Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM 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.

 * 

 * RGBDSLAM 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 RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

/* This is the main widget of the application.

* It sets up some not yet useful menus and

* three qlabels in the layout of the central widget

* that can be used to show qimages via the slots

* setDepthImage and setVisualImage.

*

* there is an alternative: RosUI for headless use of the rgbdslam

*/

#ifndef QTCV_H

#define QTCV_H

#include <QMainWindow>

#include <QGridLayout>

#include "glviewer.h"

#include "parameter_server.h"

class QAction;

class QActionGroup;

class QLabel;

class QMenu;

//TODO:

//Choice between Binary and ASCII outputfiles

//Buttons for start/stop

//GUI/Commandline options for switching on/off the individual visualizations

//!Constructs a QT GUI for easy control of RGBD-SLAM

/** Small GUI Class to visualize and control rgbdslam

* See Help->About for a short description */

class Graphical_UI: public QMainWindow

{

    Q_OBJECT

public:

    Graphical_UI();

    GLViewer* getGLViewer();

Q_SIGNALS:

    ///User selected to reset the graph

    void reset(); 

    ///User selected to start or resume processing

    void togglePause();

    ///User selected to start or resume bag recording

    void toggleBagRecording();

    ///User wants the next frame to be processed

    void getOneFrame();

    ///User wants the last node to be removed from the graph

    void deleteLastFrame();

    void sendAllClouds(); ///< Signifies the sending of the whole model

    ///User wants the current world model to be saved to a pcd-file or ply file

    void saveAllClouds(QString filename);

    void saveTrajectory(QString filename);

    ///User wants the current world model to be saved to one pcd-file per node

    void saveIndividualClouds(QString file_basename);

    void setMaxDepth(float max_depth);

    void evaluation();

    void optimizeGraph();

    void printEdgeErrors(QString);

    void pruneEdgesWithErrorAbove(float);

public Q_SLOTS:

    void setVisualImage(QImage);

    void setFeatureFlowImage(QImage);

    void setDepthImage(QImage);

    void setTransformation(QString);

    void sendFinished(); ///< Call to display, that sending finished

    void addPointCloud(pointcloud_type * pc, QMatrix4x4 transform);

    void updateTransforms(QList<QMatrix4x4>* transforms);

    void setGraphEdges(QList<QPair<int, int> >* list);

    void deleteLastNode();

    void resetGLViewer();

private Q_SLOTS:

    void resetCmd();

    void sendAll();

    void setMax();

    void saveAll();

    void saveIndividual();

    void quickSaveAll();

    void pause(bool);

    void bagRecording(bool);

    void about();

    void help();

    void lastTransformationMatrix();

    void setInfo(QString);

    void setInfo2(QString);

    void setStatus(QString);

    void getOneFrameCmd();

    void deleteLastFrameCmd();

    void set3DDisplay(bool is_on);

    void set2DStream(bool is_on);

    void toggleTriangulation();

    void saveTrajectoryDialog();

    void optimizeGraphTrig();

    void showEdgeErrors();

    void pruneEdgesWithHighError();

private:

    //!Menus and Menu elements are defined here

    void createMenus();

    //QString *menuHelpText;

    QString *mouseHelpText;

    QString *infoText;

    QString *licenseText;

    QString transformationMatrix;

    QLabel *infoLabel;

    QLabel *infoLabel2;

    QLabel *tmpLabel;

    QLabel *visual_image_label;

    QLabel *feature_flow_image_label;

    QLabel *depth_image_label;

    QLabel *stats_image_label;

    //QLabel *transform_label;

    QGridLayout* gridlayout;

    QString filename;

    GLViewer* glviewer;

    bool pause_on;

};

#endif