Added PnP Pose estimation based Odometry option. Added sensor icons in menu.

tools/OdometryViewer/OdomInfoWidget.h

@@ -0,0 +1,66 @@
+/*
+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 ODOMINFOWIDGET_H_
+#define ODOMINFOWIDGET_H_
+
+#include <rtabmap/utilite/UEventsHandler.h>
+#include <QWidget>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/core/SensorData.h>
+#include <rtabmap/core/OdometryInfo.h>
+
+class QLabel;
+
+namespace rtabmap{
+class ImageView;
+}
+
+class OdomInfoWidget : public QWidget, public UEventsHandler
+{
+	Q_OBJECT
+public:
+	OdomInfoWidget(QWidget * parent = 0);
+	virtual ~OdomInfoWidget();
+public slots:
+	void processOdomInfo(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info);
+protected:
+	virtual void closeEvent(QCloseEvent* event);
+	void handleEvent(UEvent * event);
+
+private:
+	rtabmap::ImageView* imageView_;
+	QLabel* label_;
+	UTimer timer_;
+	bool processingOdomInfo_;
+	double receivingRate_;
+	double lastTime_;
+	bool odomImageShow_;
+	bool odomImageDepthShow_;
+};
+
+#endif /* ODOMINFOWIDGET_H_ */