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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1341 f169173b-cf89-36c8-b27e-44dbe73f0c83
58 lines
1.3 KiB
C++
58 lines
1.3 KiB
C++
/*
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* GraphViewer.h
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*
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* Created on: 2014-01-24
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* Author: mathieu
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*/
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#ifndef GRAPHVIEWER_H_
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#define GRAPHVIEWER_H_
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#include <QtGui/QGraphicsView>
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#include <QtCore/QMap>
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#include <rtabmap/core/Link.h>
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#include <map>
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class QGraphicsItem;
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class QGraphicsPixmapItem;
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namespace rtabmap {
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class NodeItem;
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class LinkItem;
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class GraphViewer : public QGraphicsView {
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public:
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GraphViewer(QWidget * parent = 0);
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virtual ~GraphViewer();
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void updateGraph(const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & constraints,
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const std::map<int, std::vector<unsigned char> > & scans);
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void clearGraph();
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void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
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void setGridCellSize(float size) {Q_ASSERT(_gridCellSize>0.0f); _gridCellSize= size;}
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protected:
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virtual void wheelEvent ( QWheelEvent * event );
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virtual void contextMenuEvent(QContextMenuEvent * event);
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private:
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QString _workingDirectory;
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QColor _nodeColor;
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QColor _neighborColor;
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QColor _loopClosureColor;
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QGraphicsItem * _root;
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QMap<int, NodeItem*> _nodeItems;
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QMap<int, LinkItem*> _neighborLinkItems;
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QMap<int, LinkItem*> _loopLinkItems;
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float _nodeRadius;
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float _linkWidth;
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QGraphicsPixmapItem * _gridMap;
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float _gridCellSize;
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};
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} /* namespace rtabmap */
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#endif /* GRAPHVIEWER_H_ */
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