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https://github.com/introlab/rtabmap.git
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135 lines
5.3 KiB
C++
135 lines
5.3 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef EXPORTCLOUDSDIALOG_H_
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#define EXPORTCLOUDSDIALOG_H_
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#include <QDialog>
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#include <QMap>
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#include <QtCore/QSettings>
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#include <rtabmap/core/Signature.h>
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#include <rtabmap/core/Parameters.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/PolygonMesh.h>
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#include <pcl/TextureMesh.h>
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#include <pcl/pcl_base.h>
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class Ui_ExportCloudsDialog;
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class QAbstractButton;
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namespace rtabmap {
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class ProgressDialog;
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class GainCompensator;
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class ExportCloudsDialog : public QDialog
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{
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Q_OBJECT
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public:
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ExportCloudsDialog(QWidget *parent = 0);
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virtual ~ExportCloudsDialog();
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void saveSettings(QSettings & settings, const QString & group = "") const;
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void loadSettings(QSettings & settings, const QString & group = "");
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void exportClouds(
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & links,
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const std::map<int, int> & mapIds,
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const QMap<int, Signature> & cachedSignatures,
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const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
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const QString & workingDirectory,
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const ParametersMap & parameters);
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void viewClouds(
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & links,
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const std::map<int, int> & mapIds,
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const QMap<int, Signature> & cachedSignatures,
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const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
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const QString & workingDirectory,
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const ParametersMap & parameters);
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static bool removeDirRecursively(const QString & dirName);
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signals:
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void configChanged();
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public slots:
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void restoreDefaults();
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private slots:
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void updateReconstructionFlavor();
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void updateDenseReconstruction();
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void selectDistortionModel();
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void updateMLSGrpVisibility();
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void updateTexturingAvailability();
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void updatePoissonOutputPolygonsAvailability();
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void cancel();
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private:
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std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
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const std::map<int, Transform> & poses,
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const QMap<int, Signature> & cachedSignatures,
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const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
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const ParametersMap & parameters) const;
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bool getExportedClouds(
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & links,
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const std::map<int, int> & mapIds,
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const QMap<int, Signature> & cachedSignatures,
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const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
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const QString & workingDirectory,
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const ParametersMap & parameters,
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std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
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std::map<int, pcl::PolygonMesh::Ptr> & meshes,
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std::map<int, pcl::TextureMesh::Ptr> & textureMeshes);
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void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
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void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
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void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures);
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void setSaveButton();
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void setOkButton();
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void enableRegeneration(bool enabled);
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void updateTexturingAvailability(bool isExporting);
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private:
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Ui_ExportCloudsDialog * _ui;
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ProgressDialog * _progressDialog;
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QString _workingDirectory;
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bool _canceled;
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GainCompensator * _compensator;
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};
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}
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#endif /* EXPORTCLOUDSDIALOG_H_ */
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