mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Moved some common include files to public headers folder
This commit is contained in:
matlabbe
@@ -0,0 +1,78 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef CONSOLEWIDGET_H_
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||||
#define CONSOLEWIDGET_H_
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||||
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||||
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <rtabmap/utilite/UEventsHandler.h>
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#include <QWidget>
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#include <QtCore/QMutex>
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#include <QtCore/QTimer>
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#include <QtCore/QTime>
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class Ui_consoleWidget;
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class QMessageBox;
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class QTextCursor;
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namespace rtabmap {
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class RTABMAPGUI_EXP ConsoleWidget : public QWidget, public UEventsHandler
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{
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Q_OBJECT;
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|
||||
public:
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||||
ConsoleWidget(QWidget * parent = 0);
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||||
virtual ~ConsoleWidget();
|
||||
|
||||
public slots:
|
||||
void appendMsg(const QString & msg, int level = 1);
|
||||
|
||||
signals:
|
||||
void msgReceived(const QString &, int);
|
||||
|
||||
private slots:
|
||||
void flushConsole();
|
||||
|
||||
protected:
|
||||
virtual void handleEvent(UEvent * anEvent);
|
||||
|
||||
private:
|
||||
Ui_consoleWidget * _ui;
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||||
QMessageBox * _errorMessage;
|
||||
QMutex _errorMessageMutex;
|
||||
QMutex _msgListMutex;
|
||||
QTimer _timer;
|
||||
QTime _time;
|
||||
QTextCursor * _textCursor;
|
||||
QList<QPair<QString, int> > _msgList;
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||||
};
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||||
|
||||
}
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||||
|
||||
#endif /* CONSOLEWIDGET_H_ */
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||||
@@ -0,0 +1,156 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef GRAPHVIEWER_H_
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#define GRAPHVIEWER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QGraphicsView>
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#include <QtCore/QMap>
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#include <QtCore/QSettings>
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#include <rtabmap/core/Link.h>
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#include <opencv2/opencv.hpp>
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#include <map>
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class QGraphicsItem;
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||||
class QGraphicsPixmapItem;
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||||
class QGraphicsItemGroup;
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|
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namespace rtabmap {
|
||||
|
||||
class NodeItem;
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||||
class LinkItem;
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||||
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class RTABMAPGUI_EXP GraphViewer : public QGraphicsView {
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||||
|
||||
Q_OBJECT;
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||||
|
||||
public:
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||||
GraphViewer(QWidget * parent = 0);
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||||
virtual ~GraphViewer();
|
||||
|
||||
void updateGraph(const std::map<int, Transform> & poses,
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||||
const std::multimap<int, Link> & constraints,
|
||||
const std::map<int, int> & mapIds);
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||||
void updateReferentialPosition(const Transform & t);
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void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
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void updatePosterior(const std::map<int, float> & posterior);
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void updateLocalPath(const std::vector<int> & localPath);
|
||||
void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
|
||||
void setCurrentGoalID(int id);
|
||||
void setLocalRadius(float radius);
|
||||
void clearGraph();
|
||||
void clearMap();
|
||||
void clearPosterior();
|
||||
void clearAll();
|
||||
|
||||
void saveSettings(QSettings & settings, const QString & group = "") const;
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||||
void loadSettings(QSettings & settings, const QString & group = "");
|
||||
|
||||
//getters
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const QString & getWorkingDirectory() const {return _workingDirectory;}
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||||
float getNodeRadius() const {return _nodeRadius;}
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||||
float getLinkWidth() const {return _linkWidth;}
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||||
const QColor & getNodeColor() const {return _nodeColor;}
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||||
const QColor & getCurrentGoalColor() const {return _currentGoalColor;}
|
||||
const QColor & getNeighborColor() const {return _neighborColor;}
|
||||
const QColor & getGlobalLoopClosureColor() const {return _loopClosureColor;}
|
||||
const QColor & getLocalLoopClosureColor() const {return _loopClosureLocalColor;}
|
||||
const QColor & getUserLoopClosureColor() const {return _loopClosureUserColor;}
|
||||
const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
|
||||
const QColor & getLocalPathColor() const {return _localPathColor;}
|
||||
const QColor & getGlobalPathColor() const {return _globalPathColor;}
|
||||
const QColor & getIntraSessionLoopColor() const {return _loopIntraSessionColor;}
|
||||
const QColor & getInterSessionLoopColor() const {return _loopInterSessionColor;}
|
||||
bool isIntraInterSessionColorsEnabled() const {return _intraInterSessionColors;}
|
||||
bool isGridMapVisible() const;
|
||||
bool isOriginVisible() const;
|
||||
bool isReferentialVisible() const;
|
||||
bool isLocalRadiusVisible() const;
|
||||
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||||
// setters
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||||
void setWorkingDirectory(const QString & path);
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||||
void setNodeRadius(float radius);
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||||
void setLinkWidth(float width);
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||||
void setNodeColor(const QColor & color);
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||||
void setCurrentGoalColor(const QColor & color);
|
||||
void setNeighborColor(const QColor & color);
|
||||
void setGlobalLoopClosureColor(const QColor & color);
|
||||
void setLocalLoopClosureColor(const QColor & color);
|
||||
void setUserLoopClosureColor(const QColor & color);
|
||||
void setVirtualLoopClosureColor(const QColor & color);
|
||||
void setLocalPathColor(const QColor & color);
|
||||
void setGlobalPathColor(const QColor & color);
|
||||
void setIntraSessionLoopColor(const QColor & color);
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||||
void setInterSessionLoopColor(const QColor & color);
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||||
void setIntraInterSessionColorsEnabled(bool enabled);
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||||
void setGridMapVisible(bool visible);
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||||
void setOriginVisible(bool visible);
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||||
void setReferentialVisible(bool visible);
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||||
void setLocalRadiusVisible(bool visible);
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||||
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||||
signals:
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||||
void configChanged();
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||||
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||||
public slots:
|
||||
void restoreDefaults();
|
||||
|
||||
protected:
|
||||
virtual void wheelEvent ( QWheelEvent * event );
|
||||
virtual void contextMenuEvent(QContextMenuEvent * event);
|
||||
|
||||
private:
|
||||
QString _workingDirectory;
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||||
QColor _nodeColor;
|
||||
QColor _currentGoalColor;
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||||
QColor _neighborColor;
|
||||
QColor _loopClosureColor;
|
||||
QColor _loopClosureLocalColor;
|
||||
QColor _loopClosureUserColor;
|
||||
QColor _loopClosureVirtualColor;
|
||||
QColor _localPathColor;
|
||||
QColor _globalPathColor;
|
||||
QColor _loopIntraSessionColor;
|
||||
QColor _loopInterSessionColor;
|
||||
bool _intraInterSessionColors;
|
||||
QGraphicsItem * _root;
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||||
QMap<int, NodeItem*> _nodeItems;
|
||||
QMultiMap<int, LinkItem*> _linkItems;
|
||||
QMultiMap<int, LinkItem*> _localPathLinkItems;
|
||||
QMultiMap<int, LinkItem*> _globalPathLinkItems;
|
||||
float _nodeRadius;
|
||||
float _linkWidth;
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||||
QGraphicsPixmapItem * _gridMap;
|
||||
QGraphicsItemGroup * _referential;
|
||||
QGraphicsItemGroup * _originReferential;
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||||
float _gridCellSize;
|
||||
QGraphicsEllipseItem * _localRadius;
|
||||
};
|
||||
|
||||
} /* namespace rtabmap */
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||||
#endif /* GRAPHVIEWER_H_ */
|
||||
@@ -63,7 +63,7 @@ class AboutDialog;
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class Plot;
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||||
class PdfPlotCurve;
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||||
class StatsToolBox;
|
||||
class DetailedProgressDialog;
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||||
class ProgressDialog;
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||||
class TwistGridWidget;
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||||
class ExportCloudsDialog;
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||||
class PostProcessingDialog;
|
||||
@@ -297,7 +297,7 @@ private:
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||||
PdfPlotCurve * _likelihoodCurve;
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||||
PdfPlotCurve * _rawLikelihoodCurve;
|
||||
|
||||
DetailedProgressDialog * _initProgressDialog;
|
||||
ProgressDialog * _initProgressDialog;
|
||||
|
||||
QString _graphSavingFileName;
|
||||
QMap<int, QString> _exportPosesFileName;
|
||||
|
||||
@@ -0,0 +1,79 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef PDFPLOT_H_
|
||||
#define PDFPLOT_H_
|
||||
|
||||
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
|
||||
|
||||
#include <rtabmap/utilite/UPlot.h>
|
||||
#include "opencv2/opencv.hpp"
|
||||
#include "rtabmap/core/Signature.h"
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class RTABMAPGUI_EXP PdfPlotItem : public UPlotItem
|
||||
{
|
||||
public:
|
||||
PdfPlotItem(float dataX, float dataY, float width, int childCount = -1);
|
||||
virtual ~PdfPlotItem();
|
||||
|
||||
void setLikelihood(int id, float value, int childCount);
|
||||
void setSignaturesRef(const QMap<int, Signature> * signaturesRef) {_signaturesRef = signaturesRef;}
|
||||
|
||||
float value() const {return this->data().y();}
|
||||
int id() const {return this->data().x();}
|
||||
|
||||
protected:
|
||||
virtual void showDescription(bool shown);
|
||||
|
||||
private:
|
||||
QGraphicsPixmapItem * _img;
|
||||
int _childCount;
|
||||
const QMap<int, Signature> * _signaturesRef;
|
||||
QGraphicsTextItem * _text;
|
||||
|
||||
};
|
||||
|
||||
class RTABMAPGUI_EXP PdfPlotCurve : public UPlotCurve
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
PdfPlotCurve(const QString & name, const QMap<int, Signature> * signaturesMapRef, QObject * parent = 0);
|
||||
virtual ~PdfPlotCurve();
|
||||
|
||||
virtual void clear();
|
||||
void setData(const QMap<int, float> & dataMap, const QMap<int, int> & weightsMap);
|
||||
|
||||
private:
|
||||
const QMap<int, Signature> * _signaturesMapRef;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif /* PDFPLOT_H_ */
|
||||
@@ -0,0 +1,78 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef PROGRESSDIALOG_H_
|
||||
#define PROGRESSDIALOG_H_
|
||||
|
||||
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
|
||||
|
||||
#include <QDialog>
|
||||
|
||||
class QLabel;
|
||||
class QTextEdit;
|
||||
class QProgressBar;
|
||||
class QPushButton;
|
||||
class QCheckBox;
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class RTABMAPGUI_EXP ProgressDialog : public QDialog
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
ProgressDialog(QWidget *parent = 0, Qt::WindowFlags flags = 0);
|
||||
virtual ~ProgressDialog();
|
||||
|
||||
void setEndMessage(const QString & message) {_endMessage = message;} // Message shown when the progress is finished
|
||||
void setValue(int value);
|
||||
int maximumSteps() const;
|
||||
void setMaximumSteps(int steps);
|
||||
void setAutoClose(bool on, int delayedClosingTimeMsec = -1);
|
||||
|
||||
protected:
|
||||
virtual void closeEvent(QCloseEvent * event);
|
||||
|
||||
public slots:
|
||||
void appendText(const QString & text ,const QColor & color = Qt::black);
|
||||
void incrementStep();
|
||||
void clear();
|
||||
void resetProgress();
|
||||
|
||||
private:
|
||||
QLabel * _text;
|
||||
QTextEdit * _detailedText;
|
||||
QProgressBar * _progressBar;
|
||||
QPushButton * _closeButton;
|
||||
QCheckBox * _closeWhenDoneCheckBox;
|
||||
QString _endMessage;
|
||||
int _delayedClosingTime; // sec
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif /* PROGRESSDIALOG_H_ */
|
||||
@@ -0,0 +1,117 @@
|
||||
/*
|
||||
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef STATSTOOLBOX_H_
|
||||
#define STATSTOOLBOX_H_
|
||||
|
||||
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
|
||||
|
||||
#include <QWidget>
|
||||
#include <QtCore/QMap>
|
||||
|
||||
class QToolButton;
|
||||
class QLabel;
|
||||
class QMenu;
|
||||
class QGridLayout;
|
||||
class QToolBox;
|
||||
|
||||
namespace rtabmap {
|
||||
|
||||
class RTABMAPGUI_EXP StatItem : public QWidget
|
||||
{
|
||||
Q_OBJECT;
|
||||
|
||||
public:
|
||||
StatItem(const QString & name, const std::vector<float> & x, const std::vector<float> & y, const QString & unit = QString(), const QMenu * menu = 0, QGridLayout * grid = 0, QWidget * parent = 0);
|
||||
virtual ~StatItem();
|
||||
void setValue(float x, float y);
|
||||
void setValues(const std::vector<float> & x, const std::vector<float> & y);
|
||||
QString value() const;
|
||||
|
||||
public slots:
|
||||
void updateMenu(const QMenu * menu);
|
||||
|
||||
signals:
|
||||
void valueChanged(float, float);
|
||||
void valuesChanged(const std::vector<float> &, const std::vector<float> &);
|
||||
void plotRequested(const StatItem *, const QString &);
|
||||
|
||||
private slots:
|
||||
void preparePlotRequest();
|
||||
|
||||
private:
|
||||
void setupUi(QGridLayout * grid);
|
||||
|
||||
private:
|
||||
QToolButton * _button;
|
||||
QLabel * _name;
|
||||
QLabel * _value;
|
||||
QLabel * _unit;
|
||||
QMenu * _menu;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
class RTABMAPGUI_EXP StatsToolBox : public QWidget
|
||||
{
|
||||
Q_OBJECT;
|
||||
|
||||
public:
|
||||
StatsToolBox(QWidget * parent);
|
||||
virtual ~StatsToolBox();
|
||||
|
||||
void getFiguresSetup(QList<int> & curvesPerFigure, QStringList & curveNames);
|
||||
void addCurve(const QString & name, bool newFigure = true);
|
||||
void setWorkingDirectory(const QString & workingDirectory);
|
||||
void closeFigures();
|
||||
|
||||
public slots:
|
||||
void updateStat(const QString & statFullName, float x, float y);
|
||||
void updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y);
|
||||
|
||||
signals:
|
||||
void menuChanged(const QMenu *);
|
||||
void figuresSetupChanged();
|
||||
|
||||
private slots:
|
||||
void plot(const StatItem * stat, const QString & plotName = QString());
|
||||
void figureDeleted(QObject * obj);
|
||||
|
||||
protected:
|
||||
virtual void contextMenuEvent(QContextMenuEvent * event);
|
||||
|
||||
private:
|
||||
QMenu * _plotMenu;
|
||||
QToolBox * _statBox;
|
||||
QString _workingDirectory;
|
||||
QMap<QString, QWidget*> _figures;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif /* STATSTOOLBOX_H_ */
|
||||
@@ -1,181 +0,0 @@
|
||||
/*
|
||||
* utilite is a cross-platform library with
|
||||
* useful utilities for fast and small developing.
|
||||
* Copyright (C) 2010 Mathieu Labbe
|
||||
*
|
||||
* utilite is free library: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU Lesser General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* utilite 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 Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef UCV2QT_H_
|
||||
#define UCV2QT_H_
|
||||
|
||||
#include <QtGui/QImage>
|
||||
#include <opencv2/core/core.hpp>
|
||||
#include <rtabmap/utilite/UMath.h>
|
||||
#include <rtabmap/utilite/UThread.h>
|
||||
#include <stdio.h>
|
||||
|
||||
/**
|
||||
* Convert a cv::Mat image to a QImage. Support
|
||||
* depth (float32, uint16) image and RGB/BGR 8bits images.
|
||||
* @param image the cv::Mat image (can be 1 channel [CV_8U, CV_16U or CV_32F] or 3 channels [CV_U8])
|
||||
* @param isBgr if 3 channels, it is BGR or RGB order.
|
||||
* @return the QImage
|
||||
*/
|
||||
inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true)
|
||||
{
|
||||
QImage qtemp;
|
||||
if(!image.empty() && image.depth() == CV_8U)
|
||||
{
|
||||
if(image.channels()==3)
|
||||
{
|
||||
const unsigned char * data = image.data;
|
||||
if(image.channels() == 3)
|
||||
{
|
||||
qtemp = QImage(image.cols, image.rows, QImage::Format_RGB32);
|
||||
for(int y = 0; y < image.rows; ++y, data += image.cols*image.elemSize())
|
||||
{
|
||||
for(int x = 0; x < image.cols; ++x)
|
||||
{
|
||||
QRgb * p = ((QRgb*)qtemp.scanLine (y)) + x;
|
||||
if(isBgr)
|
||||
{
|
||||
*p = qRgb(data[x * image.channels()+2], data[x * image.channels()+1], data[x * image.channels()]);
|
||||
}
|
||||
else
|
||||
{
|
||||
*p = qRgb(data[x * image.channels()], data[x * image.channels()+1], data[x * image.channels()+2]);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(image.channels() == 1)
|
||||
{
|
||||
// mono grayscale
|
||||
qtemp = QImage(image.data, image.cols, image.rows, image.cols, QImage::Format_Indexed8).copy();
|
||||
QVector<QRgb> my_table;
|
||||
for(int i = 0; i < 256; i++) my_table.push_back(qRgb(i,i,i));
|
||||
qtemp.setColorTable(my_table);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Wrong image format, must have 1 or 3 channels\n");
|
||||
}
|
||||
}
|
||||
else if(image.depth() == CV_32F && image.channels()==1)
|
||||
{
|
||||
// Assume depth image (float in meters)
|
||||
const float * data = (const float *)image.data;
|
||||
float min=0, max=0;
|
||||
uMinMax(data, image.rows*image.cols, min, max);
|
||||
qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
|
||||
for(int y = 0; y < image.rows; ++y, data += image.cols)
|
||||
{
|
||||
for(int x = 0; x < image.cols; ++x)
|
||||
{
|
||||
uchar * p = qtemp.scanLine (y) + x;
|
||||
if(data[x] < min || data[x] > max || uIsNan(data[x]))
|
||||
{
|
||||
*p = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
*p = uchar(255.0f - ((data[x]-min)*255.0f)/(max-min));
|
||||
if(*p == 255)
|
||||
{
|
||||
*p = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
QVector<QRgb> my_table;
|
||||
for(int i = 0; i < 256; i++) my_table.push_back(qRgb(i,i,i));
|
||||
qtemp.setColorTable(my_table);
|
||||
}
|
||||
else if(image.depth() == CV_16U && image.channels()==1)
|
||||
{
|
||||
// Assume depth image (unsigned short in mm)
|
||||
const unsigned short * data = (const unsigned short *)image.data;
|
||||
unsigned short min=data[0], max=data[0];
|
||||
for(unsigned int i=1; i<image.total(); ++i)
|
||||
{
|
||||
if(!uIsNan(data[i]) && data[i] > 0)
|
||||
{
|
||||
if((uIsNan(min) && data[i] > 0) ||
|
||||
(data[i] > 0 && data[i]<min))
|
||||
{
|
||||
min = data[i];
|
||||
}
|
||||
if((uIsNan(max) && data[i] > 0) ||
|
||||
(data[i] > 0 && data[i]>max))
|
||||
{
|
||||
max = data[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
|
||||
for(int y = 0; y < image.rows; ++y, data += image.cols)
|
||||
{
|
||||
for(int x = 0; x < image.cols; ++x)
|
||||
{
|
||||
uchar * p = qtemp.scanLine (y) + x;
|
||||
if(data[x] < min || data[x] > max || uIsNan(data[x]) || max == min)
|
||||
{
|
||||
*p = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
*p = uchar(255.0f - (float(data[x]-min)/float(max-min))*255.0f);
|
||||
if(*p == 255)
|
||||
{
|
||||
*p = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
QVector<QRgb> my_table;
|
||||
for(int i = 0; i < 256; i++) my_table.push_back(qRgb(i,i,i));
|
||||
qtemp.setColorTable(my_table);
|
||||
}
|
||||
else if(!image.empty() && image.depth() != CV_8U)
|
||||
{
|
||||
printf("Wrong image format, must be 8_bits/3channels or (depth) 32bitsFloat/1channel, 16bits/1channel\n");
|
||||
}
|
||||
return qtemp;
|
||||
}
|
||||
|
||||
class UCvMat2QImageThread : public UThread
|
||||
{
|
||||
public:
|
||||
UCvMat2QImageThread(const cv::Mat & image, bool isBgr = true) :
|
||||
image_(image),
|
||||
isBgr_(isBgr) {}
|
||||
QImage & getQImage() {return qtImage_;}
|
||||
protected:
|
||||
virtual void mainLoop()
|
||||
{
|
||||
qtImage_ = uCvMat2QImage(image_, isBgr_);
|
||||
this->kill();
|
||||
}
|
||||
private:
|
||||
cv::Mat image_;
|
||||
bool isBgr_;
|
||||
QImage qtImage_;
|
||||
};
|
||||
|
||||
#endif /* UCV2QT_H_ */
|
||||
Reference in New Issue
Block a user