root / rgbdslam / src / qt_gui.h @ 9240aaa3
History | View | Annotate | Download (4.09 KB)
1 |
/* This file is part of RGBDSLAM.
|
---|---|
2 |
*
|
3 |
* RGBDSLAM is free software: you can redistribute it and/or modify
|
4 |
* it under the terms of the GNU General Public License as published by
|
5 |
* the Free Software Foundation, either version 3 of the License, or
|
6 |
* (at your option) any later version.
|
7 |
*
|
8 |
* RGBDSLAM is distributed in the hope that it will be useful,
|
9 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
10 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
11 |
* GNU General Public License for more details.
|
12 |
*
|
13 |
* You should have received a copy of the GNU General Public License
|
14 |
* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
|
15 |
*/
|
16 |
|
17 |
|
18 |
/* This is the main widget of the application.
|
19 |
* It sets up some not yet useful menus and
|
20 |
* three qlabels in the layout of the central widget
|
21 |
* that can be used to show qimages via the slots
|
22 |
* setDepthImage and setVisualImage.
|
23 |
*
|
24 |
* there is an alternative: RosUI for headless use of the rgbdslam
|
25 |
*/
|
26 |
#ifndef QTCV_H
|
27 |
#define QTCV_H
|
28 |
|
29 |
#include <QMainWindow> |
30 |
#include <QGridLayout> |
31 |
#include "glviewer.h" |
32 |
#include "parameter_server.h" |
33 |
|
34 |
class QAction; |
35 |
class QActionGroup; |
36 |
class QLabel; |
37 |
class QMenu; |
38 |
|
39 |
//TODO:
|
40 |
//Choice between Binary and ASCII outputfiles
|
41 |
//Buttons for start/stop
|
42 |
//GUI/Commandline options for switching on/off the individual visualizations
|
43 |
|
44 |
//!Constructs a QT GUI for easy control of RGBD-SLAM
|
45 |
/** Small GUI Class to visualize and control rgbdslam
|
46 |
* See Help->About for a short description */
|
47 |
class Graphical_UI: public QMainWindow |
48 |
{ |
49 |
Q_OBJECT |
50 |
|
51 |
public: |
52 |
Graphical_UI(); |
53 |
GLViewer* getGLViewer(); |
54 |
Q_SIGNALS:
|
55 |
///User selected to reset the graph
|
56 |
void reset();
|
57 |
///User selected to start or resume processing
|
58 |
void togglePause();
|
59 |
///User selected to start or resume bag recording
|
60 |
void toggleBagRecording();
|
61 |
///User wants the next frame to be processed
|
62 |
void getOneFrame();
|
63 |
///User wants the last node to be removed from the graph
|
64 |
void deleteLastFrame();
|
65 |
void sendAllClouds(); ///< Signifies the sending of the whole model |
66 |
///User wants the current world model to be saved to a pcd-file or ply file
|
67 |
void saveAllClouds(QString filename);
|
68 |
void saveTrajectory(QString filename);
|
69 |
///User wants the current world model to be saved to one pcd-file per node
|
70 |
void saveIndividualClouds(QString file_basename);
|
71 |
void setMaxDepth(float max_depth); |
72 |
void evaluation();
|
73 |
void optimizeGraph();
|
74 |
void printEdgeErrors(QString);
|
75 |
void pruneEdgesWithErrorAbove(float); |
76 |
|
77 |
public Q_SLOTS: |
78 |
void setVisualImage(QImage);
|
79 |
void setFeatureFlowImage(QImage);
|
80 |
void setDepthImage(QImage);
|
81 |
void setTransformation(QString);
|
82 |
void sendFinished(); ///< Call to display, that sending finished |
83 |
void addPointCloud(pointcloud_type * pc, QMatrix4x4 transform);
|
84 |
void updateTransforms(QList<QMatrix4x4>* transforms);
|
85 |
void setGraphEdges(QList<QPair<int, int> >* list); |
86 |
void deleteLastNode();
|
87 |
void resetGLViewer();
|
88 |
|
89 |
private Q_SLOTS: |
90 |
void resetCmd();
|
91 |
void sendAll();
|
92 |
void setMax();
|
93 |
void saveAll();
|
94 |
void saveIndividual();
|
95 |
void quickSaveAll();
|
96 |
void pause(bool); |
97 |
void bagRecording(bool); |
98 |
void about();
|
99 |
void help();
|
100 |
void lastTransformationMatrix();
|
101 |
void setInfo(QString);
|
102 |
void setInfo2(QString);
|
103 |
void setStatus(QString);
|
104 |
void getOneFrameCmd();
|
105 |
void deleteLastFrameCmd();
|
106 |
void set3DDisplay(bool is_on); |
107 |
void set2DStream(bool is_on); |
108 |
void toggleTriangulation();
|
109 |
void saveTrajectoryDialog();
|
110 |
void optimizeGraphTrig();
|
111 |
void showEdgeErrors();
|
112 |
void pruneEdgesWithHighError();
|
113 |
private:
|
114 |
//!Menus and Menu elements are defined here
|
115 |
void createMenus();
|
116 |
|
117 |
//QString *menuHelpText;
|
118 |
QString *mouseHelpText; |
119 |
QString *infoText; |
120 |
QString *licenseText; |
121 |
QString transformationMatrix; |
122 |
QLabel *infoLabel; |
123 |
QLabel *infoLabel2; |
124 |
QLabel *tmpLabel; |
125 |
QLabel *visual_image_label; |
126 |
QLabel *feature_flow_image_label; |
127 |
QLabel *depth_image_label; |
128 |
QLabel *stats_image_label; |
129 |
//QLabel *transform_label;
|
130 |
QGridLayout* gridlayout; |
131 |
QString filename; |
132 |
GLViewer* glviewer; |
133 |
bool pause_on;
|
134 |
}; |
135 |
|
136 |
#endif
|