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0a807e8cde
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1826 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 ODOMETRYVIEWER_H_
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#define ODOMETRYVIEWER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include "rtabmap/core/SensorData.h"
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#include "rtabmap/gui/CloudViewer.h"
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#include "rtabmap/utilite/UEventsHandler.h"
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#include "rtabmap/utilite/UTimer.h"
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#include "rtabmap/utilite/UMutex.h"
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namespace rtabmap {
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class RTABMAPGUI_EXP OdometryViewer : public CloudViewer, public UEventsHandler
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{
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Q_OBJECT
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public:
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OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
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virtual ~OdometryViewer() {}
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public slots:
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virtual void clear();
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protected:
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void handleAction(QAction * a);
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virtual void handleEvent(UEvent * event);
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private slots:
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void processData();
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private:
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UMutex dataMutex_;
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std::list<rtabmap::SensorData> data_;
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int dataQuality_;
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Transform lastOdomPose_;
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UTimer timer_;
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int maxClouds_;
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float voxelSize_;
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int decimation_;
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int qualityWarningThr_;
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int id_;
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std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
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QAction * _aSetVoxelSize;
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QAction * _aSetDecimation;
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QAction * _aSetCloudHistorySize;
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QAction * _aPause;
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};
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} /* namespace rtabmap */
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#endif /* ODOMETRYVIEWER_H_ */
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