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https://github.com/introlab/rtabmap.git
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matlabbe
4756474367
* Adding support for AprilTag v3 library * New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image) * Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter. * Support AprilTAg library not built with aruco * cleanup * Added marker range support * Make apriltag detection in same orientation than opencv * fixed shenanigans when rendering markers with multi cameras * Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not) * fixed some quirks (camera viewer + tag working) * Setting quad decimate to 1 by default * typo * Implemented OptimizerG2O::loadGraph() * added apriltag's aruco support info in the cmake config summary * fixed warning * fixed isam2 assert when using landmarks * Fixed homography on multicam * Adding marker detection time for convenience * Added missing MIP 36h12 tag family in UI
85 lines
2.9 KiB
C++
85 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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#ifndef RTABMAP_CAMERAVIEWER_H_
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#define RTABMAP_CAMERAVIEWER_H_
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#include "rtabmap/gui/rtabmap_gui_export.h" // DLL export/import defines
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#include <rtabmap/utilite/UEventsHandler.h>
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#include <QDialog>
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#include <QElapsedTimer>
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#include <rtabmap/core/SensorData.h>
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#include <rtabmap/core/Parameters.h>
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class QSpinBox;
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class QCheckBox;
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class QPushButton;
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class QLabel;
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namespace rtabmap {
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class ImageView;
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class CloudViewer;
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class MarkerDetector;
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class RTABMAP_GUI_EXPORT CameraViewer : public QDialog, public UEventsHandler
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{
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Q_OBJECT
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public:
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CameraViewer(
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QWidget * parent = 0,
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const ParametersMap & parameters = ParametersMap());
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virtual ~CameraViewer();
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void setDecimation(int value);
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public Q_SLOTS:
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void showImage(const rtabmap::SensorData & data);
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protected:
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virtual bool handleEvent(UEvent * event);
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private:
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ImageView* imageView_;
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CloudViewer* cloudView_;
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bool processingImages_;
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QSpinBox * decimationSpin_;
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ParametersMap parameters_;
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QPushButton * pause_;
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QLabel * imageSizeLabel_;
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QCheckBox * showCloudCheckbox_;
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QCheckBox * showScanCheckbox_;
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QCheckBox * markerCheckbox_;
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MarkerDetector * markerDetector_;
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QElapsedTimer fpsTimer_;
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double lastCapturePeriod_;
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double previousCaptureStamp_;
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std::map<int, float> _landmarksSize;
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};
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} /* namespace rtabmap */
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#endif /* CAMERAVIEWER_H_ */
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