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457c068e0f
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
79 lines
2.8 KiB
C++
79 lines
2.8 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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#ifndef LOOPCLOSUREVIEWER_H_
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#define LOOPCLOSUREVIEWER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Signature.h>
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#include <opencv2/opencv.hpp>
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#include <QtGui/QWidget>
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class Ui_loopClosureViewer;
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namespace rtabmap {
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class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
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Q_OBJECT
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public:
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LoopClosureViewer(QWidget * parent);
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virtual ~LoopClosureViewer();
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void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA
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const Signature & sA() const {return sA_;}
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const Signature & sB() const {return sB_;}
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public slots:
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void setDecimation(int decimation) {decimation_ = decimation;}
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void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
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void setSamples(int samples) {samples_ = samples;}
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void updateView(const Transform & AtoB = Transform());
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protected:
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virtual void showEvent(QShowEvent * event);
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private:
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Ui_loopClosureViewer * ui_;
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Signature sA_;
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Signature sB_;
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Transform transform_;
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int decimation_;
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float maxDepth_;
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int samples_;
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};
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} /* namespace rtabmap */
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#endif /* LOOPCLOSUREVIEWER_H_ */
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