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93 lines
3.0 KiB
C++
93 lines
3.0 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_EDITMAPAREA_H
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#define RTABMAP_EDITMAPAREA_H
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QColor>
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#include <QImage>
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#include <QPoint>
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#include <QWidget>
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#include <opencv2/opencv.hpp>
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#include "rtabmap/utilite/UCv2Qt.h"
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class QMenu;
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class QAction;
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namespace rtabmap {
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class RTABMAPGUI_EXP EditMapArea : public QWidget
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{
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Q_OBJECT
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public:
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EditMapArea(QWidget *parent = 0);
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void setMap(const cv::Mat & map);
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cv::Mat getModifiedMap() const;
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bool isModified() const {return modified_;}
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void setPenWidth(int newWidth);
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int penWidth() const { return myPenWidth_; }
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void setColorMap(uCvQtDepthColorMap type);
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public Q_SLOTS:
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void resetChanges();
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protected:
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virtual void mousePressEvent(QMouseEvent *event);
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virtual void mouseMoveEvent(QMouseEvent *event);
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virtual void mouseReleaseEvent(QMouseEvent *event);
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virtual void paintEvent(QPaintEvent *event);
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virtual void resizeEvent(QResizeEvent *event);
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virtual void contextMenuEvent(QContextMenuEvent * e);
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private:
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void drawLineTo(const QPoint &endPoint);
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void computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const;
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bool modified_;
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bool scribbling_;
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int myPenWidth_;
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QImage map_;
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cv::Mat originalMap_;
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QPoint lastPoint_;
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QMenu * menu_;
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QAction * resetChanges_;
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QAction * setPenWidth_;
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QAction * addObstacle_;
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QAction * clearObstacle_;
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QAction * setUnknown_;
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};
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}
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#endif
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