#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())

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 &transform, const Transform &localTransform, double scale, const QColor &color=QColor())

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)

const QColor &	getDefaultBackgroundColor () const

QColor	getFrustumColor () const

float	getFrustumScale () const

unsigned int	getGridCellCount () const

float	getGridCellSize () const

std::string	getIdByActor (vtkProp *actor) 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	isCameraFree () const

bool	isCameraLockZ () const

bool	isCameraOrtho () const

bool	isCameraTargetFollow () const

bool	isCameraTargetLocked () const

bool	isFrustumShown () const

bool	isGridShown () const

bool	isNormalsShown () const

bool	isTrajectoryShown () const

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

void	removeAllClouds ()

void	removeAllCoordinates ()

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	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	setEdgeVisibility (bool visible)

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	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 *	_aSetFlatShading

QAction *	_aSetFrustumColor

QAction *	_aSetFrustumScale

QAction *	_aSetGridCellCount

QAction *	_aSetGridCellSize

QAction *	_aSetLighting

QAction *	_aSetNormalsScale

QAction *	_aSetNormalsStep

QAction *	_aSetRenderingRate

QAction *	_aSetTrajectorySize

QAction *	_aShowFrustum

QAction *	_aShowGrid

QAction *	_aShowNormals

QAction *	_aShowTrajectory

bool	_buildLocator

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

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 82 of file CloudViewer.cpp.

rtabmap::CloudViewer::~CloudViewer ( )

virtual

Definition at line 186 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()`
	)

Definition at line 455 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 566 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 577 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 588 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 599 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 610 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 621 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 632 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 666 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 700 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 734 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 767 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addGrid ( )

private

Definition at line 2715 of file CloudViewer.cpp.

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

Definition at line 1203 of file CloudViewer.cpp.

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

Definition at line 805 of file CloudViewer.cpp.

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

Definition at line 1269 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 1463 of file CloudViewer.cpp.

void rtabmap::CloudViewer::addOrUpdateFrustum	(	const std::string &	id,
		const Transform &	transform,
		const Transform &	localTransform,
		double	scale,
		const QColor &	color = `QColor()`
	)

Definition at line 1677 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 1825 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 1341 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 1525 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 1536 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 1407 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 1886 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 1030 of file CloudViewer.cpp.

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

Definition at line 2802 of file CloudViewer.cpp.

void rtabmap::CloudViewer::clear ( )

virtualslot

Definition at line 194 of file CloudViewer.cpp.

void rtabmap::CloudViewer::clearTrajectory ( )

Definition at line 1962 of file CloudViewer.cpp.

void rtabmap::CloudViewer::configChanged ( )

signal

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

protectedvirtual

Definition at line 3033 of file CloudViewer.cpp.

void rtabmap::CloudViewer::createMenu ( )

private

Definition at line 214 of file CloudViewer.cpp.

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

inline

Definition at line 307 of file CloudViewer.h.

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

inline

Definition at line 201 of file CloudViewer.h.

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

inline

Definition at line 235 of file CloudViewer.h.

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

inline

Definition at line 268 of file CloudViewer.h.

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

inline

Definition at line 212 of file CloudViewer.h.

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

inline

Definition at line 255 of file CloudViewer.h.

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

inline

Definition at line 222 of file CloudViewer.h.

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

inline

Definition at line 286 of file CloudViewer.h.

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

Definition at line 2528 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 2313 of file CloudViewer.cpp.

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

Definition at line 2559 of file CloudViewer.cpp.

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

Definition at line 2142 of file CloudViewer.cpp.

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

Definition at line 2514 of file CloudViewer.cpp.

QColor rtabmap::CloudViewer::getFrustumColor ( ) const

Definition at line 1979 of file CloudViewer.cpp.

float rtabmap::CloudViewer::getFrustumScale ( ) const

Definition at line 1974 of file CloudViewer.cpp.

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

Definition at line 2675 of file CloudViewer.cpp.

float rtabmap::CloudViewer::getGridCellSize ( ) const

Definition at line 2679 of file CloudViewer.cpp.

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

Definition at line 2111 of file CloudViewer.cpp.

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

inline

Definition at line 356 of file CloudViewer.h.

float rtabmap::CloudViewer::getNormalsScale ( ) const

Definition at line 2775 of file CloudViewer.cpp.

int rtabmap::CloudViewer::getNormalsStep ( ) const

Definition at line 2771 of file CloudViewer.cpp.

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

Definition at line 2092 of file CloudViewer.cpp.

double rtabmap::CloudViewer::getRenderingRate ( ) const

Definition at line 2654 of file CloudViewer.cpp.

Transform rtabmap::CloudViewer::getTargetPose ( ) const

Definition at line 2102 of file CloudViewer.cpp.

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

Definition at line 1947 of file CloudViewer.cpp.

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

protectedvirtual

Definition at line 3043 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraFree ( ) const

Definition at line 2642 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraLockZ ( ) const

Definition at line 2646 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraOrtho ( ) const

Definition at line 2650 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraTargetFollow ( ) const

Definition at line 2638 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isCameraTargetLocked ( ) const

Definition at line 2634 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isFrustumShown ( ) const

Definition at line 1969 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isGridShown ( ) const

Definition at line 2671 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isNormalsShown ( ) const

Definition at line 2767 of file CloudViewer.cpp.

bool rtabmap::CloudViewer::isTrajectoryShown ( ) const

Definition at line 1942 of file CloudViewer.cpp.

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

protectedvirtual

Definition at line 2856 of file CloudViewer.cpp.

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

protectedvirtual

Definition at line 2842 of file CloudViewer.cpp.

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

Definition at line 376 of file CloudViewer.cpp.

QMenu* rtabmap::CloudViewer::menu ( )

inlineprotected

Definition at line 378 of file CloudViewer.h.

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

protectedvirtual

Definition at line 2968 of file CloudViewer.cpp.

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

protectedvirtual

Definition at line 2956 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllClouds ( )

Definition at line 2074 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllCoordinates ( )

Definition at line 1331 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllCubes ( )

Definition at line 1515 of file CloudViewer.cpp.

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

Definition at line 1812 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllGraphs ( )

Definition at line 1876 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllLines ( )

Definition at line 1397 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllQuads ( )

Definition at line 1657 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllSpheres ( )

Definition at line 1453 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeAllTexts ( )

Definition at line 1932 of file CloudViewer.cpp.

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

Definition at line 2082 of file CloudViewer.cpp.

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

Definition at line 1311 of file CloudViewer.cpp.

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

Definition at line 1500 of file CloudViewer.cpp.

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

Definition at line 1797 of file CloudViewer.cpp.

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

Definition at line 1860 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeGrid ( )

private

Definition at line 2745 of file CloudViewer.cpp.

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

Definition at line 1382 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeOccupancyGridMap ( )

Definition at line 1261 of file CloudViewer.cpp.

void rtabmap::CloudViewer::removeOctomap ( )

Definition at line 1013 of file CloudViewer.cpp.

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

Definition at line 1642 of file CloudViewer.cpp.

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

Definition at line 1438 of file CloudViewer.cpp.

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

Definition at line 1917 of file CloudViewer.cpp.

void rtabmap::CloudViewer::resetCamera ( )

Definition at line 2028 of file CloudViewer.cpp.

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

Definition at line 317 of file CloudViewer.cpp.

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

Definition at line 2220 of file CloudViewer.cpp.

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

slot

Definition at line 2533 of file CloudViewer.cpp.

void rtabmap::CloudViewer::setCameraFree ( )

Definition at line 2612 of file CloudViewer.cpp.

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

Definition at line 2618 of file CloudViewer.cpp.

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

Definition at line 2623 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 2338 of file CloudViewer.cpp.

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

Definition at line 2607 of file CloudViewer.cpp.

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

Definition at line 2602 of file CloudViewer.cpp.

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

slot

Definition at line 2574 of file CloudViewer.cpp.

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

slot

Definition at line 2582 of file CloudViewer.cpp.

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

slot

Definition at line 2592 of file CloudViewer.cpp.

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

slot

Definition at line 2539 of file CloudViewer.cpp.

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

Definition at line 2184 of file CloudViewer.cpp.

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

slot

Definition at line 2519 of file CloudViewer.cpp.

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

Definition at line 2284 of file CloudViewer.cpp.

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

Definition at line 2014 of file CloudViewer.cpp.

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

Definition at line 2009 of file CloudViewer.cpp.

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

Definition at line 1984 of file CloudViewer.cpp.

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

Definition at line 2683 of file CloudViewer.cpp.

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

Definition at line 2699 of file CloudViewer.cpp.

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

Definition at line 2659 of file CloudViewer.cpp.

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

Definition at line 2295 of file CloudViewer.cpp.

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

Definition at line 2262 of file CloudViewer.cpp.

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

Definition at line 2790 of file CloudViewer.cpp.

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

Definition at line 2754 of file CloudViewer.cpp.

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

Definition at line 2779 of file CloudViewer.cpp.

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

Definition at line 2234 of file CloudViewer.cpp.

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

Definition at line 2256 of file CloudViewer.cpp.

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

Definition at line 2273 of file CloudViewer.cpp.

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

Definition at line 1952 of file CloudViewer.cpp.

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

Definition at line 1957 of file CloudViewer.cpp.

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

Definition at line 2468 of file CloudViewer.cpp.

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

Definition at line 2481 of file CloudViewer.cpp.

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

Definition at line 2488 of file CloudViewer.cpp.

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

Definition at line 2347 of file CloudViewer.cpp.

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

Definition at line 427 of file CloudViewer.cpp.

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

Definition at line 1295 of file CloudViewer.cpp.

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

Definition at line 1754 of file CloudViewer.cpp.

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

inlineprotected

Definition at line 379 of file CloudViewer.h.

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

protectedvirtual

Definition at line 3021 of file CloudViewer.cpp.

Member Data Documentation

QAction* rtabmap::CloudViewer::_aBackfaceCulling

private

Definition at line 410 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aCameraOrtho

private

Definition at line 392 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aClearTrajectory

private

Definition at line 395 of file CloudViewer.h.

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

private

Definition at line 433 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aFollowCamera

private

Definition at line 389 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aLockCamera

private

Definition at line 388 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aLockViewZ

private

Definition at line 391 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aPolygonPicking

private

Definition at line 411 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aResetCamera

private

Definition at line 390 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetBackgroundColor

private

Definition at line 405 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetEdgeVisibility

private

Definition at line 409 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFlatShading

private

Definition at line 408 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFrustumColor

private

Definition at line 398 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetFrustumScale

private

Definition at line 397 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetGridCellCount

private

Definition at line 400 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetGridCellSize

private

Definition at line 401 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetLighting

private

Definition at line 407 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetNormalsScale

private

Definition at line 404 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetNormalsStep

private

Definition at line 403 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetRenderingRate

private

Definition at line 406 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aSetTrajectorySize

private

Definition at line 394 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowFrustum

private

Definition at line 396 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowGrid

private

Definition at line 399 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowNormals

private

Definition at line 402 of file CloudViewer.h.

QAction* rtabmap::CloudViewer::_aShowTrajectory

private

Definition at line 393 of file CloudViewer.h.

bool rtabmap::CloudViewer::_buildLocator

private

Definition at line 429 of file CloudViewer.h.

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

private

Definition at line 414 of file CloudViewer.h.

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

private

Definition at line 418 of file CloudViewer.h.

QColor rtabmap::CloudViewer::_currentBgColor

private

Definition at line 438 of file CloudViewer.h.

QColor rtabmap::CloudViewer::_defaultBgColor

private

Definition at line 437 of file CloudViewer.h.

bool rtabmap::CloudViewer::_frontfaceCulling

private

Definition at line 439 of file CloudViewer.h.

QColor rtabmap::CloudViewer::_frustumColor

private

Definition at line 424 of file CloudViewer.h.

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

private

Definition at line 420 of file CloudViewer.h.

float rtabmap::CloudViewer::_frustumScale

private

Definition at line 423 of file CloudViewer.h.

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

private

Definition at line 413 of file CloudViewer.h.

unsigned int rtabmap::CloudViewer::_gridCellCount

private

Definition at line 425 of file CloudViewer.h.

float rtabmap::CloudViewer::_gridCellSize

private

Definition at line 426 of file CloudViewer.h.

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

private

Definition at line 435 of file CloudViewer.h.

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

private

Definition at line 436 of file CloudViewer.h.

cv::Vec3d rtabmap::CloudViewer::_lastCameraOrientation

private

Definition at line 431 of file CloudViewer.h.

cv::Vec3d rtabmap::CloudViewer::_lastCameraPose

private

Definition at line 432 of file CloudViewer.h.

Transform rtabmap::CloudViewer::_lastPose

private

Definition at line 434 of file CloudViewer.h.

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

private

Definition at line 416 of file CloudViewer.h.

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

private

Definition at line 430 of file CloudViewer.h.

unsigned int rtabmap::CloudViewer::_maxTrajectorySize

private

Definition at line 422 of file CloudViewer.h.

QMenu* rtabmap::CloudViewer::_menu

private

Definition at line 412 of file CloudViewer.h.

float rtabmap::CloudViewer::_normalsScale

private

Definition at line 428 of file CloudViewer.h.

int rtabmap::CloudViewer::_normalsStep

private

Definition at line 427 of file CloudViewer.h.

vtkProp* rtabmap::CloudViewer::_octomapActor

private

Definition at line 441 of file CloudViewer.h.

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

private

Definition at line 419 of file CloudViewer.h.

double rtabmap::CloudViewer::_renderingRate

private

Definition at line 440 of file CloudViewer.h.

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

private

Definition at line 417 of file CloudViewer.h.

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

private

Definition at line 415 of file CloudViewer.h.

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

private

Definition at line 421 of file CloudViewer.h.

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

private

Definition at line 387 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