mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
7b0a34b150
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1437 f169173b-cf89-36c8-b27e-44dbe73f0c83
99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
/*
|
|
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
|
|
*
|
|
* This file is part of RTAB-Map.
|
|
*
|
|
* RTAB-Map is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* RTAB-Map is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef DATABASEVIEWER_H_
|
|
#define DATABASEVIEWER_H_
|
|
|
|
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
|
|
|
|
#include <QtGui/QMainWindow>
|
|
#include <QtCore/QByteArray>
|
|
#include <QtCore/QMap>
|
|
#include <QtCore/QSet>
|
|
#include <QtGui/QImage>
|
|
#include <opencv2/core/core.hpp>
|
|
#include <opencv2/features2d/features2d.hpp>
|
|
#include <set>
|
|
|
|
#include <rtabmap/core/Link.h>
|
|
|
|
class Ui_DatabaseViewer;
|
|
class QGraphicsScene;
|
|
class QGraphicsView;
|
|
class QLabel;
|
|
|
|
namespace rtabmap
|
|
{
|
|
class Memory;
|
|
class ImageView;
|
|
}
|
|
|
|
class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
DatabaseViewer(QWidget * parent = 0);
|
|
virtual ~DatabaseViewer();
|
|
bool openDatabase(const QString & path);
|
|
|
|
private slots:
|
|
void openDatabase();
|
|
void generateGraph();
|
|
void exportDatabase();
|
|
void extractImages();
|
|
void generateLocalGraph();
|
|
void generateTOROGraph();
|
|
void view3DMap();
|
|
void generate3DMap();
|
|
void sliderAValueChanged(int);
|
|
void sliderBValueChanged(int);
|
|
void sliderAMoved(int);
|
|
void sliderBMoved(int);
|
|
void sliderNeighborValueChanged(int);
|
|
void sliderLoopValueChanged(int);
|
|
void sliderIterationsValueChanged(int);
|
|
void updateGraphView();
|
|
|
|
private:
|
|
void updateIds();
|
|
void update(int value,
|
|
QLabel * labelIndex,
|
|
QLabel * labelParents,
|
|
QLabel * labelChildren,
|
|
rtabmap::ImageView * view,
|
|
QLabel * labelId);
|
|
void updateConstraintView(const rtabmap::Link & link);
|
|
|
|
private:
|
|
Ui_DatabaseViewer * ui_;
|
|
QList<int> ids_;
|
|
QMap<int, int> idToIndex_;
|
|
QList<rtabmap::Link> neighborLinks_;
|
|
QList<rtabmap::Link> loopLinks_;
|
|
rtabmap::Memory * memory_;
|
|
QString pathDatabase_;
|
|
std::list<std::map<int, rtabmap::Transform> > graphes_;
|
|
std::map<int, rtabmap::Transform> poses_;
|
|
std::multimap<int, rtabmap::Link> links_;
|
|
QMap<int, std::vector<unsigned char> > scans_;
|
|
};
|
|
|
|
#endif /* DATABASEVIEWER_H_ */
|