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https://github.com/introlab/rtabmap.git
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76 lines
2.9 KiB
C++
76 lines
2.9 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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#include "rtabmap/gui/MultiSessionLocSubView.h"
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#include "ui_multiSessionLocSubView.h"
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namespace rtabmap {
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MultiSessionLocSubView::MultiSessionLocSubView(ImageView * mainView, int mapId, QWidget * parent) :
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QWidget(parent),
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mapId_(mapId)
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{
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ui_ = new Ui_multiSessionLocSubView();
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ui_->setupUi(this);
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ui_->imageView->setFeaturesShown(mainView->isFeaturesShown());
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ui_->imageView->setFeaturesSize(mainView->getFeaturesSize());
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ui_->imageView->setAlpha(mainView->getAlpha());
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ui_->imageView->setDefaultMatchingFeatureColor(mainView->getDefaultMatchingFeatureColor());
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}
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MultiSessionLocSubView::~MultiSessionLocSubView() {}
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void MultiSessionLocSubView::updateView(
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int nodeId,
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const QImage & image,
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const std::multimap<int, cv::KeyPoint> & features,
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float locRatio,
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const QColor & bgColor)
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{
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if(image.isNull())
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{
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ui_->imageView->clear();
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}
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else
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{
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ui_->imageView->setImage(image);
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ui_->imageView->setFeatures(features, cv::Mat(), ui_->imageView->getDefaultMatchingFeatureColor());
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ui_->imageView->setBackgroundColor(bgColor);
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}
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ui_->label->setText(QString("%1 [%2]").arg(nodeId).arg(mapId_));
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ui_->locProgressBar->setValue(locRatio * 100);
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}
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void MultiSessionLocSubView::clear()
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{
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ui_->imageView->clear();
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ui_->label->setText(QString("[%1]").arg(mapId_));
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}
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} /* namespace rtabmap */
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