mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-08 02:37:45 +08:00
matlabbe
ea570abb8c
New parameter: RGBD/ToroIterations=100 Rtabmap: added getGraph() method to get TORO poses/link constraints Fixed ICP correspondences ratio over 1 CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color DatabaseViewer: added 3D Map view and Graph view MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view. git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef DATABASEVIEWER_H_
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#define DATABASEVIEWER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QtGui/QMainWindow>
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#include <QtCore/QByteArray>
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#include <QtCore/QMap>
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#include <QtCore/QSet>
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#include <QtGui/QImage>
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <set>
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#include <rtabmap/core/Link.h>
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class Ui_DatabaseViewer;
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class QGraphicsScene;
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class QGraphicsView;
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class QLabel;
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namespace rtabmap
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{
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class Memory;
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class ImageView;
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}
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class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
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{
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Q_OBJECT
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public:
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DatabaseViewer(QWidget * parent = 0);
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virtual ~DatabaseViewer();
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bool openDatabase(const QString & path);
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private slots:
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void openDatabase();
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void generateGraph();
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void exportDatabase();
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void extractImages();
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void generateLocalGraph();
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void view3DMap();
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void generate3DMap();
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void sliderAValueChanged(int);
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void sliderBValueChanged(int);
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void sliderAMoved(int);
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void sliderBMoved(int);
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void sliderNeighborValueChanged(int);
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void sliderLoopValueChanged(int);
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void sliderIterationsValueChanged(int);
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void updateGraphView();
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private:
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void updateIds();
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void update(int value,
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QLabel * labelIndex,
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QLabel * labelActions,
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QLabel * labelParents,
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QLabel * labelChildren,
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rtabmap::ImageView * view,
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QLabel * labelId);
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void updateConstraintView(const rtabmap::Link & link);
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private:
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Ui_DatabaseViewer * ui_;
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QList<int> ids_;
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QMap<int, int> idToIndex_;
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QList<rtabmap::Link> neighborLinks_;
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QList<rtabmap::Link> loopLinks_;
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rtabmap::Memory * memory_;
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QString pathDatabase_;
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std::list<std::map<int, rtabmap::Transform> > graphes_;
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std::map<int, rtabmap::Transform> poses_;
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std::multimap<int, rtabmap::Link> links_;
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std::map<int, std::vector<unsigned char> > scans_;
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};
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#endif /* DATABASEVIEWER_H_ */
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