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8b8511e154
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
61 lines
1.3 KiB
C++
61 lines
1.3 KiB
C++
/*
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* LoopClosureViewer.h
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*
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* Created on: 2013-10-21
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* Author: Mathieu
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*/
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#ifndef LOOPCLOSUREVIEWER_H_
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#define LOOPCLOSUREVIEWER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/core/Transform.h>
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#include <opencv2/opencv.hpp>
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#include <QtGui/QWidget>
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class Ui_loopClosureViewer;
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namespace rtabmap {
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class Signature;
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class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
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Q_OBJECT
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public:
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LoopClosureViewer(QWidget * parent);
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virtual ~LoopClosureViewer();
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// take ownership
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void setData(Signature * sA, Signature * sB); // sB contains loop transform as pose() from sA
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const Signature * sA() const {return sA_;}
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const Signature * sB() const {return sB_;}
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public slots:
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void setDecimation(int decimation) {decimation_ = decimation;}
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void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
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void setSamples(int samples) {samples_ = samples;}
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void updateView(const Transform & AtoB = Transform());
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protected:
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virtual void showEvent(QShowEvent * event);
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private:
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Ui_loopClosureViewer * ui_;
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Signature * sA_;
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Signature * sB_;
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Transform transform_;
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int decimation_;
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float maxDepth_;
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int samples_;
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};
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} /* namespace rtabmap */
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#endif /* LOOPCLOSUREVIEWER_H_ */
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