moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-08 10:47:46 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
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+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef MAINWINDOW_H_
+#define MAINWINDOW_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include "utilite/UEventsHandler.h"
+#include <QtGui/QMainWindow>
+#include <QtCore/QSet>
+#include "rtabmap/core/RtabmapEvent.h"
+#include "rtabmap/gui/PreferencesDialog.h"
+
+namespace rtabmap {
+class Camera;
+}
+
+class QGraphicsScene;
+class Ui_mainWindow;
+class QActionGroup;
+
+namespace rtabmap {
+
+class LikelihoodScene;
+class AboutDialog;
+class Plot;
+class PdfPlotCurve;
+class StatsToolBox;
+class DetailedProgressDialog;
+
+class RTABMAP_EXP MainWindow : public QMainWindow, public UEventsHandler
+{
+	Q_OBJECT
+
+public:
+	enum State {
+		kIdle,
+		kStartingDetection,
+		kDetecting,
+		kPaused,
+		kMonitoring
+	};
+
+	enum SrcType {
+		kSrcUndefined,
+		kSrcVideo,
+		kSrcImages,
+		kSrcStream
+	};
+
+public:
+	/**
+	 * @param prefDialog If NULL, a default dialog is created. This
+	 *                   dialog is automatically destroyed with the MainWindow.
+	 */
+	MainWindow(PreferencesDialog * prefDialog = 0, QWidget * parent = 0);
+	~MainWindow();
+
+public slots:
+	void changeState(MainWindow::State state);
+
+protected:
+	virtual void closeEvent(QCloseEvent* event);
+	virtual void handleEvent(UEvent* anEvent);
+	virtual void resizeEvent(QResizeEvent* anEvent);
+
+private slots:
+	void startDetection();
+	void pauseDetection();
+	void stopDetection();
+	void generateMap();
+	void deleteMemory();
+	void openWorkingDirectory();
+	void updateEditMenu();
+	void selectImages();
+	void selectVideo();
+	void selectStream();
+	void selectDatabase();
+	void resetTheMemory();
+	void dumpTheMemory();
+	void dumpThePrediction();
+	void clearTheCache();
+	void saveFigures();
+	void loadFigures();
+	void updateElapsedTime();
+	void processStats(const rtabmap::Statistics & stat);
+	void applyAllPrefSettings();
+	void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
+	void applyPrefSettings(const rtabmap::ParametersMap & parameters);
+	void processRtabmapEventInit(int status, const QString & info);
+	void updateItemsShown();
+	void changeImgRateSetting();
+	void changeTimeLimitSetting();
+	void captureScreen();
+
+signals:
+	void statsReceived(const rtabmap::Statistics &);
+	void thresholdsChanged(int, int);
+	void stateChanged(MainWindow::State);
+	void rtabmapEventInitReceived(int status, const QString & info);
+	void imgRateChanged(double);
+	void timeLimitChanged(double);
+	void noMoreImagesReceived();
+	void loopClosureThrChanged(float);
+	void retrievalThrChanged(float);
+
+private:
+	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
+	void setupMainLayout(bool vertical);
+	void updateSelectSourceMenu(int type);
+
+private:
+	Ui_mainWindow * _ui;
+
+	State _state;
+	rtabmap::Camera * _camera;
+
+	SrcType _srcType;
+	QString _srcPath;
+
+	//Dialogs
+	PreferencesDialog * _preferencesDialog;
+	AboutDialog * _aboutDialog;
+
+	QSet<int> _lastIds;
+	int _lastId;
+
+	QMap<int, QByteArray> _imagesMap;
+
+	QTimer * _oneSecondTimer;
+	QTime * _elapsedTime;
+	QTime * _logEventTime;
+
+	PdfPlotCurve * _posteriorCurve;
+	PdfPlotCurve * _likelihoodCurve;
+
+	DetailedProgressDialog * _initProgressDialog;
+	QActionGroup * _selectSourceGrp;
+
+	QString _graphSavingFileName;
+};
+
+}
+
+#endif /* MainWindow_H_ */