPosesFileName
private

Definition at line 382 of file MainWindow.h.

int rtabmap::MainWindow::_exportPosesFrame
private

Definition at line 381 of file MainWindow.h.

bool rtabmap::MainWindow::_firstCall
private

Definition at line 391 of file MainWindow.h.

double rtabmap::MainWindow::_firstStamp
private

Definition at line 325 of file MainWindow.h.

QString rtabmap::MainWindow::_graphSavingFileName
private

Definition at line 380 of file MainWindow.h.

rtabmap::IMUThread* rtabmap::MainWindow::_imuThread
private

Definition at line 312 of file MainWindow.h.

int rtabmap::MainWindow::_lastId
private

Definition at line 324 of file MainWindow.h.

QSet<int> rtabmap::MainWindow::_lastIds
private

Definition at line 323 of file MainWindow.h.

Transform rtabmap::MainWindow::_lastOdomPose
private

Definition at line 364 of file MainWindow.h.

PdfPlotCurve* rtabmap::MainWindow::_likelihoodCurve
private

Definition at line 372 of file MainWindow.h.

QTime* rtabmap::MainWindow::_logEventTime
private

Definition at line 369 of file MainWindow.h.

QVector<int> rtabmap::MainWindow::_loopClosureIds
private

Definition at line 389 of file MainWindow.h.

LoopClosureViewer* rtabmap::MainWindow::_loopClosureViewer
private

Definition at line 378 of file MainWindow.h.

QString rtabmap::MainWindow::_newDatabasePath
private

Definition at line 330 of file MainWindow.h.

QString rtabmap::MainWindow::_newDatabasePathOutput
private

Definition at line 331 of file MainWindow.h.

rtabmap::OccupancyGrid* rtabmap::MainWindow::_occupancyGrid
private

Definition at line 358 of file MainWindow.h.

rtabmap::OctoMap* rtabmap::MainWindow::_octomap
private

Definition at line 359 of file MainWindow.h.

Transform rtabmap::MainWindow::_odometryCorrection
private

Definition at line 363 of file MainWindow.h.

bool rtabmap::MainWindow::_odometryReceived
private

Definition at line 329 of file MainWindow.h.

bool rtabmap::MainWindow::_odomImageDepthShow
private

Definition at line 336 of file MainWindow.h.

bool rtabmap::MainWindow::_odomImageShow
private

Definition at line 335 of file MainWindow.h.

rtabmap::OdometryThread* rtabmap::MainWindow::_odomThread
private

Definition at line 311 of file MainWindow.h.

QTimer* rtabmap::MainWindow::_oneSecondTimer
private

Definition at line 367 of file MainWindow.h.

QString rtabmap::MainWindow::_openedDatabasePath
private

Definition at line 332 of file MainWindow.h.

PdfPlotCurve* rtabmap::MainWindow::_posteriorCurve
private

Definition at line 371 of file MainWindow.h.

PostProcessingDialog* rtabmap::MainWindow::_postProcessingDialog
private

Definition at line 319 of file MainWindow.h.

PreferencesDialog* rtabmap::MainWindow::_preferencesDialog
private

Definition at line 315 of file MainWindow.h.

std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > rtabmap::MainWindow::_previousCloud
private

Definition at line 352 of file MainWindow.h.

bool rtabmap::MainWindow::_processingDownloadedMap
private

Definition at line 327 of file MainWindow.h.

bool rtabmap::MainWindow::_processingOdometry
private

Definition at line 365 of file MainWindow.h.

bool rtabmap::MainWindow::_processingStatistics
private

Definition at line 326 of file MainWindow.h.

bool rtabmap::MainWindow::_progressCanceled
private

Definition at line 392 of file MainWindow.h.

ProgressDialog* rtabmap::MainWindow::_progressDialog
private

Definition at line 375 of file MainWindow.h.

PdfPlotCurve* rtabmap::MainWindow::_rawLikelihoodCurve
private

Definition at line 373 of file MainWindow.h.

bool rtabmap::MainWindow::_recovering
private

Definition at line 328 of file MainWindow.h.

std::vector<CameraModel> rtabmap::MainWindow::_rectCameraModels
private

Definition at line 340 of file MainWindow.h.

QVector<int> rtabmap::MainWindow::_refIds
private

Definition at line 388 of file MainWindow.h.

bool rtabmap::MainWindow::_savedMaximized
private

Definition at line 337 of file MainWindow.h.

State rtabmap::MainWindow::_state
private

Definition at line 309 of file MainWindow.h.

Ui_mainWindow* rtabmap::MainWindow::_ui
private

Definition at line 307 of file MainWindow.h.

QStringList rtabmap::MainWindow::_waypoints
private

Definition at line 338 of file MainWindow.h.

int rtabmap::MainWindow::_waypointsIndex
private

Definition at line 339 of file MainWindow.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08