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https://github.com/introlab/rtabmap.git
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65b79cd7a2
Odometry: added "local map history" option to increase precision Added new Nearest neighbor options (LSH, brute Force, GPU brute Force) Added FREAK/ORB features Increased version to 0.6.5 git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
56 lines
1.3 KiB
C++
56 lines
1.3 KiB
C++
/*
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* OdometryViewer.h
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*
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* Created on: 2013-10-15
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* Author: Mathieu
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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/Image.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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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::Image> 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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