#include <RTABMapApp.h>
Public Member Functions | |
void | addEnvSensor (int type, float value) |
void | cancelProcessing () |
bool | exportMesh (float cloudVoxelSize, bool regenerateCloud, bool meshing, int textureSize, int textureCount, int normalK, bool optimized, float optimizedVoxelSize, int optimizedDepth, int optimizedMaxPolygons, float optimizedColorRadius, bool optimizedCleanWhitePolygons, int optimizedMinClusterSize, float optimizedMaxTextureDistance, int optimizedMinTextureClusterSize, bool blockRendering) |
void | InitializeGLContent () |
bool | isBuiltWith (int cameraDriver) const |
void | OnTouchEvent (int touch_count, tango_gl::GestureCamera::TouchEvent event, float x0, float y0, float x1, float y1) |
int | openDatabase (const std::string &databasePath, bool databaseInMemory, bool optimize, bool clearDatabase) |
bool | postExportation (bool visualize) |
void | postOdometryEvent (rtabmap::Transform pose, float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy, float depth_fx, float depth_fy, float depth_cx, float depth_cy, const rtabmap::Transform &rgbFrame, const rtabmap::Transform &depthFrame, double stamp, double depthStamp, const void *yPlane, const void *uPlane, const void *vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat, const void *depth, int depthLen, int depthWidth, int depthHeight, int depthFormat, const void *conf, int confLen, int confWidth, int confHeight, int confFormat, const float *points, int pointsLen, int pointsChannels, rtabmap::Transform viewMatrix, float p00, float p11, float p02, float p12, float p22, float p32, float p23, float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) |
int | postProcessing (int approach) |
bool | recover (const std::string &from, const std::string &to) |
int | Render () |
RTABMapApp () | |
void | save (const std::string &databasePath) |
void | setAppendMode (bool enabled) |
void | setBackfaceCulling (bool enabled) |
void | setBackgroundColor (float gray) |
void | setCameraColor (bool enabled) |
void | SetCameraType (tango_gl::GestureCamera::CameraType camera_type) |
void | setCloudDensityLevel (int value) |
void | setClusterRatio (float value) |
void | setDataRecorderMode (bool enabled) |
void | setDepthConfidence (int value) |
void | setDepthFromMotion (bool enabled) |
void | setExportPointCloudFormat (const std::string &format) |
void | setFOV (float angle) |
void | setFullResolution (bool enabled) |
void | setGPS (const rtabmap::GPS &gps) |
void | setGraphOptimization (bool enabled) |
void | setGraphVisible (bool visible) |
void | setGridRotation (float value) |
void | setGridVisible (bool visible) |
void | setLighting (bool enabled) |
void | setLocalizationMode (bool enabled) |
void | setMapCloudShown (bool shown) |
int | setMappingParameter (const std::string &key, const std::string &value) |
void | setMaxCloudDepth (float value) |
void | setMaxGainRadius (float value) |
void | setMeshAngleTolerance (float value) |
void | setMeshDecimationFactor (float value) |
void | setMeshRendering (bool enabled, bool withTexture) |
void | setMeshTriangleSize (int value) |
void | setMinCloudDepth (float value) |
void | setNodesFiltering (bool enabled) |
void | setOdomCloudShown (bool shown) |
void | setOnlineBlending (bool enabled) |
void | setOrthoCropFactor (float value) |
void | setPausedMapping (bool paused) |
void | setPointSize (float value) |
void | setRawScanSaved (bool enabled) |
void | setRenderingTextureDecimation (int value) |
void | setScreenRotation (int displayRotation, int cameraRotation) |
void | setSmoothing (bool enabled) |
void | setTrajectoryMode (bool enabled) |
void | setUpstreamRelocalizationAccThr (float value) |
void | setupSwiftCallbacks (void *classPtr, void(*progressCallback)(void *, int, int), void(*initCallback)(void *, int, const char *), void(*statsUpdatedCallback)(void *, int, int, int, int, float, int, int, int, int, int, int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float), void(*cameraInfoCallback)(void *, int, const char *, const char *)) |
void | SetViewPort (int width, int height) |
void | setWireframe (bool enabled) |
bool | startCamera () |
void | stopCamera () |
bool | writeExportedMesh (const std::string &directory, const std::string &name) |
~RTABMapApp () | |
Public Member Functions inherited from UEventsHandler | |
void | registerToEventsManager () |
void | unregisterFromEventsManager () |
Public Member Functions inherited from UEventsSender | |
UEventsSender () | |
virtual | ~UEventsSender () |
Protected Member Functions | |
virtual bool | handleEvent (UEvent *event) |
Protected Member Functions inherited from UEventsHandler | |
UEventsHandler () | |
virtual | ~UEventsHandler () |
Protected Member Functions inherited from UEventsSender | |
void | post (UEvent *event, bool async=true) const |
Private Member Functions | |
std::vector< pcl::Vertices > | filterOrganizedPolygons (const std::vector< pcl::Vertices > &polygons, int cloudSize) const |
std::vector< pcl::Vertices > | filterPolygons (const std::vector< pcl::Vertices > &polygons, int cloudSize) const |
void | gainCompensation (bool full=false) |
rtabmap::ParametersMap | getRtabmapParameters () |
bool | smoothMesh (int id, rtabmap::Mesh &mesh) |
int | updateMeshDecimation (int width, int height) |
Definition at line 53 of file RTABMapApp.h.
RTABMapApp::RTABMapApp | ( | ) |
Definition at line 216 of file RTABMapApp.cpp.
RTABMapApp::~RTABMapApp | ( | ) |
Definition at line 336 of file RTABMapApp.cpp.
Definition at line 2607 of file RTABMapApp.cpp.
void RTABMapApp::cancelProcessing | ( | ) |
Definition at line 2691 of file RTABMapApp.cpp.
bool RTABMapApp::exportMesh | ( | float | cloudVoxelSize, |
bool | regenerateCloud, | ||
bool | meshing, | ||
int | textureSize, | ||
int | textureCount, | ||
int | normalK, | ||
bool | optimized, | ||
float | optimizedVoxelSize, | ||
int | optimizedDepth, | ||
int | optimizedMaxPolygons, | ||
float | optimizedColorRadius, | ||
bool | optimizedCleanWhitePolygons, | ||
int | optimizedMinClusterSize, | ||
float | optimizedMaxTextureDistance, | ||
int | optimizedMinTextureClusterSize, | ||
bool | blockRendering | ||
) |
Definition at line 2697 of file RTABMapApp.cpp.
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Definition at line 1020 of file RTABMapApp.cpp.
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Definition at line 1087 of file RTABMapApp.cpp.
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Definition at line 1236 of file RTABMapApp.cpp.
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Definition at line 129 of file RTABMapApp.cpp.
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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.
Implements UEventsHandler.
Definition at line 4042 of file RTABMapApp.cpp.
void RTABMapApp::InitializeGLContent | ( | ) |
Definition at line 1130 of file RTABMapApp.cpp.
bool RTABMapApp::isBuiltWith | ( | int | cameraDriver | ) | const |
Definition at line 872 of file RTABMapApp.cpp.
void RTABMapApp::OnTouchEvent | ( | int | touch_count, |
tango_gl::GestureCamera::TouchEvent | event, | ||
float | x0, | ||
float | y0, | ||
float | x1, | ||
float | y1 | ||
) |
Definition at line 2278 of file RTABMapApp.cpp.
int RTABMapApp::openDatabase | ( | const std::string & | databasePath, |
bool | databaseInMemory, | ||
bool | optimize, | ||
bool | clearDatabase | ||
) |
Definition at line 373 of file RTABMapApp.cpp.
bool RTABMapApp::postExportation | ( | bool | visualize | ) |
Definition at line 3492 of file RTABMapApp.cpp.
void RTABMapApp::postOdometryEvent | ( | rtabmap::Transform | pose, |
float | rgb_fx, | ||
float | rgb_fy, | ||
float | rgb_cx, | ||
float | rgb_cy, | ||
float | depth_fx, | ||
float | depth_fy, | ||
float | depth_cx, | ||
float | depth_cy, | ||
const rtabmap::Transform & | rgbFrame, | ||
const rtabmap::Transform & | depthFrame, | ||
double | stamp, | ||
double | depthStamp, | ||
const void * | yPlane, | ||
const void * | uPlane, | ||
const void * | vPlane, | ||
int | yPlaneLen, | ||
int | rgbWidth, | ||
int | rgbHeight, | ||
int | rgbFormat, | ||
const void * | depth, | ||
int | depthLen, | ||
int | depthWidth, | ||
int | depthHeight, | ||
int | depthFormat, | ||
const void * | conf, | ||
int | confLen, | ||
int | confWidth, | ||
int | confHeight, | ||
int | confFormat, | ||
const float * | points, | ||
int | pointsLen, | ||
int | pointsChannels, | ||
rtabmap::Transform | viewMatrix, | ||
float | p00, | ||
float | p11, | ||
float | p02, | ||
float | p12, | ||
float | p22, | ||
float | p32, | ||
float | p23, | ||
float | t0, | ||
float | t1, | ||
float | t2, | ||
float | t3, | ||
float | t4, | ||
float | t5, | ||
float | t6, | ||
float | t7 | ||
) |
Definition at line 3802 of file RTABMapApp.cpp.
Definition at line 3703 of file RTABMapApp.cpp.
bool RTABMapApp::recover | ( | const std::string & | from, |
const std::string & | to | ||
) |
Definition at line 2671 of file RTABMapApp.cpp.
int RTABMapApp::Render | ( | ) |
Definition at line 1292 of file RTABMapApp.cpp.
void RTABMapApp::save | ( | const std::string & | databasePath | ) |
Definition at line 2616 of file RTABMapApp.cpp.
void RTABMapApp::setAppendMode | ( | bool | enabled | ) |
Definition at line 2447 of file RTABMapApp.cpp.
void RTABMapApp::setBackfaceCulling | ( | bool | enabled | ) |
Definition at line 2346 of file RTABMapApp.cpp.
void RTABMapApp::setBackgroundColor | ( | float | gray | ) |
Definition at line 2521 of file RTABMapApp.cpp.
void RTABMapApp::setCameraColor | ( | bool | enabled | ) |
Definition at line 2415 of file RTABMapApp.cpp.
void RTABMapApp::SetCameraType | ( | tango_gl::GestureCamera::CameraType | camera_type | ) |
Definition at line 2273 of file RTABMapApp.cpp.
void RTABMapApp::setCloudDensityLevel | ( | int | value | ) |
Definition at line 2485 of file RTABMapApp.cpp.
void RTABMapApp::setClusterRatio | ( | float | value | ) |
Definition at line 2505 of file RTABMapApp.cpp.
void RTABMapApp::setDataRecorderMode | ( | bool | enabled | ) |
Definition at line 2463 of file RTABMapApp.cpp.
void RTABMapApp::setDepthConfidence | ( | int | value | ) |
Definition at line 2529 of file RTABMapApp.cpp.
void RTABMapApp::setDepthFromMotion | ( | bool | enabled | ) |
Definition at line 2439 of file RTABMapApp.cpp.
void RTABMapApp::setExportPointCloudFormat | ( | const std::string & | format | ) |
Definition at line 2538 of file RTABMapApp.cpp.
void RTABMapApp::setFOV | ( | float | angle | ) |
Definition at line 2330 of file RTABMapApp.cpp.
void RTABMapApp::setFullResolution | ( | bool | enabled | ) |
Definition at line 2423 of file RTABMapApp.cpp.
void RTABMapApp::setGPS | ( | const rtabmap::GPS & | gps | ) |
Definition at line 2598 of file RTABMapApp.cpp.
void RTABMapApp::setGraphOptimization | ( | bool | enabled | ) |
Definition at line 2369 of file RTABMapApp.cpp.
void RTABMapApp::setGraphVisible | ( | bool | visible | ) |
Definition at line 2396 of file RTABMapApp.cpp.
void RTABMapApp::setGridRotation | ( | float | value | ) |
Definition at line 2338 of file RTABMapApp.cpp.
void RTABMapApp::setGridVisible | ( | bool | visible | ) |
Definition at line 2402 of file RTABMapApp.cpp.
void RTABMapApp::setLighting | ( | bool | enabled | ) |
Definition at line 2342 of file RTABMapApp.cpp.
void RTABMapApp::setLocalizationMode | ( | bool | enabled | ) |
Definition at line 2355 of file RTABMapApp.cpp.
void RTABMapApp::setMapCloudShown | ( | bool | shown | ) |
Definition at line 2313 of file RTABMapApp.cpp.
int RTABMapApp::setMappingParameter | ( | const std::string & | key, |
const std::string & | value | ||
) |
Definition at line 2554 of file RTABMapApp.cpp.
void RTABMapApp::setMaxCloudDepth | ( | float | value | ) |
Definition at line 2475 of file RTABMapApp.cpp.
void RTABMapApp::setMaxGainRadius | ( | float | value | ) |
Definition at line 2510 of file RTABMapApp.cpp.
void RTABMapApp::setMeshAngleTolerance | ( | float | value | ) |
Definition at line 2490 of file RTABMapApp.cpp.
void RTABMapApp::setMeshDecimationFactor | ( | float | value | ) |
Definition at line 2495 of file RTABMapApp.cpp.
void RTABMapApp::setMeshRendering | ( | bool | enabled, |
bool | withTexture | ||
) |
Definition at line 2322 of file RTABMapApp.cpp.
void RTABMapApp::setMeshTriangleSize | ( | int | value | ) |
Definition at line 2500 of file RTABMapApp.cpp.
void RTABMapApp::setMinCloudDepth | ( | float | value | ) |
Definition at line 2480 of file RTABMapApp.cpp.
void RTABMapApp::setNodesFiltering | ( | bool | enabled | ) |
Definition at line 2391 of file RTABMapApp.cpp.
void RTABMapApp::setOdomCloudShown | ( | bool | shown | ) |
Definition at line 2317 of file RTABMapApp.cpp.
void RTABMapApp::setOnlineBlending | ( | bool | enabled | ) |
Definition at line 2309 of file RTABMapApp.cpp.
void RTABMapApp::setOrthoCropFactor | ( | float | value | ) |
Definition at line 2334 of file RTABMapApp.cpp.
void RTABMapApp::setPausedMapping | ( | bool | paused | ) |
Definition at line 2284 of file RTABMapApp.cpp.
void RTABMapApp::setPointSize | ( | float | value | ) |
Definition at line 2326 of file RTABMapApp.cpp.
void RTABMapApp::setRawScanSaved | ( | bool | enabled | ) |
Definition at line 2407 of file RTABMapApp.cpp.
void RTABMapApp::setRenderingTextureDecimation | ( | int | value | ) |
Definition at line 2515 of file RTABMapApp.cpp.
Definition at line 360 of file RTABMapApp.cpp.
void RTABMapApp::setSmoothing | ( | bool | enabled | ) |
Definition at line 2431 of file RTABMapApp.cpp.
void RTABMapApp::setTrajectoryMode | ( | bool | enabled | ) |
Definition at line 2363 of file RTABMapApp.cpp.
void RTABMapApp::setUpstreamRelocalizationAccThr | ( | float | value | ) |
Definition at line 2458 of file RTABMapApp.cpp.
void RTABMapApp::setupSwiftCallbacks | ( | void * | classPtr, |
void(*)(void *, int, int) | progressCallback, | ||
void(*)(void *, int, const char *) | initCallback, | ||
void(*)(void *, int, int, int, int, float, int, int, int, int, int, int, float, int, float, int, float, float, float, float, int, int, float, float, float, float, float, float) | statsUpdatedCallback, | ||
void(*)(void *, int, const char *, const char *) | cameraInfoCallback | ||
) |
Definition at line 312 of file RTABMapApp.cpp.
Definition at line 1140 of file RTABMapApp.cpp.
void RTABMapApp::setWireframe | ( | bool | enabled | ) |
Definition at line 2350 of file RTABMapApp.cpp.
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Definition at line 1171 of file RTABMapApp.cpp.
bool RTABMapApp::startCamera | ( | ) |
Definition at line 906 of file RTABMapApp.cpp.
void RTABMapApp::stopCamera | ( | ) |
Definition at line 999 of file RTABMapApp.cpp.
Definition at line 803 of file RTABMapApp.cpp.
bool RTABMapApp::writeExportedMesh | ( | const std::string & | directory, |
const std::string & | name | ||
) |
Definition at line 3568 of file RTABMapApp.cpp.
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