mirror of
https://github.com/introlab/rtabmap.git
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1597cfc293
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
130 lines
4.1 KiB
C++
130 lines
4.1 KiB
C++
/*
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Copyright (c) 2010-2014, 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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#include "MapVisibilityWidget.h"
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#include <QtGui/QCheckBox>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QScrollArea>
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#include <rtabmap/utilite/ULogger.h>
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namespace rtabmap {
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MapVisibilityWidget::MapVisibilityWidget(QWidget * parent) : QWidget(parent) {
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QVBoxLayout * verticalLayout1 = new QVBoxLayout(this);
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QScrollArea * scrollArea = new QScrollArea(this);
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scrollArea->setWidgetResizable(true);
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QWidget * scrollAreaWidgetContent = new QWidget();
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scrollAreaWidgetContent->setObjectName("area");
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QVBoxLayout * layout2 = new QVBoxLayout(scrollAreaWidgetContent);
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scrollAreaWidgetContent->setLayout(layout2);
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scrollArea->setWidget(scrollAreaWidgetContent);
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verticalLayout1->addWidget(scrollArea);
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}
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MapVisibilityWidget::~MapVisibilityWidget() {
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}
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void MapVisibilityWidget::showEvent(QShowEvent * event)
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{
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updateCheckBoxes();
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}
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void MapVisibilityWidget::clear()
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{
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_poses.clear();
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_mask.clear();
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updateCheckBoxes();
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}
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void MapVisibilityWidget::updateCheckBoxes()
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{
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QWidget * area = this->findChild<QWidget*>("area");
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QVBoxLayout * layout = (QVBoxLayout *)area->layout();
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QList<QCheckBox*> checkboxes = area->findChildren<QCheckBox*>();
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while(checkboxes.size() && checkboxes.size() > (int)_poses.size())
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{
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delete *checkboxes.begin();
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checkboxes.erase(checkboxes.begin());
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}
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int i=0;
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for(std::map<int, Transform>::iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
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{
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bool added = false;
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if(i >= checkboxes.size())
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{
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checkboxes.push_back(new QCheckBox(area));
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added = true;
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}
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checkboxes[i]->setText(QString("%1 (%2)").arg(iter->first).arg(iter->second.prettyPrint().c_str()));
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checkboxes[i]->setChecked(_mask.at(iter->first));
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if(added)
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{
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connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(signalVisibility()));
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layout->addWidget(checkboxes[i]);
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}
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++i;
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}
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}
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void MapVisibilityWidget::setMap(const std::map<int, Transform> & poses, const std::map<int, bool> & mask)
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{
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UASSERT(poses.size() == mask.size());
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_poses = poses;
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_mask = mask;
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if(this->isVisible())
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{
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updateCheckBoxes();
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}
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}
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std::map<int, Transform> MapVisibilityWidget::getVisiblePoses() const
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{
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std::map<int, Transform> poses;
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for(std::map<int, Transform>::const_iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
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{
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if(_mask.at(iter->first))
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{
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poses.insert(*iter);
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}
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}
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return poses;
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}
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void MapVisibilityWidget::signalVisibility()
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{
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QCheckBox * check = qobject_cast<QCheckBox*>(sender());
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_mask.at(check->text().split('(').first().toInt()) = check->isChecked();
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emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked());
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}
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} /* namespace rtabmap */
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