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matlabbe
29097c023e
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1633 f169173b-cf89-36c8-b27e-44dbe73f0c83
82 lines
2.8 KiB
C++
82 lines
2.8 KiB
C++
/*
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Copyright (c) 2010-2014, 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 GRAPHVIEWER_H_
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#define GRAPHVIEWER_H_
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#include <QtGui/QGraphicsView>
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#include <QtCore/QMap>
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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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namespace rtabmap {
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class NodeItem;
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class LinkItem;
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class GraphViewer : public QGraphicsView {
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public:
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GraphViewer(QWidget * parent = 0);
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virtual ~GraphViewer();
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void updateGraph(const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & constraints);
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void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
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void clearGraph();
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void clearMap();
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void clearAll();
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void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
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protected:
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virtual void wheelEvent ( QWheelEvent * event );
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virtual void contextMenuEvent(QContextMenuEvent * event);
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private:
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QString _workingDirectory;
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QColor _nodeColor;
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QColor _neighborColor;
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QColor _loopClosureColor;
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QGraphicsItem * _root;
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QMap<int, NodeItem*> _nodeItems;
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QMap<int, LinkItem*> _neighborLinkItems;
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QMap<int, LinkItem*> _loopLinkItems;
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float _nodeRadius;
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float _linkWidth;
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QGraphicsPixmapItem * _gridMap;
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QGraphicsItemGroup * _lastReferential;
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float _gridCellSize;
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};
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} /* namespace rtabmap */
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#endif /* GRAPHVIEWER_H_ */
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