├── .gitignore
├── srv
    └── Order.srv
├── examples
    ├── 图片1.png
    └── 图片2.png
├── .idea
    ├── interact_slam.iml
    ├── misc.xml
    ├── vcs.xml
    ├── .gitignore
    └── modules.xml
├── LICENSE
├── readme.md
├── src
    ├── roshandle.h
    ├── Console.cpp
    ├── mainwindow.h
    ├── roshandle.cpp
    ├── mainwindow.cpp
    └── mainwindow.ui
├── CMakeLists.txt
├── scripts
    └── order_service.py
└── package.xml


/.gitignore:
--------------------------------------------------------------------------------
1 | /cmake-build-debug/


--------------------------------------------------------------------------------
/srv/Order.srv:
--------------------------------------------------------------------------------
1 | string request
2 | ---
3 | string response


--------------------------------------------------------------------------------
/examples/图片1.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chenjianqu/interact_slam/HEAD/examples/图片1.png


--------------------------------------------------------------------------------
/examples/图片2.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chenjianqu/interact_slam/HEAD/examples/图片2.png


--------------------------------------------------------------------------------
/.idea/interact_slam.iml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <module classpath="CMake" type="CPP_MODULE" version="4" />


--------------------------------------------------------------------------------
/.idea/misc.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <project version="4">
3 |   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
4 | </project>


--------------------------------------------------------------------------------
/.idea/vcs.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <project version="4">
3 |   <component name="VcsDirectoryMappings">
4 |     <mapping directory="$PROJECT_DIR$" vcs="Git" />
5 |   </component>
6 | </project>


--------------------------------------------------------------------------------
/.idea/.gitignore:
--------------------------------------------------------------------------------
1 | # Default ignored files
2 | /shelf/
3 | /workspace.xml
4 | # Datasource local storage ignored files
5 | /dataSources/
6 | /dataSources.local.xml
7 | # Editor-based HTTP Client requests
8 | /httpRequests/
9 | 


--------------------------------------------------------------------------------
/.idea/modules.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <project version="4">
3 |   <component name="ProjectModuleManager">
4 |     <modules>
5 |       <module fileurl="file://$PROJECT_DIR$/.idea/interact_slam.iml" filepath="$PROJECT_DIR$/.idea/interact_slam.iml" />
6 |     </modules>
7 |   </component>
8 | </project>


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2022 ChenJianqu
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/readme.md:
--------------------------------------------------------------------------------
 1 | # interact_slam
 2 | 这是一个基于QT5的、用于ROS环境下的交互软件。  
 3 | **注：这是我本科毕业设计的一部分**
 4 | 
 5 | ## Motivation
 6 | ​	在ROS程序开发中，很多情况下会遇到编写图形界面程序的需求。有几种方法可以在ROS中开发图形界面程序，若基于Python语言，
 7 | 可以使用pyqt、thinker等图形界面库。若基于C++，最好的选择是Qt。作者存在通过点云库处理点云的需求，但是点云库缺乏一个稳定、高效的
 8 | Python接口。因此，这里选择C++而不是Python开发交互程序，选择Qt作为开发框架。  
 9 |   虽然ROS官方支持Qt，比如可以使用 catkin_create_qt_pkg命令创建Qt功能包，而且ROS中很多基本工具也都是基于Qt的。但是ROS Kinect
10 | 版本只支持Qt4库，无法有效兼容当前流行的程序。因此，这里使用Levi-Armstrong开发的Qt Creator插件：ros_qtc_plugin，使用Qt5开发交互程序。
11 | 
12 | ## Main
13 | 本程序基于Qt5 进行开发，程序的启动界面如下图所示。
14 | 
15 | ![image](https://github.com/chenjianqu/interact_slam/blob/master/examples/%E5%9B%BE%E7%89%871.png)
16 | 
17 | 交互程序主界面
18 | 
19 | ​	如上图所示，左上角的黑框是交互终端，用于显示文本交互的结果。左边中间是输入区域，可以通过文本输入，也可以通过语音进行输入。
20 | 左下角用于显示原始的RGB-D帧。中间四个显示区域分别用于显示实例分割的结果、稠密的三维点云、稀疏的三维特征点、导航地图。
21 | 其中稠密三维点云和稀疏三维特征点均使用点云控件显示，在点云控件中还可以显示实例包围框和移动机器人的运动轨迹。右侧是配置选项，
22 | 比如可以设置程序监听的话题(Topic)、设置显示的点云大小等。
23 | 
24 | 
25 | ​	上面提到的用于渲染点云的控件是图形渲染库vtk编译生成的QVTKWidget组件。最著名的图形渲染库是OpenGL和VTK，这里选择后者
26 | 用于渲染点云。这是因为点云库的可视化类CloudViewer和PCLVisualizer是基于vtk图形库的，这里使用vtk可以兼容PCL提供的相关程序接口。
27 | 
28 | ​	节点需要轮循接收ROS话题消息，而Qt库也需要轮循监听交互事件，要解决这两者的冲突，一个可选的办法是构造两个线程：一个用于
29 | 接收ROS消息，另一个用于监听事件。但是在这里，ROS操作与Qt库的交互十分频繁，如果按照这种思路实现将非常复杂，也会造成性能下降。
30 | 解决办法是通过定时器轮循ROS消息，而把代码都放在同一个线程中，这样编写的代码更加清晰、高效。
31 | 
32 | ![image](https://github.com/chenjianqu/interact_slam/blob/master/examples/%E5%9B%BE%E7%89%872.png)
33 | 
34 | 运行中的交互界面
35 | 
36 | 上图是正在运行的交互节点程序，由图可知交互节点可以完美的监测系统各个部分的运行结果。此外，用户还可以在图 4.10左侧的命令
37 | 输入框或语音输入命令中输入命令，接着交互节点会将输入的命令通过服务机制调用命令节点执行，然后显示命令执行的结果。
38 | 
39 | 


--------------------------------------------------------------------------------
/src/roshandle.h:
--------------------------------------------------------------------------------
 1 | /*******************************************************
 2 |  * Copyright (C) 2022, Chen Jianqu, Shanghai University
 3 |  *
 4 |  * This file is part of interact_slam.
 5 |  *
 6 |  * Licensed under the MIT License;
 7 |  * you may not use this file except in compliance with the License.
 8 |  *******************************************************/
 9 | 
10 | 
11 | #ifndef ROSHANDLE_H
12 | #define ROSHANDLE_H
13 | 
14 | 
15 | #include "mainwindow.h"
16 | #include "ros/ros.h"
17 | #include "image_transport/image_transport.h"
18 | #include "ros/master.h"
19 | #include <nav_msgs/OccupancyGrid.h>
20 | #include <pcl_conversions/pcl_conversions.h>
21 | 
22 | #include <pcl_ros/point_cloud.h>
23 | #include <pcl/point_cloud.h>
24 | #include <pcl/point_types.h>
25 | #include <pcl/common/common_headers.h>
26 | #include <pcl/io/pcd_io.h>
27 | #include <pcl/point_types.h>
28 | 
29 | #include<QString>
30 | #include<QSet>
31 | #include<QList>
32 | 
33 | 
34 | class MainWindow;
35 | 
36 | typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
37 | typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
38 | 
39 | class RosHandle
40 | {
41 | public:
42 |   ros::NodeHandle *nh;
43 |   MainWindow *win;
44 | 
45 |   RosHandle(ros::NodeHandle *nh_);
46 |   image_transport::ImageTransport *it;
47 |   image_transport::Subscriber rawImageSub;
48 |   image_transport::Subscriber instanceImageSub;
49 |   ros::Subscriber navigationSub;
50 |   ros::Subscriber denseMapSub;
51 |   ros::Subscriber sparseMapSub;
52 | 
53 |   ros::ServiceClient orderService;
54 |   tf::TransformListener* listener;
55 | 
56 |   void RawImageSubscribe(QString topic);
57 |   void RawImageCallBack(const sensor_msgs::ImageConstPtr& msg);
58 |   void InstanceImageSubscribe(QString topic);
59 |   void InstanceImageCallBack(const sensor_msgs::ImageConstPtr& msg);
60 |   void DenseMapSubscribe(QString topic);
61 |   void DenseMapCallBack(const PointCloud::ConstPtr& msg);
62 |   void SparseMapSubscribe(QString topic);
63 |   void SparseMapCallBack(const PointCloudXYZ::ConstPtr& msg);
64 |   void NavigationSubscribe(QString topic);
65 |   void NavigationCallBack(const nav_msgs::OccupancyGrid& msg);
66 | 
67 |   QString SendOrder(QString msg);
68 | 
69 |   void PoseLookup();
70 | 
71 |   QSet<QString> GetTopics(const QSet<QString>& message_types, const QList<QString>& transports);
72 |   QList<QString> UpdateTopicList(QSet<QString> message_types);
73 |   QList<QString> GetSpecificTopics(const QSet<QString>& message_types);
74 |   QString GetAllTopics();
75 | 
76 | 
77 | private:
78 |   int rawImageCounter;
79 | 
80 | 
81 | };
82 | 
83 | #endif // INTERACT_H
84 | 


--------------------------------------------------------------------------------
/src/Console.cpp:
--------------------------------------------------------------------------------
  1 | /*******************************************************
  2 |  * Copyright (C) 2022, Chen Jianqu, Shanghai University
  3 |  *
  4 |  * This file is part of interact_slam.
  5 |  *
  6 |  * Licensed under the MIT License;
  7 |  * you may not use this file except in compliance with the License.
  8 |  *******************************************************/
  9 | 
 10 | 
 11 | #include "ros/ros.h"
 12 | #include "ros/master.h"
 13 | #include "std_msgs/String.h"
 14 | #include "cv_bridge/cv_bridge.h"
 15 | #include "image_transport/image_transport.h"
 16 | 
 17 | #include "roshandle.h"
 18 | #include "mainwindow.h"
 19 | 
 20 | 
 21 | #include <thread>
 22 | #include <mutex>
 23 | 
 24 | 
 25 | #include <QApplication>
 26 | #include<QString>
 27 | #include<QSet>
 28 | #include<QList>
 29 | #include<QTimer>
 30 | 
 31 | 
 32 | using namespace std;
 33 | 
 34 | 
 35 | class CallBackClass
 36 | {
 37 | public:
 38 |   MainWindow *win;
 39 |   RosHandle *rh;
 40 | 
 41 |   CallBackClass(ros::NodeHandle *nhp);
 42 | 
 43 |   void ImageCallback(const sensor_msgs::ImageConstPtr& msg);
 44 | 
 45 | protected:
 46 |   unsigned long frameCounter;
 47 | };
 48 | 
 49 | 
 50 | 
 51 | 
 52 | int main(int argc, char **argv)
 53 | {
 54 |   ros::init(argc, argv, "Console");
 55 |   ros::NodeHandle nh;
 56 | 
 57 |   QApplication a(argc,argv);
 58 | 
 59 |   CallBackClass cb(&nh);
 60 | 
 61 |   cb.win->timer->setInterval(200);
 62 |   cb.win->connect(cb.win->timer,&QTimer::timeout,[=]()
 63 |   {
 64 |     ros::spinOnce();
 65 |     cb.rh->PoseLookup();
 66 | 
 67 |   });
 68 | 
 69 |   cb.win->timerSlow->setInterval(10000);
 70 |   cb.win->connect(cb.win->timerSlow,&QTimer::timeout,[=]()
 71 |   {
 72 |     cb.win->UpdateInstance();
 73 |   });
 74 | 
 75 |    cb.win->show();
 76 | 
 77 |    cb.win->timer->start();
 78 |    cb.win->timerSlow->start();
 79 | 
 80 |    return a.exec();
 81 | }
 82 | 
 83 | 
 84 | CallBackClass::CallBackClass(ros::NodeHandle *nhp)
 85 | {
 86 |   frameCounter=0;
 87 | 
 88 |   rh=new RosHandle(nhp);
 89 |   win=new MainWindow();
 90 | 
 91 |   win->rh=rh;
 92 |   rh->win=win;
 93 | 
 94 |   win->Init();
 95 | }
 96 | 
 97 | 
 98 | 
 99 | void CallBackClass::ImageCallback(const sensor_msgs::ImageConstPtr& msg)
100 | {
101 |   try{
102 |      //cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
103 |      win->SetRawImage(cv_bridge::toCvShare(msg, "bgr8")->image);
104 |      //cvWaitKey(1);
105 | 
106 |   }catch (cv_bridge::Exception& e)
107 |   {
108 |     ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
109 |   }
110 | }
111 | 
112 | 
113 | 
114 | 
115 | 
116 | 
117 | 
118 | 
119 | 
120 | 
121 | 
122 | 
123 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(interact_slam)
  3 | 
  4 | add_compile_options(-std=c++11)
  5 | 
  6 | find_package(catkin REQUIRED COMPONENTS
  7 |   cv_bridge
  8 |   image_transport
  9 |   message_filters
 10 |   roscpp
 11 |   rospy
 12 |   sensor_msgs
 13 |   std_msgs
 14 |   nav_msgs
 15 |   tf
 16 |   tf_conversions
 17 |   pcl_conversions
 18 |   message_generation
 19 | )
 20 | 
 21 | find_package(
 22 |     Qt5 REQUIRED COMPONENTS  Widgets
 23 | )
 24 | 
 25 | 
 26 | set(CMAKE_AUTOMOC ON)
 27 | set(CMAKE_AUTOUIC ON)
 28 | set(CMAKE_INCLUDE_CURRENT_DIR ON)
 29 | 
 30 | 
 31 | add_service_files(FILES Order.srv)
 32 | generate_messages(DEPENDENCIES std_msgs)
 33 | 
 34 | 
 35 | catkin_package(
 36 | #  INCLUDE_DIRS include
 37 | #  LIBRARIES interact_slam
 38 | #  CATKIN_DEPENDS cv_bridge image_transport message_filters roscpp sensor_msgs std_msgs tf tf_conversions
 39 | #  DEPENDS system_lib
 40 | )
 41 | 
 42 | 
 43 | 
 44 | 
 45 | include_directories(
 46 |     include/interact_slam
 47 |     include
 48 |     ${catkin_INCLUDE_DIRS}
 49 |     /usr/local/include
 50 |      /usr/include/pcl-1.7
 51 |       /usr/include/eigen3
 52 |       /usr/include/vtk-6.2
 53 |     /usr/local/include/opencv
 54 |     /usr/local/include/opencv2
 55 | )
 56 | 
 57 | 
 58 | set(LIBS
 59 |         -lpcl_common
 60 |         -lpcl_search
 61 |         -lpcl_features
 62 |         -lpcl_segmentation
 63 |         -lpcl_recognition
 64 |         -lpcl_visualization
 65 |             -L/usr/lib/x86_64-linux-gnu/
 66 |             -L/usr/lib/x86_64-linux-gnu/
 67 |              -lboost_system
 68 |              -lboost_thread
 69 |          -lvtkRenderingCore-6.2
 70 |          -lvtkCommonDataModel-6.2
 71 |          -lvtkCommonMath-6.2
 72 |          -lvtkCommonCore-6.2
 73 |          -lvtkGUISupportQt-6.2
 74 |          /usr/local/lib/libopencv_highgui.so
 75 |          /usr/local/lib/libopencv_core.so
 76 |          /usr/local/lib/libopencv_imgproc.so
 77 |         /usr/local/lib/libopencv_imgcodecs.so
 78 |          Qt5::Widgets
 79 | )
 80 | 
 81 | 
 82 | set(SOURCES
 83 |   src/Console.cpp
 84 |   src/mainwindow.cpp
 85 | )
 86 | 
 87 | set(FORMS
 88 |   src/mainwindow.ui
 89 | )
 90 | 
 91 | add_library(roshandle src/roshandle.h src/roshandle.cpp)
 92 | target_link_libraries(roshandle ${catkin_LIBRARIES} ${LIBS})
 93 | add_dependencies(roshandle ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 94 | set(LIBS3
 95 |         roshandle
 96 | )
 97 | 
 98 | 
 99 | add_executable(${PROJECT_NAME}_node ${SOURCES} ${FORMS})
100 | 
101 | target_link_libraries(
102 |     ${PROJECT_NAME}_node
103 |     ${catkin_LIBRARIES} ${LIBS}  ${LIBS3}
104 | )
105 | 
106 | 


--------------------------------------------------------------------------------
/scripts/order_service.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/env python
  2 | # -*- coding: utf-8 -*-
  3 | 
  4 | #########################################################
  5 | # Copyright (C) 2022, Chen Jianqu, Shanghai University
  6 | #
  7 | # This file is part of interact_slam.
  8 | #
  9 | # Licensed under the MIT License;
 10 | # you may not use this file except in compliance with the License.
 11 | #########################################################
 12 | 
 13 | 
 14 | 
 15 | import rospy
 16 | from interact_slam.srv import *
 17 | 
 18 | import cv2
 19 | import json
 20 | import urllib2
 21 | import urllib
 22 | import re
 23 | import string
 24 | 
 25 | 
 26 | keyWords=["人","自行车","汽车","摩托车","飞机",
 27 | 		  	"公共汽车","火车","卡车","船","红绿灯",
 28 | 		  "消防栓","停车标志","停车表","长凳","鸟",
 29 | 		  	"猫","狗","马","羊","牛",
 30 | 		  	"象","熊","斑马","长颈鹿","背包",
 31 | 		  	"伞","手提包","领带","手提箱","飞盘",
 32 | 			"滑雪板","滑雪板","运动球","风筝","棒球棒",
 33 | 			"棒球手套","滑板","冲浪板","网球拍","瓶子",
 34 | 		  	"酒杯","杯子","叉子","刀子","勺子",
 35 | 		  	"碗","香蕉","苹果","三明治","橘子",
 36 | 		  	"花椰菜","胡萝卜","热狗","披萨","甜甜圈",
 37 | 		  	"蛋糕","椅子","沙发","盆栽","床",
 38 | 		  	"餐桌","马桶","电视","笔记本","鼠标",
 39 | 		  	"遥控器","键盘","手机","微波炉","烤箱",
 40 | 			"烤面包机","水槽","冰箱","书","时钟",
 41 | 		  	"花瓶","剪刀","泰迪熊","吹风机","牙刷"
 42 | 		 ]
 43 | 
 44 | fileName="/media/chen/chen/Robot/slam_ws/data/InstanceMat.exr";
 45 | instVector=cv2.imread(fileName,-1)
 46 | 
 47 | 
 48 | def chat(text):
 49 | 	BOT_NAME='系统'
 50 | 	BOT_SELF_NAME='本系统'
 51 | 	x = urllib.quote(text)
 52 | 	link = urllib2.urlopen(
 53 | 		"http://nlp.xiaoi.com/robot/webrobot?&callback=__webrobot_processMsg&data=%7B%22sessionId%22%3A%22ff725c236e5245a3ac825b2dd88a7501%22%2C%22robotId%22%3A%22webbot%22%2C%22userId%22%3A%227cd29df3450745fbbdcf1a462e6c58e6%22%2C%22body%22%3A%7B%22content%22%3A%22" + x + "%22%7D%2C%22type%22%3A%22txt%22%7D")
 54 | 	html_doc = link.read()
 55 | 	reply_list = re.findall(r'\"content\":\"(.+?)\\r\\n\"', html_doc)
 56 | 	reply=str(reply_list[-1])
 57 | 	reply=reply.replace("小i机器人",BOT_NAME)
 58 | 	reply=reply.replace("小i",BOT_SELF_NAME)
 59 | 	return reply
 60 | 
 61 | def Handle(text):
 62 | 	result=''
 63 | 	key=''
 64 | 	index=0
 65 | 	for (i,k) in enumerate(keyWords):
 66 | 		if(k in text): #存在关键词
 67 | 			key=k
 68 | 			index=i
 69 | 			break
 70 | 	if(key!=''):
 71 | 		insts=[]
 72 | 		for inst in instVector:
 73 | 			if(int(inst[0])==index):
 74 | 				insts.append(((inst[2]+inst[3])/2,(inst[4]+inst[5])/2,(inst[6]+inst[7])/2))
 75 | 		print(insts)
 76 | 		if(len(insts)==0):
 77 | 			result="实例地图中未找到"+key
 78 | 		else:
 79 | 			if("拿" in text):
 80 | 				result="发现"+str(len(insts))+"个"+key+"实例，正在导航到：\n"+str(insts[0])
 81 | 			else:
 82 | 				result="发现"+str(len(insts))+"个"+key+"实例:\n"+str(insts)
 83 | 	
 84 | 	if(("实例" in text or "东西" in text) and ("所有" in text or "全部" in text)):
 85 | 		result+="当前所有的实例如下：\n"
 86 | 		instCurrent={}
 87 | 		for inst in instVector:
 88 | 			clsIndex=int(inst[0])
 89 | 			k=keyWords[clsIndex]
 90 | 			n=instCurrent.get(k,0)
 91 | 			instCurrent[k]=n+1
 92 | 		for k,v in instCurrent.items():
 93 | 			result+=str(k)+":"+str(v)+"\n"
 94 | 			
 95 | 
 96 | 	if(result==""):
 97 | 		#result="无法理解"
 98 | 		result=chat(text)
 99 | 		if("资讯" in result):
100 | 			result="行吧"
101 | 		if("你可能关心" in result):
102 | 			result="哦"
103 | 		if(result==""):
104 | 			result="无法理解"
105 | 			
106 | 	return result
107 | 	
108 | 
109 | 	
110 | def UpdateInstance(event):
111 | 	global instVector
112 | 	fileName="/media/chen/chen/Robot/slam_ws/data/InstanceMat.exr";
113 | 	instVector=cv2.imread(fileName,-1);
114 | 	#print(instVector)
115 | 
116 |  
117 | def CallBack(req):
118 | 	s=req.request
119 | 	rospy.loginfo("请求："+s)
120 | 	result=Handle(s)
121 | 	rospy.loginfo("结果："+result)
122 | 	return OrderResponse(result) #返回应答数据包（这里传进去的参数按.srv文件的顺序填写）
123 | 
124 | def OrderServices():
125 | 	rospy.init_node('Order_Service_Node')
126 | 	s = rospy.Service('OrderService',Order,CallBack)
127 | 	
128 | 	rospy.Timer(rospy.Duration(10),UpdateInstance)
129 | 	
130 | 	rospy.loginfo("命令服务节点已启动")
131 | 	rospy.spin()
132 | 	rospy.loginfo("命令服务节点已关闭")
133 | 
134 | if __name__ == "__main__":
135 | 	OrderServices()


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>interact_slam</name>
 4 |   <version>0.1.0</version>
 5 |   <description>The interact_slam package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="chenjianqu@todo.todo">chenjianqu</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>Apache 2.0</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/interact_slam</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 |   <author >chenjianqu</author>
30 | 
31 | 
32 |   <!-- The *depend tags are used to specify dependencies -->
33 |   <!-- Dependencies can be catkin packages or system dependencies -->
34 |   <!-- Examples: -->
35 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
36 |   <!--   <depend>roscpp</depend> -->
37 |   <!--   Note that this is equivalent to the following: -->
38 |   <!--   <build_depend>roscpp</build_depend> -->
39 |   <!--   <exec_depend>roscpp</exec_depend> -->
40 |   <!-- Use build_depend for packages you need at compile time: -->
41 |   <!--   <build_depend>message_generation</build_depend> -->
42 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
43 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
44 |   <!-- Use buildtool_depend for build tool packages: -->
45 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
46 |   <!-- Use exec_depend for packages you need at runtime: -->
47 |   <!--   <exec_depend>message_runtime</exec_depend> -->
48 |   <!-- Use test_depend for packages you need only for testing: -->
49 |   <!--   <test_depend>gtest</test_depend> -->
50 |   <!-- Use doc_depend for packages you need only for building documentation: -->
51 |   <!--   <doc_depend>doxygen</doc_depend> -->
52 |   <buildtool_depend>catkin</buildtool_depend>
53 |   <build_depend>cv_bridge</build_depend>
54 |   <build_depend>image_transport</build_depend>
55 |   <build_depend>message_filters</build_depend>
56 |   <build_depend>roscpp</build_depend>
57 |   <build_depend>rospy</build_depend>
58 |   <build_depend>sensor_msgs</build_depend>
59 |   <build_depend>std_msgs</build_depend>
60 |   <build_depend>tf</build_depend>
61 |   <build_depend>tf_conversions</build_depend>
62 |   <build_depend>nav_msgs</build_depend>
63 |   <build_depend>pcl_conversions</build_depend>
64 |   <build_depend>message_generation</build_depend>
65 | 
66 | 
67 | 
68 |   <build_export_depend>cv_bridge</build_export_depend>
69 |   <build_export_depend>image_transport</build_export_depend>
70 |   <build_export_depend>message_filters</build_export_depend>
71 |   <build_export_depend>roscpp</build_export_depend>
72 |   <build_export_depend>rospy</build_export_depend>
73 |   <build_export_depend>sensor_msgs</build_export_depend>
74 |   <build_export_depend>std_msgs</build_export_depend>
75 |   <build_export_depend>tf</build_export_depend>
76 |   <build_export_depend>tf_conversions</build_export_depend>
77 |   <build_export_depend>nav_msgs</build_export_depend>
78 |   <build_export_depend>pcl_conversions</build_export_depend>
79 | 
80 |   <exec_depend>cv_bridge</exec_depend>
81 |   <exec_depend>image_transport</exec_depend>
82 |   <exec_depend>message_filters</exec_depend>
83 |   <exec_depend>roscpp</exec_depend>
84 |   <exec_depend>rospy</exec_depend>
85 |   <exec_depend>sensor_msgs</exec_depend>
86 |   <exec_depend>std_msgs</exec_depend>
87 |   <exec_depend>tf</exec_depend>
88 |   <exec_depend>tf_conversions</exec_depend>
89 |   <exec_depend>nav_msgs</exec_depend>
90 |   <exec_depend>pcl_conversions</exec_depend>
91 |   <exec_depend>message_runtime</exec_depend>
92 | 
93 |   <!-- The export tag contains other, unspecified, tags -->
94 |   <export>
95 |     <!-- Other tools can request additional information be placed here -->
96 | 
97 |   </export>
98 | </package>
99 | 


--------------------------------------------------------------------------------
/src/mainwindow.h:
--------------------------------------------------------------------------------
  1 | /*******************************************************
  2 |  * Copyright (C) 2022, Chen Jianqu, Shanghai University
  3 |  *
  4 |  * This file is part of interact_slam.
  5 |  *
  6 |  * Licensed under the MIT License;
  7 |  * you may not use this file except in compliance with the License.
  8 |  *******************************************************/
  9 | 
 10 | #ifndef MAINWINDOW_H
 11 | #define MAINWINDOW_H
 12 | 
 13 | #include <QMainWindow>
 14 | #include <QImage>
 15 | #include<QPixmap>
 16 | #include <QString>
 17 | #include<QList>
 18 | #include<QTimer>
 19 | #include<QPainter>
 20 | 
 21 | 
 22 | #include <vtkRenderWindow.h>
 23 | #include <opencv2/opencv.hpp>
 24 | #include <opencv2/imgproc.hpp>
 25 | #include<opencv2/core.hpp>
 26 | #include<opencv2/highgui.hpp>
 27 | 
 28 | #include <pcl/point_cloud.h>
 29 | #include <pcl/point_types.h>
 30 | #include <pcl/visualization/pcl_visualizer.h>
 31 | 
 32 | #include "ros/ros.h"
 33 | #include <cv_bridge/cv_bridge.h>
 34 | #include <nav_msgs/OccupancyGrid.h>
 35 | #include <tf/transform_listener.h>
 36 | 
 37 | 
 38 | #include "roshandle.h"
 39 | 
 40 | 
 41 | typedef pcl::PointXYZRGB PointT;
 42 | typedef pcl::PointXYZ PointXYZ;
 43 | typedef pcl::PointCloud<PointT> PointCloud;
 44 | typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
 45 | typedef boost::shared_ptr<pcl::visualization::PCLVisualizer> ViewerPtr;
 46 | 
 47 | namespace Ui {
 48 | class MainWindow;
 49 | }
 50 | 
 51 | 
 52 | class RosHandle;//头文件相互包含要进行类别的前置声明
 53 | 
 54 | 
 55 | class MainWindow : public QMainWindow
 56 | {
 57 |   Q_OBJECT
 58 | 
 59 | public:
 60 |     RosHandle *rh;
 61 | 
 62 |     ViewerPtr densePointCloudViewer;
 63 |     ViewerPtr sparsePointCloudViewer;
 64 |     PointCloud::Ptr densePointCloud;
 65 |     PointCloudXYZ::Ptr sparsePointCloud;
 66 |     PointCloudXYZ::Ptr trackPointCloud;
 67 | 
 68 |     QString interactString;
 69 | 
 70 |     QString rawImageTopicString;
 71 |     QString instanceImageTopicString;
 72 |     QString densePointCloudTopicString;
 73 |     QString sparsePointCloudTopicString;
 74 |     QString navigationTopicString;
 75 | 
 76 |     QTimer *timer;
 77 |     QTimer *timerSlow;
 78 | 
 79 | 
 80 |     MainWindow(QWidget *parent = nullptr);
 81 |     ~MainWindow();
 82 |     void InitWindow();
 83 |     void Init();
 84 |     void InitPCLViewer();
 85 | 
 86 |     void SetRawImage(cv::Mat img);
 87 |     void SetInstanceImage(cv::Mat img);
 88 |     void SetDenseMap(PointCloud::ConstPtr pc);
 89 |     void SetSparseMap(PointCloudXYZ::ConstPtr pc);
 90 |     void SetNavigationMap(const nav_msgs::OccupancyGrid& msg);
 91 |     void InsertPose(tf::Quaternion q,tf::Vector3 t);
 92 |     void UpdateInstance();
 93 |     QImage GetRandomImage();
 94 | 
 95 |   inline void SetOutputString(QString s);
 96 |   inline QImage Mat2QImage(cv::Mat img);
 97 | 
 98 | 
 99 | private slots:
100 |   void on_rawImageEnableCheckbox_stateChanged(int arg1);
101 | 
102 |   void on_instanceSegmentationImageEnableCheckbox_stateChanged(int arg1);
103 | 
104 |   void on_densePointCloudMapEnableCheckbox_stateChanged(int arg1);
105 | 
106 |   void on_sparsePointCloudMapEnableCheckbox_stateChanged(int arg1);
107 | 
108 |   void on_navigationMapEnableCheckbox_stateChanged(int arg1);
109 | 
110 |   void on_pointSizeSlider_valueChanged(int value);
111 | 
112 |   void on_pointSizeSlider_sliderReleased();
113 | 
114 |   void on_densePointCloudMapInstanceCheckbox_stateChanged(int arg1);
115 | 
116 |   void on_sparsePointCloudMapInstanceCheckbox_stateChanged(int arg1);
117 | 
118 | 
119 |   void on_rawImageTopicRefreshButton_clicked();
120 | 
121 |   void on_rawImageSubComboBox_currentIndexChanged(const QString &arg1);
122 | 
123 |   void on_instanceSegmentationImageTopicRefreshButton_clicked();
124 | 
125 |   void on_instanceSegmentationImageSubComboBox_currentIndexChanged(const QString &arg1);
126 | 
127 |   void on_densePointCloudMapTopicRefreshButton_clicked();
128 | 
129 |   void on_densePointCloudMapSubComboBox_currentIndexChanged(const QString &arg1);
130 | 
131 |   void on_sparsePointCloudMapTopicRefreshButton_clicked();
132 | 
133 |   void on_sparsePointCloudMapSubComboBox_currentIndexChanged(const QString &arg1);
134 | 
135 |   void on_navigationMapTopicRefreshButton_clicked();
136 | 
137 |   void on_navigationMapSubComboBox_currentIndexChanged(const QString &arg1);
138 | 
139 |   void on_interactSendButton_clicked();
140 | 
141 |   void on_interactOutpuClearButton_clicked();
142 | 
143 |   void on_rawImageSubComboBox_currentTextChanged(const QString &arg1);
144 | 
145 |   void on_pushButton_clicked();
146 | 
147 |   void on_densePointCloudMapTrackCheckbox_stateChanged(int arg1);
148 | 
149 |   void on_sparsePointCloudMapTrackCheckbox_stateChanged(int arg1);
150 | 
151 |   void on_densePointCloudMapShowLabelCheckbox_stateChanged(int arg1);
152 | 
153 |   void on_sparsePointCloudMapShowLabelCheckbox_stateChanged(int arg1);
154 | 
155 |   void on_interactVoiceButton_clicked();
156 | 
157 |   void on_voiceInputCheckbox_stateChanged(int arg1);
158 | 
159 |   void on_voiceOutputCheckbox_stateChanged(int arg1);
160 | 
161 | private:
162 |   void ShowInstance(ViewerPtr viewer);
163 |   void ShowInstanceLabel(ViewerPtr viewer);
164 |   void HideInstance(ViewerPtr viewer);
165 |   void HideInstanceLabel(ViewerPtr viewer);
166 | 
167 |   Ui::MainWindow *ui;
168 | 
169 |   int pointSize;
170 |   int showInstanceNum;
171 |   int showInstanceLabelNum;
172 | 
173 |   std::string COCO_CLASSES[80];
174 | 
175 |   std::vector<std::vector<float>> instVector;
176 | };
177 | 
178 | #endif // MAINWINDOW_H
179 | 


--------------------------------------------------------------------------------
/src/roshandle.cpp:
--------------------------------------------------------------------------------
  1 | /*******************************************************
  2 |  * Copyright (C) 2022, Chen Jianqu, Shanghai University
  3 |  *
  4 |  * This file is part of interact_slam.
  5 |  *
  6 |  * Licensed under the MIT License;
  7 |  * you may not use this file except in compliance with the License.
  8 |  *******************************************************/
  9 | 
 10 | 
 11 | #include "roshandle.h"
 12 | #include "ros/ros.h"
 13 | #include "interact_slam/Order.h"
 14 | 
 15 | 
 16 | RosHandle::RosHandle(ros::NodeHandle *nh_)
 17 | {
 18 |   rawImageCounter=0;
 19 |   nh=nh_;
 20 |   it=new image_transport::ImageTransport(*nh);
 21 | 
 22 |   listener=new tf::TransformListener();//tf监听器
 23 | 
 24 |   orderService=nh->serviceClient<interact_slam::Order>("OrderService");
 25 | }
 26 | 
 27 | 
 28 | QString RosHandle::SendOrder(QString msg)
 29 | {
 30 |   interact_slam::Order srv;
 31 |   srv.request.request=msg.toStdString();
 32 |   if(orderService.call(srv))
 33 |   {
 34 |     return QString(srv.response.response.c_str());
 35 |   }
 36 |   else{
 37 |     return QString("命令服务调用失败");
 38 |   }
 39 | }
 40 | 
 41 | void RosHandle::PoseLookup()
 42 | {
 43 |   tf::StampedTransform m;
 44 |   try{
 45 |     listener->lookupTransform("world", "orb_slam2", ros::Time(0), m);//查找坐标转换
 46 |     tf::Quaternion q=m.getRotation();
 47 |     tf::Vector3 t=m.getOrigin();
 48 |     //cout<<t.getX()<<" "<<t.getX()<<" "<<t.getX()<<endl;
 49 |     win->InsertPose(q,t);
 50 |   }
 51 |   catch (tf::TransformException &ex){
 52 |     ROS_ERROR("%s",ex.what());
 53 |     ros::Duration(0.1).sleep();
 54 |   }
 55 | }
 56 | 
 57 | 
 58 | 
 59 | 
 60 | void RosHandle::RawImageSubscribe(QString topic)
 61 | {
 62 |   rawImageSub.shutdown();
 63 |   if (!topic.isEmpty())
 64 |   {
 65 |      rawImageSub=it->subscribe(topic.toStdString(),1,&RosHandle::RawImageCallBack,this);
 66 |   }
 67 | }
 68 | 
 69 | void RosHandle::RawImageCallBack(const sensor_msgs::ImageConstPtr& msg)
 70 | {
 71 |   cv_bridge::CvImageConstPtr cv_ptrRGB;
 72 |   try{
 73 |        cv_ptrRGB = cv_bridge::toCvShare(msg);
 74 |     }
 75 |     catch (cv_bridge::Exception& e){
 76 |         ROS_ERROR("cv_bridge exception: %s", e.what());
 77 |           return;
 78 |   }
 79 |   win->SetRawImage(cv_ptrRGB->image);
 80 | }
 81 | 
 82 | void RosHandle::InstanceImageSubscribe(QString topic)
 83 | {
 84 |   instanceImageSub.shutdown();
 85 |   if (!topic.isEmpty())
 86 |   {
 87 |      instanceImageSub=it->subscribe(topic.toStdString(),1,&RosHandle::InstanceImageCallBack,this);
 88 |   }
 89 | }
 90 | 
 91 | void RosHandle::InstanceImageCallBack(const sensor_msgs::ImageConstPtr& msg)
 92 | {
 93 |   cv_bridge::CvImageConstPtr cv_ptrRGB;
 94 |   try{
 95 |        cv_ptrRGB = cv_bridge::toCvShare(msg);
 96 |     }
 97 |     catch (cv_bridge::Exception& e){
 98 |         ROS_ERROR("cv_bridge exception: %s", e.what());
 99 |           return;
100 |   }
101 |   win->SetInstanceImage(cv_ptrRGB->image);
102 | }
103 | 
104 | void RosHandle::DenseMapSubscribe(QString topic)
105 | {
106 |   denseMapSub.shutdown();
107 |   if (!topic.isEmpty())
108 |   {
109 |      denseMapSub=nh->subscribe(topic.toStdString(),1,&RosHandle::DenseMapCallBack,this);
110 |   }
111 | }
112 | 
113 | 
114 | void RosHandle::DenseMapCallBack(const PointCloud::ConstPtr& msg)
115 | {
116 |   win->SetDenseMap(msg);
117 | }
118 | 
119 | 
120 | void RosHandle::SparseMapSubscribe(QString topic)
121 | {
122 |   sparseMapSub.shutdown();
123 |   if (!topic.isEmpty())
124 |   {
125 |      sparseMapSub=nh->subscribe(topic.toStdString(),1,&RosHandle::SparseMapCallBack,this);
126 |   }
127 | }
128 | 
129 | 
130 | void RosHandle::SparseMapCallBack(const PointCloudXYZ::ConstPtr& msg)
131 | {
132 |   win->SetSparseMap(msg);
133 |   //cout<<msg->size()<<endl;
134 | }
135 | 
136 | 
137 | void RosHandle::NavigationSubscribe(QString topic)
138 | {
139 |   navigationSub.shutdown();
140 |   if (!topic.isEmpty())
141 |   {
142 |      navigationSub=nh->subscribe(topic.toStdString(),1,&RosHandle::NavigationCallBack,this);
143 |   }
144 | }
145 | 
146 | 
147 | void RosHandle::NavigationCallBack(const nav_msgs::OccupancyGrid& msg)
148 | {
149 |   win->SetNavigationMap(msg);
150 | }
151 | 
152 | 
153 | 
154 | 
155 | QList<QString> RosHandle::UpdateTopicList(QSet<QString> message_types)
156 | {
157 |   // get declared transports
158 |   QList<QString> transports;
159 |   image_transport::ImageTransport it(*nh);
160 |   std::vector<std::string> declared = it.getDeclaredTransports();
161 |   for (std::vector<std::string>::const_iterator it = declared.begin(); it != declared.end(); it++)
162 |   {
163 |     QString transport = it->c_str();
164 |     QString prefix = "image_transport/";
165 |     if (transport.startsWith(prefix))
166 |       transport = transport.mid(prefix.length());// strip prefix from transport name
167 |     transports.append(transport);
168 |     std::cout<<transport.toStdString()<<std::endl;
169 |   }
170 | 
171 |   // fill combo box
172 |   QList<QString> topics = GetTopics(message_types, transports).values();
173 |   topics.append("");
174 |   qSort(topics);
175 |   return topics;
176 | }
177 | 
178 | 
179 | 
180 | QSet<QString> RosHandle::GetTopics(const QSet<QString>& message_types, const QList<QString>& transports)
181 | {
182 |   ros::master::V_TopicInfo topic_info;
183 |   ros::master::getTopics(topic_info);
184 | 
185 |   QSet<QString> all_topics;
186 |   for (ros::master::V_TopicInfo::const_iterator it = topic_info.begin(); it != topic_info.end(); it++)
187 |     all_topics.insert(it->name.c_str());
188 | 
189 |   QSet<QString> topics;
190 |   for (ros::master::V_TopicInfo::const_iterator it = topic_info.begin(); it != topic_info.end(); it++)
191 |   {
192 |     if (message_types.contains(it->datatype.c_str()))
193 |     {
194 |       QString topic = it->name.c_str();
195 |       topics.insert(topic);// add raw topic
196 | 
197 |       // add transport specific sub-topics
198 |       for (QList<QString>::const_iterator jt = transports.begin(); jt != transports.end(); jt++)
199 |       {
200 |         if (all_topics.contains(topic + "/" + *jt))
201 |         {
202 |           QString sub = topic + " " + *jt;
203 |           topics.insert(sub);
204 |         }
205 |       }
206 |     }
207 | 
208 |   }
209 |   return topics;
210 | }
211 | 
212 | 
213 | 
214 | 
215 | QList<QString> RosHandle::GetSpecificTopics(const QSet<QString>& message_types)
216 | {
217 |   ros::master::V_TopicInfo topic_info;
218 |   ros::master::getTopics(topic_info);
219 | 
220 |   QSet<QString> all_topics;
221 |   for (ros::master::V_TopicInfo::const_iterator it = topic_info.begin(); it != topic_info.end(); it++)
222 |     all_topics.insert(it->name.c_str());
223 | 
224 |   QSet<QString> tp;
225 |   for (ros::master::V_TopicInfo::const_iterator it = topic_info.begin(); it != topic_info.end(); it++)
226 |   {
227 |     if (message_types.contains(it->datatype.c_str()))
228 |     {
229 |       QString topic = it->name.c_str();
230 |       tp.insert(topic);// add raw topic
231 |     }
232 |   }
233 | 
234 |   QList<QString> topics = tp.values();
235 |   topics.append("");
236 |   qSort(topics);
237 | 
238 |   return topics;
239 | }
240 | 
241 | 
242 | 
243 | 
244 | QString RosHandle::GetAllTopics()
245 | {
246 |   ros::master::V_TopicInfo topic_info;
247 |   ros::master::getTopics(topic_info);
248 | 
249 |   QString s="";
250 | 
251 |   QSet<QString> all_topics;
252 |   for (ros::master::V_TopicInfo::const_iterator it = topic_info.begin(); it != topic_info.end(); it++)
253 |   {
254 |     s+="主题:"+QString(it->name.c_str())+"\n";
255 |     s+="数据类型:"+QString(it->datatype.c_str())+"\n";
256 |     s+="\n";
257 |   }
258 | 
259 |   return s;
260 | }
261 | 


--------------------------------------------------------------------------------
/src/mainwindow.cpp:
--------------------------------------------------------------------------------
  1 | /*******************************************************
  2 |  * Copyright (C) 2022, Chen Jianqu, Shanghai University
  3 |  *
  4 |  * This file is part of interact_slam.
  5 |  *
  6 |  * Licensed under the MIT License;
  7 |  * you may not use this file except in compliance with the License.
  8 |  *******************************************************/
  9 | 
 10 | #include "mainwindow.h"
 11 | #include "ui_mainwindow.h"
 12 | 
 13 | #include "roshandle.h"
 14 | #include <math.h>
 15 | #include <string>
 16 | #include <fstream>
 17 | 
 18 | 
 19 | 
 20 | 
 21 | MainWindow::MainWindow(QWidget *parent) :
 22 |   QMainWindow(parent),
 23 |   ui(new Ui::MainWindow)
 24 | {
 25 |   ui->setupUi(this);
 26 |   interactString="交互程序正在启动\n";
 27 |   timer=new QTimer();
 28 |   timerSlow=new QTimer();
 29 |   trackPointCloud.reset (new PointCloudXYZ);
 30 | 
 31 |   showInstanceNum=0;
 32 |   showInstanceLabelNum=0;
 33 | 
 34 |   std::string coco_label_[]={"person", "bicycle", "car", "motorcycle", "airplane", "bus",
 35 |                   "train", "truck", "boat", "traffic light", "fire hydrant",
 36 |                   "stop sign", "parking meter", "bench", "bird", "cat", "dog",
 37 |                   "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe",
 38 |                   "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee",
 39 |                   "skis", "snowboard", "sports ball", "kite", "baseball bat",
 40 |                   "baseball glove", "skateboard", "surfboard", "tennis racket",
 41 |                   "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl",
 42 |                   "banana", "apple", "sandwich", "orange", "broccoli", "carrot",
 43 |                   "hot dog", "pizza", "donut", "cake", "chair", "couch",
 44 |                   "potted plant", "bed", "dining table", "toilet", "tv", "laptop",
 45 |                   "mouse", "remote", "keyboard", "cell phone", "microwave", "oven",
 46 |                   "toaster", "sink", "refrigerator", "book", "clock", "vase",
 47 |                   "scissors", "teddy bear", "hair drier", "toothbrush"};
 48 |       //复制到COCO_label数组
 49 |   std::copy(std::begin(coco_label_),std::end(coco_label_),std::begin(COCO_CLASSES));
 50 | 
 51 |   rawImageTopicString="/camera/rgb";
 52 |   instanceImageTopicString="/ps/rgb";
 53 |   densePointCloudTopicString="/point_cloud/raw";
 54 |   sparsePointCloudTopicString="/point_cloud/sparse";
 55 |   navigationTopicString="/map";
 56 | }
 57 | 
 58 | MainWindow::~MainWindow()
 59 | {
 60 |   delete ui;
 61 | }
 62 | 
 63 | 
 64 | void MainWindow::Init()
 65 | {
 66 |   pointSize=1;
 67 |   InitPCLViewer();
 68 |   InitWindow();
 69 | 
 70 |   //init comboBox
 71 |   on_rawImageTopicRefreshButton_clicked();
 72 |   on_instanceSegmentationImageTopicRefreshButton_clicked();
 73 |   on_densePointCloudMapTopicRefreshButton_clicked();
 74 |   on_sparsePointCloudMapTopicRefreshButton_clicked();
 75 |   on_navigationMapTopicRefreshButton_clicked();
 76 | }
 77 | 
 78 | 
 79 | 
 80 | void MainWindow::InitWindow()
 81 | {
 82 |   cv::Mat imgRand = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
 83 |   cv::randu(imgRand, cv::Scalar::all(0), cv::Scalar::all(255));
 84 |   ui->rawImage->setPixmap(QPixmap::fromImage(Mat2QImage(imgRand)));
 85 |   ui->instanceSegmentationImage->setPixmap(QPixmap::fromImage(Mat2QImage(imgRand)));
 86 |   ui->navigationMap->setPixmap(QPixmap::fromImage(Mat2QImage(imgRand)));
 87 | 
 88 |   //on_rawImageTopicRefreshButton_clicked();
 89 | 
 90 |   ui->interactOutputLabel->setText(interactString);
 91 |   ui->interactOutputLabel->setTextInteractionFlags(Qt::TextSelectableByMouse);
 92 |   ui->interactOutputLabel->setTextInteractionFlags(Qt::TextSelectableByKeyboard);
 93 | 
 94 |   ui->rawImageEnableCheckbox->setChecked(true);
 95 | //  ui->instanceSegmentationImageEnableCheckbox->setChecked(false);
 96 |   //ui->densePointCloudMapEnableCheckbox->setChecked(false);
 97 |   //ui->sparsePointCloudMapEnableCheckbox->setChecked(false);
 98 |   //ui->navigationMapEnableCheckbox->setChecked(false);
 99 |   ui->instanceSegmentationImageSubComboBox->setEnabled(false);
100 |   ui->instanceSegmentationImageTopicRefreshButton->setEnabled(false);
101 |   ui->densePointCloudMapSubComboBox->setEnabled(false);
102 |   ui->densePointCloudMapTopicRefreshButton->setEnabled(false);
103 |   ui->sparsePointCloudMapSubComboBox->setEnabled(false);
104 |   ui->sparsePointCloudMapTopicRefreshButton->setEnabled(false);
105 |   ui->navigationMapSubComboBox->setEnabled(false);
106 |   ui->navigationMapTopicRefreshButton->setEnabled(false);
107 | }
108 | 
109 | 
110 | QImage MainWindow::Mat2QImage(cv::Mat img)
111 | {
112 |   if(img.type()==16){
113 |     cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
114 |     return QImage((const unsigned char*)(img.data), int(img.cols), int(img.rows), img.step, QImage::Format_RGB888);
115 |   }
116 |   else if(img.type()==0){
117 |     return QImage((const unsigned char*)(img.data), int(img.cols), int(img.rows), img.step, QImage::Format_Mono);
118 |   }
119 |   else if(img.type()==5){
120 |     return QImage((const unsigned char*)(img.data), int(img.cols), int(img.rows), img.step, QImage::Format_Mono);
121 |   }
122 | }
123 | 
124 | 
125 | 
126 | 
127 | QImage MainWindow::GetRandomImage()
128 | {
129 |   cv::Mat imgRand = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
130 |   cv::randu(imgRand, cv::Scalar::all(0), cv::Scalar::all(255));
131 |   return Mat2QImage(imgRand);
132 | }
133 | 
134 | 
135 | void MainWindow::InitPCLViewer()
136 | {
137 |       densePointCloudViewer.reset (new pcl::visualization::PCLVisualizer ("DensePointMap", false));
138 |       densePointCloudViewer->setBackgroundColor (0, 0, 0);
139 |       densePointCloudViewer->addCoordinateSystem (0.5);//设置坐标轴大小
140 |       densePointCloudViewer->initCameraParameters ();
141 |       ui->densePointCloudMap->SetRenderWindow (densePointCloudViewer->getRenderWindow());
142 |       densePointCloudViewer->setupInteractor (ui->densePointCloudMap->GetInteractor (), ui->densePointCloudMap->GetRenderWindow ());
143 |       ui->densePointCloudMap->update ();
144 | 
145 |       sparsePointCloudViewer.reset (new pcl::visualization::PCLVisualizer ("FeaturePointMap", false));
146 |       sparsePointCloudViewer->setBackgroundColor (0, 0, 0);
147 |       sparsePointCloudViewer->addCoordinateSystem (0.5);//设置坐标轴大小
148 |       sparsePointCloudViewer->initCameraParameters ();
149 |       ui->sparsePointCloudMap->SetRenderWindow (sparsePointCloudViewer->getRenderWindow());
150 |       sparsePointCloudViewer->setupInteractor (ui->sparsePointCloudMap->GetInteractor (), ui->sparsePointCloudMap->GetRenderWindow ());
151 |       ui->sparsePointCloudMap->update ();
152 | 
153 |       densePointCloud.reset (new PointCloud);
154 |       densePointCloud->points.resize (1000);
155 |       for (size_t i = 0; i < densePointCloud->points.size (); ++i)
156 |       {
157 |         densePointCloud->points[i].x = 2 * rand () / (RAND_MAX + 1.0f);
158 |         densePointCloud->points[i].y = 2 * rand () / (RAND_MAX + 1.0f);
159 |         densePointCloud->points[i].z = 2 * rand () / (RAND_MAX + 1.0f);
160 | 
161 |         densePointCloud->points[i].r = 255;
162 |         densePointCloud->points[i].g = 255;
163 |         densePointCloud->points[i].b = 255;
164 |       }
165 | 
166 |       sparsePointCloud.reset (new PointCloudXYZ);
167 |       sparsePointCloud->points.resize (1000);
168 |       for (size_t i = 0; i < sparsePointCloud->points.size (); ++i)
169 |       {
170 |         sparsePointCloud->points[i].x = 2 * rand () / (RAND_MAX + 1.0f);
171 |         sparsePointCloud->points[i].y = 2 * rand () / (RAND_MAX + 1.0f);
172 |         sparsePointCloud->points[i].z = 2 * rand () / (RAND_MAX + 1.0f);
173 |       }
174 | 
175 |       densePointCloudViewer->addPointCloud (densePointCloud, "cloud");
176 |       ui->densePointCloudMap->update ();
177 | 
178 |       sparsePointCloudViewer->addPointCloud (sparsePointCloud, "cloud");
179 |      ui->sparsePointCloudMap->update ();
180 | }
181 | 
182 | 
183 | void MainWindow::UpdateInstance()
184 | {
185 |   std::string fileName="/media/chen/chen/Robot/ws/data/InstanceMat.exr";
186 |   cv::Mat img=cv::imread(fileName,-1);
187 |   if(img.empty())
188 |     return;
189 | 
190 |   instVector.clear();
191 |   for(int i=0;i<img.rows;i++)
192 |   {
193 |     std::vector<float> v;
194 |     for(int j=0;j<img.cols;j++)
195 |       v.push_back(float(img.at<float>(i,j)));
196 |     instVector.push_back(v);
197 |   }
198 | 
199 |   if(ui->densePointCloudMapInstanceCheckbox->checkState()==Qt::CheckState::Checked){
200 |     HideInstance(densePointCloudViewer);
201 |     ShowInstance(densePointCloudViewer);
202 |   }
203 |   if(ui->sparsePointCloudMapInstanceCheckbox->checkState()==Qt::CheckState::Checked){
204 |     HideInstance(sparsePointCloudViewer);
205 |     ShowInstance(sparsePointCloudViewer);
206 |   }
207 |   if(ui->densePointCloudMapShowLabelCheckbox->checkState()==Qt::CheckState::Checked){
208 |     HideInstanceLabel(densePointCloudViewer);
209 |     ShowInstanceLabel(densePointCloudViewer);
210 |   }
211 |   if(ui->sparsePointCloudMapShowLabelCheckbox->checkState()==Qt::CheckState::Checked){
212 |     HideInstanceLabel(sparsePointCloudViewer);
213 |     ShowInstanceLabel(sparsePointCloudViewer);
214 |   }
215 | }
216 | 
217 | 
218 | void MainWindow::ShowInstance(ViewerPtr viewer)
219 | {
220 |   if(instVector.size()>0)
221 |   {
222 |     for(int i=0;i<instVector.size();i++)
223 |     {
224 |         std::vector<float> v=instVector[i];
225 |         std::string name="instance"+std::to_string(i);
226 |         double color_r=rand() / double(RAND_MAX);
227 |         double color_g=rand() / double(RAND_MAX);
228 |         double color_b=rand() / double(RAND_MAX);
229 |         //绘制立方体
230 |         viewer->addCube(v[2],v[3],v[4],v[5],v[6],v[7],color_r,color_g,color_b,name);
231 |     }
232 |     showInstanceNum=instVector.size();
233 |   }
234 | }
235 | 
236 | 
237 | void MainWindow::HideInstance(ViewerPtr viewer)
238 | {
239 |   if(showInstanceNum>0)
240 |   {
241 |     for(int i=0;i<showInstanceNum;i++)
242 |         viewer->removeShape("instance"+std::to_string(i));
243 |   }
244 | }
245 | 
246 | 
247 | void MainWindow::ShowInstanceLabel(ViewerPtr viewer)
248 | {
249 |   if(instVector.size()>0)
250 |   {
251 |     for(int i=0;i<instVector.size();i++)
252 |     {
253 |         std::vector<float> v=instVector[i];
254 |         std::string insName=COCO_CLASSES[int(v[0])]+std::to_string(int(v[1]));
255 |         double color_r=rand() / double(RAND_MAX);
256 |         double color_g=rand() / double(RAND_MAX);
257 |         double color_b=rand() / double(RAND_MAX);
258 |         PointXYZ p;
259 |         p.x=v[2];
260 |         p.y=v[4];
261 |         p.z=v[6];
262 |         //绘制标签，尺度为1.0,颜色为红色
263 |         //viewer->addText3D("*"+insName,p,0.03,color_r,color_g,color_b,"label"+std::to_string(i));
264 |        // viewer->addText3D("*"+insName,p,0.03,color_r,color_g,color_b);
265 |     }
266 |     showInstanceLabelNum=instVector.size();
267 |   }
268 | }
269 | 
270 | void MainWindow::HideInstanceLabel(ViewerPtr viewer)
271 | {
272 |   if(showInstanceLabelNum>0)
273 |   {
274 |     //for(int i=0;i<showInstanceLabelNum;i++)
275 |      //   viewer->removeText3D("");
276 |   }
277 | }
278 | 
279 | 
280 | void MainWindow::SetRawImage(cv::Mat img)
281 | {
282 |   QImage imgQ=Mat2QImage(img);
283 |   ui->rawImage->setPixmap(QPixmap::fromImage(imgQ));
284 | }
285 | 
286 | void MainWindow::SetInstanceImage(cv::Mat img)
287 | {
288 |   QImage imgQ=Mat2QImage(img);
289 |   ui->instanceSegmentationImage->setPixmap(QPixmap::fromImage(imgQ));
290 | }
291 | 
292 | 
293 | void MainWindow::SetDenseMap(PointCloud::ConstPtr pc)
294 | {
295 |   densePointCloudViewer->updatePointCloud(pc,"cloud");
296 |   ui->densePointCloudMap->update ();
297 | }
298 | 
299 | void MainWindow::SetSparseMap(PointCloudXYZ::ConstPtr pc)
300 | {
301 |   sparsePointCloudViewer->updatePointCloud(pc,"cloud");
302 |   ui->sparsePointCloudMap->update ();
303 | }
304 | 
305 | void MainWindow::SetNavigationMap(const nav_msgs::OccupancyGrid& msg)
306 | {
307 |   int width=int(msg.info.width);
308 |   int height=int(msg.info.height);
309 | 
310 |   QPoint leftButtonPosition=QPoint(msg.info.origin.position.x,msg.info.origin.position.y);
311 |   float step=msg.info.resolution;
312 | 
313 |   QPoint originPosition;
314 |   originPosition.setX(int(-leftButtonPosition.x()*10));
315 |   originPosition.setY(int(-leftButtonPosition.y()*10));
316 | 
317 | 
318 |   std::vector<signed char> vec=msg.data;
319 |   int cursor=width*height;
320 | 
321 |   cv::Mat img = cv::Mat::zeros(cv::Size(width, height), CV_8UC1);
322 |   for (int i = 0; i<img.rows ; i++) {
323 |       uchar *imageRow = img.ptr(i);
324 |       for (int j = img.cols-1;j>=0; j--)
325 |           imageRow[j]=(unsigned char)(255-vec[--cursor]*255/100);
326 |   }
327 |   cv::Mat imgColor = cv::Mat::zeros(cv::Size(width, height), CV_8UC3);
328 |   cv::cvtColor(img, imgColor, cv::COLOR_GRAY2RGB);
329 | 
330 |   cv::Mat imgResize;
331 |   //图片自适应窗口
332 |   double wPh=586.0/440.0;
333 |   if(width/height>wPh){
334 |     double scale=586.0/width;
335 |     cv::resize(imgColor, imgResize, cv::Size(),scale,scale);
336 |   }
337 |   else{
338 |     double scale=440.0/height;
339 |     cv::resize(imgColor, imgResize, cv::Size(),scale,scale);
340 |   }
341 | 
342 | 
343 | 
344 | 
345 |   QImage qimg=Mat2QImage(imgResize);
346 | 
347 |   QPainter painter(&qimg);
348 |   QPen pen(QColor(0,255,0));
349 |   painter.setPen(pen);
350 | 
351 |   if(0<=originPosition.x() && originPosition.x()<width
352 |      && 0<=originPosition.y() && originPosition.y()<height)
353 |   painter.drawEllipse(originPosition,10,10);
354 | 
355 | 
356 |   ui->navigationMap->setPixmap(QPixmap::fromImage(qimg));
357 | }
358 | 
359 | 
360 | 
361 | inline void MainWindow::SetOutputString(QString s)
362 | {
363 |   interactString+=s+"\n";
364 |   QList<QString> sl=interactString.split(QRegExp("[\r\n]"),QString::SkipEmptyParts);
365 | 
366 |   if(sl.length()>30){
367 |     interactString="";
368 |     int i=sl.length()-30;
369 |     for (QList<QString>::const_iterator jt = sl.begin(); jt != sl.end(); jt++)
370 |     {
371 |       i--;
372 |       if(i>0)
373 |         continue;
374 |       interactString+=*jt+"\n";
375 |     }
376 |   }
377 |   ui->interactOutputLabel->setText(interactString);
378 | }
379 | 
380 | 
381 | 
382 | 
383 | void MainWindow::InsertPose(tf::Quaternion q,tf::Vector3 t)
384 | {
385 |   PointXYZ p;
386 |   p.x=float(t.getX());
387 |   p.y=float(t.getY());
388 |   p.z=float(t.getZ());
389 | 
390 |   if(trackPointCloud->size()==0){
391 |     trackPointCloud->points.push_back(p);
392 |     return;
393 |   }
394 | 
395 |   PointXYZ lastPose=trackPointCloud->points[trackPointCloud->size()-1];
396 |   double distance=sqrt(pow(lastPose.x-p.x,2)+pow(lastPose.y-p.y,2)+pow(lastPose.z-p.z,2));
397 |   if(distance<0.01)
398 |     return;
399 |   trackPointCloud->points.push_back(p);
400 | 
401 |   if(ui->densePointCloudMapTrackCheckbox->checkState() == Qt::CheckState::Checked)
402 |   {
403 |     densePointCloudViewer->addLine(lastPose,p,"track"+std::to_string(trackPointCloud->size()));
404 |     ui->densePointCloudMap->update();
405 |   }
406 | 
407 |   if(ui->sparsePointCloudMapTrackCheckbox->checkState() == Qt::CheckState::Checked)
408 |   {
409 |     sparsePointCloudViewer->addLine(lastPose,p,"track"+std::to_string(trackPointCloud->size()));
410 |     ui->sparsePointCloudMap->update();
411 |   }
412 | }
413 | 
414 | 
415 | 
416 | 
417 | 
418 | 
419 | 
420 | void MainWindow::on_rawImageEnableCheckbox_stateChanged(int arg1)
421 | {
422 |   if(arg1==2) //Enable
423 |   {
424 |     ui->rawImageSubComboBox->setEnabled(true);
425 |     ui->rawImageTopicRefreshButton->setEnabled(true);
426 |     rh->RawImageSubscribe(rawImageTopicString);
427 |     on_rawImageTopicRefreshButton_clicked();
428 | 
429 |     SetOutputString("打开数据源监视器");
430 |   }
431 |   else if(arg1==0) //Disable
432 |   {
433 |     ui->rawImageSubComboBox->setEnabled(false);
434 |     ui->rawImageTopicRefreshButton->setEnabled(false);
435 |     rh->rawImageSub.shutdown();
436 |     cv::Mat imgRand = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
437 |       cv::randu(imgRand, cv::Scalar::all(0), cv::Scalar::all(255));
438 |     ui->rawImage->setPixmap(QPixmap::fromImage(Mat2QImage(imgRand)));
439 |     SetOutputString("关闭数据源监视器");
440 |   }
441 | }
442 | 
443 | void MainWindow::on_instanceSegmentationImageEnableCheckbox_stateChanged(int arg1)
444 | {
445 |   if(arg1==2) //Enable
446 |   {
447 |     ui->instanceSegmentationImageSubComboBox->setEnabled(true);
448 |     ui->instanceSegmentationImageTopicRefreshButton->setEnabled(true);
449 |     rh->InstanceImageSubscribe(instanceImageTopicString);
450 |     on_instanceSegmentationImageTopicRefreshButton_clicked();
451 | 
452 |     SetOutputString("打开实例分割监视器");
453 |   }
454 |   else if(arg1==0) //Disable
455 |   {
456 |     ui->instanceSegmentationImageSubComboBox->setEnabled(false);
457 |     ui->instanceSegmentationImageTopicRefreshButton->setEnabled(false);
458 |     rh->instanceImageSub.shutdown();
459 |     cv::Mat imgRand = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
460 |       cv::randu(imgRand, cv::Scalar::all(0), cv::Scalar::all(255));
461 |     ui->instanceSegmentationImage->setPixmap(QPixmap::fromImage(Mat2QImage(imgRand)));
462 |     SetOutputString("关闭实例分割监视器");
463 |   }
464 | }
465 | 
466 | void MainWindow::on_densePointCloudMapEnableCheckbox_stateChanged(int arg1)
467 | {
468 |   if(arg1==2) //Enable
469 |   {
470 |     ui->densePointCloudMapSubComboBox->setEnabled(true);
471 |     ui->densePointCloudMapTopicRefreshButton->setEnabled(true);
472 |     rh->DenseMapSubscribe(densePointCloudTopicString);
473 |     on_densePointCloudMapTopicRefreshButton_clicked();
474 | 
475 |     SetOutputString("打开稠密点云监视器");
476 |   }
477 |   else if(arg1==0) //Disable
478 |   {
479 |     ui->densePointCloudMapSubComboBox->setEnabled(false);
480 |     ui->densePointCloudMapTopicRefreshButton->setEnabled(false);
481 |     rh->denseMapSub.shutdown();
482 |     SetOutputString("关闭稠密点云监视器");
483 |   }
484 | }
485 | 
486 | void MainWindow::on_sparsePointCloudMapEnableCheckbox_stateChanged(int arg1)
487 | {
488 |   if(arg1==2) //Enable
489 |   {
490 |     ui->sparsePointCloudMapSubComboBox->setEnabled(true);
491 |     ui->sparsePointCloudMapTopicRefreshButton->setEnabled(true);
492 |     rh->SparseMapSubscribe(sparsePointCloudTopicString);
493 |     on_sparsePointCloudMapTopicRefreshButton_clicked();
494 | 
495 |     SetOutputString("打开稀疏点云监视器");
496 |   }
497 |   else if(arg1==0) //Disable
498 |   {
499 |     ui->sparsePointCloudMapSubComboBox->setEnabled(false);
500 |     ui->sparsePointCloudMapTopicRefreshButton->setEnabled(false);
501 |     rh->sparseMapSub.shutdown();
502 |     SetOutputString("关闭稀疏点云监视器");
503 |   }
504 | }
505 | 
506 | void MainWindow::on_navigationMapEnableCheckbox_stateChanged(int arg1)
507 | {
508 |   if(arg1==2) //Enable
509 |   {
510 |     ui->navigationMapSubComboBox->setEnabled(true);
511 |     ui->navigationMapTopicRefreshButton->setEnabled(true);
512 |     rh->NavigationSubscribe(navigationTopicString);
513 |     on_navigationMapTopicRefreshButton_clicked();
514 |     SetOutputString("打开导航监视器");
515 |   }
516 |   else if(arg1==0) //Disable
517 |   {
518 |     ui->navigationMapSubComboBox->setEnabled(false);
519 |     ui->navigationMapTopicRefreshButton->setEnabled(false);
520 |     rh->navigationSub.shutdown();
521 |     cv::Mat imgRand = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
522 |       cv::randu(imgRand, cv::Scalar::all(0), cv::Scalar::all(255));
523 |     ui->navigationMap->setPixmap(QPixmap::fromImage(Mat2QImage(imgRand)));
524 |     SetOutputString("关闭导航监视器");
525 |   }
526 | }
527 | 
528 | void MainWindow::on_pointSizeSlider_valueChanged(int value)
529 | {
530 |     pointSize=value;
531 |     ui->pointSizeLabel->setNum(value);
532 | }
533 | 
534 | void MainWindow::on_pointSizeSlider_sliderReleased()
535 | {
536 |   densePointCloudViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, "cloud");
537 |   ui->densePointCloudMap->update();
538 |   sparsePointCloudViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, "cloud");
539 |   ui->sparsePointCloudMap->update();
540 | }
541 | 
542 | void MainWindow::on_densePointCloudMapInstanceCheckbox_stateChanged(int arg1)
543 | {
544 |   if(arg1==2) //Enable
545 |   {
546 |     ShowInstance(densePointCloudViewer);
547 |     SetOutputString("稠密地图显示实例");
548 |   }
549 |   else if(arg1==0) //Disable
550 |   {
551 |     HideInstance(densePointCloudViewer);
552 |     SetOutputString("稠密地图隐藏实例");
553 |   }
554 | }
555 | 
556 | void MainWindow::on_sparsePointCloudMapInstanceCheckbox_stateChanged(int arg1)
557 | {
558 |   if(arg1==2) //Enable
559 |   {
560 |     ShowInstance(sparsePointCloudViewer);
561 |     SetOutputString("稀疏地图显示实例");
562 |   }
563 |   else if(arg1==0) //Disable
564 |   {
565 |     HideInstance(sparsePointCloudViewer);
566 |     SetOutputString("稀疏地图隐藏实例");
567 |   }
568 | }
569 | 
570 | 
571 | 
572 | void MainWindow::on_rawImageTopicRefreshButton_clicked()
573 | {
574 |   ui->rawImageSubComboBox->clear();
575 | 
576 |   QSet<QString> message_types;
577 |   message_types.insert("sensor_msgs/Image");
578 |   message_types.insert("sensor_msgs/CompressedImage");
579 |   QList<QString> topicList=rh->GetSpecificTopics(message_types);
580 | 
581 |   if(topicList.length()<1){
582 |     SetOutputString("未监听到数据源");
583 |     return;
584 |   }
585 | 
586 |   SetOutputString("监听到的数据源:");
587 |   for (QList<QString>::const_iterator it = topicList.begin(); it != topicList.end(); it++)
588 |   {
589 |     QString label(*it);
590 |     label.replace(" ", "/");
591 |     ui->rawImageSubComboBox->addItem(label, QVariant(*it));
592 |     SetOutputString(label);
593 |   }
594 |   ui->rawImageSubComboBox->setCurrentIndex(0);//default
595 |   rawImageTopicString=ui->rawImageSubComboBox->currentText();
596 | }
597 | 
598 | void MainWindow::on_rawImageSubComboBox_currentIndexChanged(const QString &arg1)
599 | {
600 |   if(arg1.length()<2)
601 |     return;
602 |   rawImageTopicString = arg1;
603 |   if(ui->rawImageEnableCheckbox->checkState() == Qt::CheckState::Checked){
604 |     SetOutputString("设置数据源的主题为："+rawImageTopicString);
605 |     rh->RawImageSubscribe(rawImageTopicString);
606 |   }
607 |   else{
608 |     SetOutputString("数据源监视器未打开");
609 |   }
610 | }
611 | 
612 | 
613 | void MainWindow::on_instanceSegmentationImageTopicRefreshButton_clicked()
614 | {
615 |   ui->instanceSegmentationImageSubComboBox->clear();
616 | 
617 |   QSet<QString> message_types;
618 |   message_types.insert("sensor_msgs/Image");
619 |   message_types.insert("sensor_msgs/CompressedImage");
620 |   QList<QString> topicList=rh->GetSpecificTopics(message_types);
621 | 
622 |   if(topicList.length()<1){
623 |     SetOutputString("未监听到实例分割");
624 |     return;
625 |   }
626 | 
627 |   SetOutputString("监听到的实例分割");
628 | 
629 |   for (QList<QString>::const_iterator it = topicList.begin(); it != topicList.end(); it++)
630 |   {
631 |     QString label(*it);
632 |     label.replace(" ", "/");
633 |     ui->instanceSegmentationImageSubComboBox->addItem(label, QVariant(*it));
634 |     SetOutputString(label);
635 |   }
636 |   ui->instanceSegmentationImageSubComboBox->setCurrentIndex(0);//default
637 |   instanceImageTopicString=ui->instanceSegmentationImageSubComboBox->currentText();
638 | }
639 | 
640 | 
641 | void MainWindow::on_instanceSegmentationImageSubComboBox_currentIndexChanged(const QString &arg1)
642 | {
643 |   if(arg1.length()<2)
644 |     return;
645 |   instanceImageTopicString = arg1;
646 |   if(ui->instanceSegmentationImageEnableCheckbox->checkState() == Qt::CheckState::Checked){
647 |     SetOutputString("设置实例分割的主题为："+instanceImageTopicString);
648 |     rh->InstanceImageSubscribe(instanceImageTopicString);
649 |   }
650 |   else{
651 |     SetOutputString("实例分割监视器未打开");
652 |   }
653 | }
654 | 
655 | void MainWindow::on_densePointCloudMapTopicRefreshButton_clicked()
656 | {
657 |     ui->densePointCloudMapSubComboBox->clear();
658 | 
659 |     QSet<QString> message_types;
660 |     message_types.insert("sensor_msgs/PointCloud2");
661 |     QList<QString> topicList=rh->GetSpecificTopics(message_types);
662 | 
663 |     if(topicList.length()<1){
664 |       SetOutputString("未监听到稠密点云");
665 |       return;
666 |     }
667 | 
668 |     SetOutputString("监听到的稠密点云");
669 | 
670 |     for (QList<QString>::const_iterator it = topicList.begin(); it != topicList.end(); it++)
671 |     {
672 |       QString label(*it);
673 |       label.replace(" ", "/");
674 |       ui->densePointCloudMapSubComboBox->addItem(label, QVariant(*it));
675 |       SetOutputString(label);
676 |     }
677 |     ui->densePointCloudMapSubComboBox->setCurrentIndex(0);//default
678 |     densePointCloudTopicString=ui->densePointCloudMapSubComboBox->currentText();
679 | }
680 | 
681 | void MainWindow::on_densePointCloudMapSubComboBox_currentIndexChanged(const QString &arg1)
682 | {
683 |   if(arg1.length()<2)
684 |     return;
685 |   densePointCloudTopicString = arg1;
686 |   if(ui->densePointCloudMapEnableCheckbox->checkState() == Qt::CheckState::Checked){
687 |     SetOutputString("设置稠密点云的主题为："+densePointCloudTopicString);
688 |     rh->DenseMapSubscribe(densePointCloudTopicString);
689 |   }
690 |   else{
691 |     SetOutputString("稠密点云监视器未打开");
692 |   }
693 | }
694 | 
695 | void MainWindow::on_sparsePointCloudMapTopicRefreshButton_clicked()
696 | {
697 |   ui->sparsePointCloudMapSubComboBox->clear();
698 | 
699 |   QSet<QString> message_types;
700 |   message_types.insert("sensor_msgs/PointCloud2");
701 |   QList<QString> topicList=rh->GetSpecificTopics(message_types);
702 | 
703 |   if(topicList.length()<1){
704 |     SetOutputString("未监听到稀疏点云");
705 |     return;
706 |   }
707 | 
708 |   SetOutputString("监听到的稀疏点云");
709 |   for (QList<QString>::const_iterator it = topicList.begin(); it != topicList.end(); it++)
710 |   {
711 |     QString label(*it);
712 |     label.replace(" ", "/");
713 |     ui->sparsePointCloudMapSubComboBox->addItem(label, QVariant(*it));
714 |     SetOutputString(label);
715 |   }
716 |   ui->sparsePointCloudMapSubComboBox->setCurrentIndex(0);//default
717 |   sparsePointCloudTopicString=ui->sparsePointCloudMapSubComboBox->currentText();
718 | }
719 | 
720 | void MainWindow::on_sparsePointCloudMapSubComboBox_currentIndexChanged(const QString &arg1)
721 | {
722 |   if(arg1.length()<2)
723 |     return;
724 |   sparsePointCloudTopicString = arg1;
725 |   if(ui->sparsePointCloudMapEnableCheckbox->checkState() == Qt::CheckState::Checked){
726 |     SetOutputString("设置稀疏点云的主题为："+sparsePointCloudTopicString);
727 |     rh->SparseMapSubscribe(sparsePointCloudTopicString);
728 |   }
729 |   else{
730 |     SetOutputString("稀疏点云监视器未打开");
731 |   }
732 | }
733 | 
734 | void MainWindow::on_navigationMapTopicRefreshButton_clicked()
735 | {
736 |   ui->navigationMapSubComboBox->clear();
737 | 
738 |   QSet<QString> message_types;
739 |   message_types.insert("nav_msgs/OccupancyGrid");
740 |   QList<QString> topicList=rh->GetSpecificTopics(message_types);
741 | 
742 |   if(topicList.length()<1){
743 |     SetOutputString("未监听到导航地图");
744 |     return;
745 |   }
746 | 
747 |   SetOutputString("监听到的导航地图");
748 |   for (QList<QString>::const_iterator it = topicList.begin(); it != topicList.end(); it++)
749 |   {
750 |     QString label(*it);
751 |     label.replace(" ", "/");
752 |     ui->navigationMapSubComboBox->addItem(label, QVariant(*it));
753 |     SetOutputString(label);
754 |   }
755 |   ui->navigationMapSubComboBox->setCurrentIndex(0);//default
756 |   navigationTopicString=ui->navigationMapSubComboBox->currentText();
757 | }
758 | 
759 | void MainWindow::on_navigationMapSubComboBox_currentIndexChanged(const QString &arg1)
760 | {
761 |   if(arg1.length()<2)
762 |     return;
763 |   navigationTopicString = arg1;
764 |   if(ui->navigationMapEnableCheckbox->checkState() == Qt::CheckState::Checked){
765 |     SetOutputString("设置导航地图的主题为："+navigationTopicString);
766 |     rh->NavigationSubscribe(navigationTopicString);
767 |   }
768 |   else{
769 |     SetOutputString("导航地图监视器未打开");
770 |   }
771 | }
772 | 
773 | void MainWindow::on_interactSendButton_clicked()
774 | {
775 |   QString s=ui->interactInputLineEdit->text();
776 | 
777 |   if(s=="")
778 |     return;
779 | 
780 |   ui->interactInputLineEdit->clear();
781 |   ui->interactInputLineEdit->setFocus();
782 |   SetOutputString("我:"+s);
783 | 
784 |   QString result=rh->SendOrder(s);
785 |   SetOutputString("系统:"+result);
786 | }
787 | 
788 | 
789 | 
790 | void MainWindow::on_interactOutpuClearButton_clicked()
791 | {
792 |     interactString="";
793 |     ui->interactOutputLabel->clear();
794 | }
795 | 
796 | 
797 | void MainWindow::on_pushButton_clicked()
798 | {
799 |     QString s=rh->GetAllTopics();
800 |     SetOutputString(s);
801 | }
802 | 
803 | void MainWindow::on_densePointCloudMapTrackCheckbox_stateChanged(int arg1)
804 | {
805 |   if(arg1==2) //Enable
806 |   {
807 |     if(trackPointCloud->size()<2)
808 |       return;
809 |     PointXYZ lastPoint=trackPointCloud->points[0];
810 |     for(int i=1;i<trackPointCloud->size();i++){
811 |       PointXYZ currentPoint=trackPointCloud->points[i];
812 |       densePointCloudViewer->addLine(lastPoint,currentPoint,"track"+std::to_string(i));
813 |       lastPoint=currentPoint;
814 |     }
815 |     ui->densePointCloudMap->update();
816 |     SetOutputString("稠密显示轨迹");
817 |   }
818 |   else if(arg1==0) //Disable
819 |   {
820 |     densePointCloudViewer->removeAllShapes();
821 |     ui->densePointCloudMap->update();
822 |     SetOutputString("稠密隐藏轨迹");
823 |   }
824 | }
825 | 
826 | void MainWindow::on_sparsePointCloudMapTrackCheckbox_stateChanged(int arg1)
827 | {
828 |   if(arg1==2) //Enable
829 |   {
830 |     if(trackPointCloud->size()<2)
831 |       return;
832 |     PointXYZ lastPoint=trackPointCloud->points[0];
833 |     for(int i=1;i<trackPointCloud->size();i++){
834 |       PointXYZ currentPoint=trackPointCloud->points[i];
835 |       sparsePointCloudViewer->addLine(lastPoint,currentPoint,"track"+std::to_string(i));
836 |       lastPoint=currentPoint;
837 |     }
838 |     ui->sparsePointCloudMap->update();
839 |     SetOutputString("稀疏显示轨迹");
840 |   }
841 |   else if(arg1==0) //Disable
842 |   {
843 |     sparsePointCloudViewer->removeAllShapes();
844 |     ui->sparsePointCloudMap->update();
845 |     SetOutputString("稀疏隐藏轨迹");
846 |   }
847 | }
848 | 
849 | void MainWindow::on_densePointCloudMapShowLabelCheckbox_stateChanged(int arg1)
850 | {
851 |   if(arg1==2) //Enable
852 |   {
853 |     ShowInstanceLabel(densePointCloudViewer);
854 |     SetOutputString("稠密地图显示标签");
855 |   }
856 |   else if(arg1==0) //Disable
857 |   {
858 |     HideInstanceLabel(densePointCloudViewer);
859 |     SetOutputString("稠密地图隐藏标签");
860 |   }
861 | }
862 | 
863 | 
864 | void MainWindow::on_sparsePointCloudMapShowLabelCheckbox_stateChanged(int arg1)
865 | {
866 |   if(arg1==2) //Enable
867 |   {
868 |     ShowInstanceLabel(sparsePointCloudViewer);
869 |     SetOutputString("稀疏地图显示标签");
870 |   }
871 |   else if(arg1==0) //Disable
872 |   {
873 |     HideInstanceLabel(sparsePointCloudViewer);
874 |     SetOutputString("稀疏地图隐藏标签");
875 |   }
876 | }
877 | 
878 | void MainWindow::on_rawImageSubComboBox_currentTextChanged(const QString &arg1)
879 | {
880 | 
881 | }
882 | 
883 | void MainWindow::on_interactVoiceButton_clicked()
884 | {
885 |   if(ui->voiceInputCheckbox->checkState()==Qt::CheckState::Checked)
886 |   {
887 |     SetOutputString("请开始说话");
888 |   }
889 |   else
890 |   {
891 | 
892 |     SetOutputString("语音输入未打开");
893 |   }
894 | }
895 | 
896 | void MainWindow::on_voiceInputCheckbox_stateChanged(int arg1)
897 | {
898 |   if(arg1==2) //Enable
899 |   {
900 | 
901 |     SetOutputString("打开语音输入");
902 |   }
903 |   else if(arg1==0) //Disable
904 |   {
905 | 
906 |     SetOutputString("关闭语音输入");
907 |   }
908 | }
909 | 
910 | void MainWindow::on_voiceOutputCheckbox_stateChanged(int arg1)
911 | {
912 |   if(arg1==2) //Enable
913 |   {
914 |     SetOutputString("打开语音输出");
915 |   }
916 |   else if(arg1==0) //Disable
917 |   {
918 |     SetOutputString("关闭语音输出");
919 |   }
920 | }
921 | 


--------------------------------------------------------------------------------
/src/mainwindow.ui:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="UTF-8"?>
  2 | <ui version="4.0">
  3 |  <class>MainWindow</class>
  4 |  <widget class="QMainWindow" name="MainWindow">
  5 |   <property name="geometry">
  6 |    <rect>
  7 |     <x>0</x>
  8 |     <y>0</y>
  9 |     <width>1939</width>
 10 |     <height>1067</height>
 11 |    </rect>
 12 |   </property>
 13 |   <property name="windowTitle">
 14 |    <string>MainWindow</string>
 15 |   </property>
 16 |   <widget class="QWidget" name="centralwidget">
 17 |    <widget class="QWidget" name="layoutWidget">
 18 |     <property name="geometry">
 19 |      <rect>
 20 |       <x>0</x>
 21 |       <y>7</y>
 22 |       <width>1931</width>
 23 |       <height>1016</height>
 24 |      </rect>
 25 |     </property>
 26 |     <layout class="QHBoxLayout" name="horizontalLayout_2">
 27 |      <item>
 28 |       <layout class="QVBoxLayout" name="leftsideLayout">
 29 |        <property name="sizeConstraint">
 30 |         <enum>QLayout::SetMinimumSize</enum>
 31 |        </property>
 32 |        <property name="topMargin">
 33 |         <number>10</number>
 34 |        </property>
 35 |        <item>
 36 |         <widget class="QLabel" name="label_11">
 37 |          <property name="maximumSize">
 38 |           <size>
 39 |            <width>400</width>
 40 |            <height>25</height>
 41 |           </size>
 42 |          </property>
 43 |          <property name="text">
 44 |           <string>交互终端</string>
 45 |          </property>
 46 |          <property name="alignment">
 47 |           <set>Qt::AlignCenter</set>
 48 |          </property>
 49 |         </widget>
 50 |        </item>
 51 |        <item>
 52 |         <widget class="QLabel" name="interactOutputLabel">
 53 |          <property name="minimumSize">
 54 |           <size>
 55 |            <width>0</width>
 56 |            <height>600</height>
 57 |           </size>
 58 |          </property>
 59 |          <property name="maximumSize">
 60 |           <size>
 61 |            <width>400</width>
 62 |            <height>16777215</height>
 63 |           </size>
 64 |          </property>
 65 |          <property name="font">
 66 |           <font>
 67 |            <family>黑体</family>
 68 |           </font>
 69 |          </property>
 70 |          <property name="cursor">
 71 |           <cursorShape>IBeamCursor</cursorShape>
 72 |          </property>
 73 |          <property name="styleSheet">
 74 |           <string notr="true">background-color: rgb(0, 0, 0);
 75 | color: rgb(243, 243, 243);</string>
 76 |          </property>
 77 |          <property name="text">
 78 |           <string>终端</string>
 79 |          </property>
 80 |          <property name="alignment">
 81 |           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
 82 |          </property>
 83 |          <property name="wordWrap">
 84 |           <bool>false</bool>
 85 |          </property>
 86 |          <property name="margin">
 87 |           <number>10</number>
 88 |          </property>
 89 |         </widget>
 90 |        </item>
 91 |        <item>
 92 |         <layout class="QHBoxLayout" name="horizontalLayout_3">
 93 |          <property name="spacing">
 94 |           <number>1</number>
 95 |          </property>
 96 |          <property name="sizeConstraint">
 97 |           <enum>QLayout::SetMinimumSize</enum>
 98 |          </property>
 99 |          <property name="topMargin">
100 |           <number>0</number>
101 |          </property>
102 |          <property name="bottomMargin">
103 |           <number>0</number>
104 |          </property>
105 |          <item>
106 |           <widget class="QLineEdit" name="interactInputLineEdit">
107 |            <property name="maximumSize">
108 |             <size>
109 |              <width>300</width>
110 |              <height>50</height>
111 |             </size>
112 |            </property>
113 |            <property name="placeholderText">
114 |             <string>请输入指令</string>
115 |            </property>
116 |           </widget>
117 |          </item>
118 |          <item>
119 |           <widget class="QPushButton" name="interactSendButton">
120 |            <property name="maximumSize">
121 |             <size>
122 |              <width>50</width>
123 |              <height>50</height>
124 |             </size>
125 |            </property>
126 |            <property name="text">
127 |             <string>发送</string>
128 |            </property>
129 |           </widget>
130 |          </item>
131 |          <item>
132 |           <widget class="QPushButton" name="interactVoiceButton">
133 |            <property name="maximumSize">
134 |             <size>
135 |              <width>50</width>
136 |              <height>50</height>
137 |             </size>
138 |            </property>
139 |            <property name="text">
140 |             <string>语音</string>
141 |            </property>
142 |           </widget>
143 |          </item>
144 |         </layout>
145 |        </item>
146 |        <item>
147 |         <widget class="QLabel" name="rawImageLabel">
148 |          <property name="maximumSize">
149 |           <size>
150 |            <width>1000</width>
151 |            <height>50</height>
152 |           </size>
153 |          </property>
154 |          <property name="text">
155 |           <string>数据源</string>
156 |          </property>
157 |          <property name="alignment">
158 |           <set>Qt::AlignCenter</set>
159 |          </property>
160 |         </widget>
161 |        </item>
162 |        <item>
163 |         <widget class="QLabel" name="rawImage">
164 |          <property name="minimumSize">
165 |           <size>
166 |            <width>400</width>
167 |            <height>300</height>
168 |           </size>
169 |          </property>
170 |          <property name="maximumSize">
171 |           <size>
172 |            <width>400</width>
173 |            <height>300</height>
174 |           </size>
175 |          </property>
176 |          <property name="text">
177 |           <string/>
178 |          </property>
179 |         </widget>
180 |        </item>
181 |       </layout>
182 |      </item>
183 |      <item>
184 |       <layout class="QGridLayout" name="middleLayout">
185 |        <item row="2" column="0">
186 |         <widget class="QLabel" name="label_5">
187 |          <property name="text">
188 |           <string>稀疏点云地图</string>
189 |          </property>
190 |          <property name="alignment">
191 |           <set>Qt::AlignCenter</set>
192 |          </property>
193 |         </widget>
194 |        </item>
195 |        <item row="3" column="0">
196 |         <widget class="QVTKWidget" name="sparsePointCloudMap">
197 |          <property name="minimumSize">
198 |           <size>
199 |            <width>586</width>
200 |            <height>440</height>
201 |           </size>
202 |          </property>
203 |          <property name="maximumSize">
204 |           <size>
205 |            <width>586</width>
206 |            <height>440</height>
207 |           </size>
208 |          </property>
209 |         </widget>
210 |        </item>
211 |        <item row="3" column="1">
212 |         <widget class="QLabel" name="navigationMap">
213 |          <property name="minimumSize">
214 |           <size>
215 |            <width>586</width>
216 |            <height>440</height>
217 |           </size>
218 |          </property>
219 |          <property name="maximumSize">
220 |           <size>
221 |            <width>586</width>
222 |            <height>440</height>
223 |           </size>
224 |          </property>
225 |          <property name="text">
226 |           <string/>
227 |          </property>
228 |         </widget>
229 |        </item>
230 |        <item row="2" column="1">
231 |         <widget class="QLabel" name="label_6">
232 |          <property name="text">
233 |           <string>导航地图</string>
234 |          </property>
235 |          <property name="alignment">
236 |           <set>Qt::AlignCenter</set>
237 |          </property>
238 |         </widget>
239 |        </item>
240 |        <item row="1" column="0">
241 |         <widget class="QLabel" name="instanceSegmentationImage">
242 |          <property name="minimumSize">
243 |           <size>
244 |            <width>586</width>
245 |            <height>440</height>
246 |           </size>
247 |          </property>
248 |          <property name="maximumSize">
249 |           <size>
250 |            <width>586</width>
251 |            <height>440</height>
252 |           </size>
253 |          </property>
254 |          <property name="font">
255 |           <font>
256 |            <family>黑体</family>
257 |           </font>
258 |          </property>
259 |          <property name="cursor">
260 |           <cursorShape>ArrowCursor</cursorShape>
261 |          </property>
262 |          <property name="autoFillBackground">
263 |           <bool>false</bool>
264 |          </property>
265 |          <property name="text">
266 |           <string/>
267 |          </property>
268 |         </widget>
269 |        </item>
270 |        <item row="1" column="1">
271 |         <widget class="QVTKWidget" name="densePointCloudMap">
272 |          <property name="minimumSize">
273 |           <size>
274 |            <width>586</width>
275 |            <height>440</height>
276 |           </size>
277 |          </property>
278 |          <property name="maximumSize">
279 |           <size>
280 |            <width>586</width>
281 |            <height>440</height>
282 |           </size>
283 |          </property>
284 |         </widget>
285 |        </item>
286 |        <item row="0" column="0">
287 |         <widget class="QLabel" name="label_7">
288 |          <property name="text">
289 |           <string>实例分割</string>
290 |          </property>
291 |          <property name="alignment">
292 |           <set>Qt::AlignCenter</set>
293 |          </property>
294 |         </widget>
295 |        </item>
296 |        <item row="0" column="1">
297 |         <widget class="QLabel" name="label_8">
298 |          <property name="text">
299 |           <string>稠密点云地图</string>
300 |          </property>
301 |          <property name="alignment">
302 |           <set>Qt::AlignCenter</set>
303 |          </property>
304 |         </widget>
305 |        </item>
306 |       </layout>
307 |      </item>
308 |      <item>
309 |       <layout class="QVBoxLayout" name="rightsideLayout">
310 |        <property name="leftMargin">
311 |         <number>0</number>
312 |        </property>
313 |        <property name="topMargin">
314 |         <number>10</number>
315 |        </property>
316 |        <property name="rightMargin">
317 |         <number>0</number>
318 |        </property>
319 |        <property name="bottomMargin">
320 |         <number>10</number>
321 |        </property>
322 |        <item>
323 |         <widget class="QLabel" name="label">
324 |          <property name="text">
325 |           <string>配置菜单</string>
326 |          </property>
327 |          <property name="alignment">
328 |           <set>Qt::AlignCenter</set>
329 |          </property>
330 |         </widget>
331 |        </item>
332 |        <item>
333 |         <widget class="QScrollArea" name="scrollArea_2">
334 |          <property name="widgetResizable">
335 |           <bool>false</bool>
336 |          </property>
337 |          <widget class="QWidget" name="scrollAreaWidgetContents_2">
338 |           <property name="geometry">
339 |            <rect>
340 |             <x>0</x>
341 |             <y>-22</y>
342 |             <width>307</width>
343 |             <height>1300</height>
344 |            </rect>
345 |           </property>
346 |           <property name="sizePolicy">
347 |            <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
348 |             <horstretch>3</horstretch>
349 |             <verstretch>0</verstretch>
350 |            </sizepolicy>
351 |           </property>
352 |           <property name="minimumSize">
353 |            <size>
354 |             <width>0</width>
355 |             <height>1080</height>
356 |            </size>
357 |           </property>
358 |           <widget class="QWidget" name="layoutWidget">
359 |            <property name="geometry">
360 |             <rect>
361 |              <x>10</x>
362 |              <y>0</y>
363 |              <width>302</width>
364 |              <height>1294</height>
365 |             </rect>
366 |            </property>
367 |            <layout class="QVBoxLayout" name="rightsideVerticalLayout">
368 |             <property name="sizeConstraint">
369 |              <enum>QLayout::SetDefaultConstraint</enum>
370 |             </property>
371 |             <item>
372 |              <widget class="QGroupBox" name="groupBox_6">
373 |               <property name="sizePolicy">
374 |                <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
375 |                 <horstretch>0</horstretch>
376 |                 <verstretch>0</verstretch>
377 |                </sizepolicy>
378 |               </property>
379 |               <property name="minimumSize">
380 |                <size>
381 |                 <width>0</width>
382 |                 <height>180</height>
383 |                </size>
384 |               </property>
385 |               <property name="maximumSize">
386 |                <size>
387 |                 <width>16777215</width>
388 |                 <height>160</height>
389 |                </size>
390 |               </property>
391 |               <property name="title">
392 |                <string>监视器</string>
393 |               </property>
394 |               <property name="alignment">
395 |                <set>Qt::AlignCenter</set>
396 |               </property>
397 |               <widget class="QWidget" name="verticalLayoutWidget">
398 |                <property name="geometry">
399 |                 <rect>
400 |                  <x>10</x>
401 |                  <y>20</y>
402 |                  <width>141</width>
403 |                  <height>151</height>
404 |                 </rect>
405 |                </property>
406 |                <layout class="QVBoxLayout" name="verticalLayout">
407 |                 <property name="spacing">
408 |                  <number>1</number>
409 |                 </property>
410 |                 <item>
411 |                  <widget class="QCheckBox" name="rawImageEnableCheckbox">
412 |                   <property name="text">
413 |                    <string>数据源</string>
414 |                   </property>
415 |                  </widget>
416 |                 </item>
417 |                 <item>
418 |                  <widget class="QCheckBox" name="instanceSegmentationImageEnableCheckbox">
419 |                   <property name="text">
420 |                    <string>实例分割</string>
421 |                   </property>
422 |                  </widget>
423 |                 </item>
424 |                 <item>
425 |                  <widget class="QCheckBox" name="densePointCloudMapEnableCheckbox">
426 |                   <property name="text">
427 |                    <string>稠密点云地图</string>
428 |                   </property>
429 |                  </widget>
430 |                 </item>
431 |                 <item>
432 |                  <widget class="QCheckBox" name="sparsePointCloudMapEnableCheckbox">
433 |                   <property name="text">
434 |                    <string>稀疏点云地图</string>
435 |                   </property>
436 |                  </widget>
437 |                 </item>
438 |                 <item>
439 |                  <widget class="QCheckBox" name="navigationMapEnableCheckbox">
440 |                   <property name="text">
441 |                    <string>导航地图</string>
442 |                   </property>
443 |                  </widget>
444 |                 </item>
445 |                </layout>
446 |               </widget>
447 |              </widget>
448 |             </item>
449 |             <item>
450 |              <widget class="QGroupBox" name="groupBox_4">
451 |               <property name="minimumSize">
452 |                <size>
453 |                 <width>0</width>
454 |                 <height>100</height>
455 |                </size>
456 |               </property>
457 |               <property name="maximumSize">
458 |                <size>
459 |                 <width>16777215</width>
460 |                 <height>100</height>
461 |                </size>
462 |               </property>
463 |               <property name="title">
464 |                <string>常用工具</string>
465 |               </property>
466 |               <property name="alignment">
467 |                <set>Qt::AlignCenter</set>
468 |               </property>
469 |               <widget class="QWidget" name="verticalLayoutWidget_4">
470 |                <property name="geometry">
471 |                 <rect>
472 |                  <x>10</x>
473 |                  <y>30</y>
474 |                  <width>151</width>
475 |                  <height>70</height>
476 |                 </rect>
477 |                </property>
478 |                <layout class="QVBoxLayout" name="verticalLayout_3">
479 |                 <item>
480 |                  <widget class="QPushButton" name="interactOutpuClearButton">
481 |                   <property name="text">
482 |                    <string>清空终端</string>
483 |                   </property>
484 |                  </widget>
485 |                 </item>
486 |                 <item>
487 |                  <widget class="QPushButton" name="pushButton">
488 |                   <property name="text">
489 |                    <string>查看所有主题</string>
490 |                   </property>
491 |                  </widget>
492 |                 </item>
493 |                </layout>
494 |               </widget>
495 |              </widget>
496 |             </item>
497 |             <item>
498 |              <widget class="QGroupBox" name="groupBox_5">
499 |               <property name="sizePolicy">
500 |                <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
501 |                 <horstretch>0</horstretch>
502 |                 <verstretch>0</verstretch>
503 |                </sizepolicy>
504 |               </property>
505 |               <property name="minimumSize">
506 |                <size>
507 |                 <width>0</width>
508 |                 <height>380</height>
509 |                </size>
510 |               </property>
511 |               <property name="title">
512 |                <string>消息订阅</string>
513 |               </property>
514 |               <property name="alignment">
515 |                <set>Qt::AlignCenter</set>
516 |               </property>
517 |               <widget class="QWidget" name="layoutWidget">
518 |                <property name="geometry">
519 |                 <rect>
520 |                  <x>10</x>
521 |                  <y>30</y>
522 |                  <width>231</width>
523 |                  <height>351</height>
524 |                 </rect>
525 |                </property>
526 |                <layout class="QGridLayout" name="gridLayout">
527 |                 <property name="spacing">
528 |                  <number>1</number>
529 |                 </property>
530 |                 <item row="9" column="1">
531 |                  <widget class="QPushButton" name="navigationMapTopicRefreshButton">
532 |                   <property name="text">
533 |                    <string>Refresh</string>
534 |                   </property>
535 |                  </widget>
536 |                 </item>
537 |                 <item row="9" column="0">
538 |                  <widget class="QLabel" name="label_10">
539 |                   <property name="text">
540 |                    <string>导航地图</string>
541 |                   </property>
542 |                  </widget>
543 |                 </item>
544 |                 <item row="7" column="0">
545 |                  <widget class="QLabel" name="label_9">
546 |                   <property name="text">
547 |                    <string>稀疏点云地图</string>
548 |                   </property>
549 |                  </widget>
550 |                 </item>
551 |                 <item row="6" column="0" colspan="2">
552 |                  <widget class="QComboBox" name="densePointCloudMapSubComboBox"/>
553 |                 </item>
554 |                 <item row="5" column="1">
555 |                  <widget class="QPushButton" name="densePointCloudMapTopicRefreshButton">
556 |                   <property name="text">
557 |                    <string>Refresh</string>
558 |                   </property>
559 |                  </widget>
560 |                 </item>
561 |                 <item row="3" column="1">
562 |                  <widget class="QPushButton" name="instanceSegmentationImageTopicRefreshButton">
563 |                   <property name="text">
564 |                    <string>Refresh</string>
565 |                   </property>
566 |                  </widget>
567 |                 </item>
568 |                 <item row="3" column="0">
569 |                  <widget class="QLabel" name="label_3">
570 |                   <property name="text">
571 |                    <string>实例分割</string>
572 |                   </property>
573 |                  </widget>
574 |                 </item>
575 |                 <item row="8" column="0" colspan="2">
576 |                  <widget class="QComboBox" name="sparsePointCloudMapSubComboBox"/>
577 |                 </item>
578 |                 <item row="7" column="1">
579 |                  <widget class="QPushButton" name="sparsePointCloudMapTopicRefreshButton">
580 |                   <property name="text">
581 |                    <string>Refresh</string>
582 |                   </property>
583 |                  </widget>
584 |                 </item>
585 |                 <item row="1" column="0" colspan="2">
586 |                  <widget class="QComboBox" name="rawImageSubComboBox"/>
587 |                 </item>
588 |                 <item row="0" column="0">
589 |                  <widget class="QLabel" name="label_2">
590 |                   <property name="text">
591 |                    <string>数据源</string>
592 |                   </property>
593 |                  </widget>
594 |                 </item>
595 |                 <item row="4" column="0" colspan="2">
596 |                  <widget class="QComboBox" name="instanceSegmentationImageSubComboBox"/>
597 |                 </item>
598 |                 <item row="10" column="0" colspan="2">
599 |                  <widget class="QComboBox" name="navigationMapSubComboBox"/>
600 |                 </item>
601 |                 <item row="5" column="0">
602 |                  <widget class="QLabel" name="label_4">
603 |                   <property name="text">
604 |                    <string>稠密点云地图</string>
605 |                   </property>
606 |                  </widget>
607 |                 </item>
608 |                 <item row="0" column="1">
609 |                  <widget class="QPushButton" name="rawImageTopicRefreshButton">
610 |                   <property name="maximumSize">
611 |                    <size>
612 |                     <width>80</width>
613 |                     <height>16777215</height>
614 |                    </size>
615 |                   </property>
616 |                   <property name="text">
617 |                    <string>Refresh</string>
618 |                   </property>
619 |                  </widget>
620 |                 </item>
621 |                </layout>
622 |               </widget>
623 |              </widget>
624 |             </item>
625 |             <item>
626 |              <widget class="QGroupBox" name="groupBox">
627 |               <property name="sizePolicy">
628 |                <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
629 |                 <horstretch>0</horstretch>
630 |                 <verstretch>0</verstretch>
631 |                </sizepolicy>
632 |               </property>
633 |               <property name="minimumSize">
634 |                <size>
635 |                 <width>100</width>
636 |                 <height>70</height>
637 |                </size>
638 |               </property>
639 |               <property name="maximumSize">
640 |                <size>
641 |                 <width>16777215</width>
642 |                 <height>60</height>
643 |                </size>
644 |               </property>
645 |               <property name="title">
646 |                <string>点云大小</string>
647 |               </property>
648 |               <property name="alignment">
649 |                <set>Qt::AlignCenter</set>
650 |               </property>
651 |               <widget class="QWidget" name="horizontalLayoutWidget">
652 |                <property name="geometry">
653 |                 <rect>
654 |                  <x>10</x>
655 |                  <y>30</y>
656 |                  <width>175</width>
657 |                  <height>31</height>
658 |                 </rect>
659 |                </property>
660 |                <layout class="QHBoxLayout" name="horizontalLayout">
661 |                 <item>
662 |                  <widget class="QSlider" name="pointSizeSlider">
663 |                   <property name="minimumSize">
664 |                    <size>
665 |                     <width>100</width>
666 |                     <height>0</height>
667 |                    </size>
668 |                   </property>
669 |                   <property name="minimum">
670 |                    <number>1</number>
671 |                   </property>
672 |                   <property name="maximum">
673 |                    <number>5</number>
674 |                   </property>
675 |                   <property name="orientation">
676 |                    <enum>Qt::Horizontal</enum>
677 |                   </property>
678 |                  </widget>
679 |                 </item>
680 |                 <item>
681 |                  <widget class="QLabel" name="pointSizeLabel">
682 |                   <property name="text">
683 |                    <string>1</string>
684 |                   </property>
685 |                   <property name="alignment">
686 |                    <set>Qt::AlignCenter</set>
687 |                   </property>
688 |                  </widget>
689 |                 </item>
690 |                </layout>
691 |               </widget>
692 |              </widget>
693 |             </item>
694 |             <item>
695 |              <widget class="QGroupBox" name="groupBox_3">
696 |               <property name="sizePolicy">
697 |                <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
698 |                 <horstretch>0</horstretch>
699 |                 <verstretch>0</verstretch>
700 |                </sizepolicy>
701 |               </property>
702 |               <property name="minimumSize">
703 |                <size>
704 |                 <width>0</width>
705 |                 <height>100</height>
706 |                </size>
707 |               </property>
708 |               <property name="maximumSize">
709 |                <size>
710 |                 <width>16777215</width>
711 |                 <height>80</height>
712 |                </size>
713 |               </property>
714 |               <property name="title">
715 |                <string>显示实例</string>
716 |               </property>
717 |               <property name="alignment">
718 |                <set>Qt::AlignCenter</set>
719 |               </property>
720 |               <widget class="QWidget" name="verticalLayoutWidget_2">
721 |                <property name="geometry">
722 |                 <rect>
723 |                  <x>10</x>
724 |                  <y>30</y>
725 |                  <width>151</width>
726 |                  <height>61</height>
727 |                 </rect>
728 |                </property>
729 |                <layout class="QVBoxLayout" name="verticalLayout_2">
730 |                 <property name="spacing">
731 |                  <number>1</number>
732 |                 </property>
733 |                 <item>
734 |                  <widget class="QCheckBox" name="densePointCloudMapInstanceCheckbox">
735 |                   <property name="text">
736 |                    <string>稠密点云地图</string>
737 |                   </property>
738 |                  </widget>
739 |                 </item>
740 |                 <item>
741 |                  <widget class="QCheckBox" name="sparsePointCloudMapInstanceCheckbox">
742 |                   <property name="text">
743 |                    <string>稀疏点云地图</string>
744 |                   </property>
745 |                  </widget>
746 |                 </item>
747 |                </layout>
748 |               </widget>
749 |              </widget>
750 |             </item>
751 |             <item>
752 |              <widget class="QGroupBox" name="groupBox_2">
753 |               <property name="sizePolicy">
754 |                <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
755 |                 <horstretch>0</horstretch>
756 |                 <verstretch>0</verstretch>
757 |                </sizepolicy>
758 |               </property>
759 |               <property name="minimumSize">
760 |                <size>
761 |                 <width>0</width>
762 |                 <height>100</height>
763 |                </size>
764 |               </property>
765 |               <property name="maximumSize">
766 |                <size>
767 |                 <width>16777215</width>
768 |                 <height>100</height>
769 |                </size>
770 |               </property>
771 |               <property name="title">
772 |                <string>显示轨迹</string>
773 |               </property>
774 |               <property name="alignment">
775 |                <set>Qt::AlignCenter</set>
776 |               </property>
777 |               <widget class="QWidget" name="verticalLayoutWidget_3">
778 |                <property name="geometry">
779 |                 <rect>
780 |                  <x>10</x>
781 |                  <y>30</y>
782 |                  <width>151</width>
783 |                  <height>61</height>
784 |                 </rect>
785 |                </property>
786 |                <layout class="QVBoxLayout" name="verticalLayout_4">
787 |                 <property name="spacing">
788 |                  <number>1</number>
789 |                 </property>
790 |                 <item>
791 |                  <widget class="QCheckBox" name="densePointCloudMapTrackCheckbox">
792 |                   <property name="text">
793 |                    <string>稠密点云地图</string>
794 |                   </property>
795 |                  </widget>
796 |                 </item>
797 |                 <item>
798 |                  <widget class="QCheckBox" name="sparsePointCloudMapTrackCheckbox">
799 |                   <property name="text">
800 |                    <string>稀疏点云地图</string>
801 |                   </property>
802 |                  </widget>
803 |                 </item>
804 |                </layout>
805 |               </widget>
806 |              </widget>
807 |             </item>
808 |             <item>
809 |              <widget class="QGroupBox" name="groupBox_8">
810 |               <property name="minimumSize">
811 |                <size>
812 |                 <width>0</width>
813 |                 <height>100</height>
814 |                </size>
815 |               </property>
816 |               <property name="maximumSize">
817 |                <size>
818 |                 <width>16777215</width>
819 |                 <height>100</height>
820 |                </size>
821 |               </property>
822 |               <property name="title">
823 |                <string>显示标签</string>
824 |               </property>
825 |               <property name="alignment">
826 |                <set>Qt::AlignCenter</set>
827 |               </property>
828 |               <widget class="QWidget" name="verticalLayoutWidget_6">
829 |                <property name="geometry">
830 |                 <rect>
831 |                  <x>10</x>
832 |                  <y>20</y>
833 |                  <width>160</width>
834 |                  <height>80</height>
835 |                 </rect>
836 |                </property>
837 |                <layout class="QVBoxLayout" name="verticalLayout_6">
838 |                 <item>
839 |                  <widget class="QCheckBox" name="densePointCloudMapShowLabelCheckbox">
840 |                   <property name="text">
841 |                    <string>稠密点云地图</string>
842 |                   </property>
843 |                  </widget>
844 |                 </item>
845 |                 <item>
846 |                  <widget class="QCheckBox" name="sparsePointCloudMapShowLabelCheckbox">
847 |                   <property name="text">
848 |                    <string>稀疏点云地图</string>
849 |                   </property>
850 |                  </widget>
851 |                 </item>
852 |                </layout>
853 |               </widget>
854 |              </widget>
855 |             </item>
856 |             <item>
857 |              <widget class="QGroupBox" name="groupBox_7">
858 |               <property name="minimumSize">
859 |                <size>
860 |                 <width>0</width>
861 |                 <height>100</height>
862 |                </size>
863 |               </property>
864 |               <property name="maximumSize">
865 |                <size>
866 |                 <width>16777215</width>
867 |                 <height>500</height>
868 |                </size>
869 |               </property>
870 |               <property name="title">
871 |                <string>语音控制</string>
872 |               </property>
873 |               <property name="alignment">
874 |                <set>Qt::AlignCenter</set>
875 |               </property>
876 |               <widget class="QWidget" name="verticalLayoutWidget_5">
877 |                <property name="geometry">
878 |                 <rect>
879 |                  <x>10</x>
880 |                  <y>30</y>
881 |                  <width>161</width>
882 |                  <height>61</height>
883 |                 </rect>
884 |                </property>
885 |                <layout class="QVBoxLayout" name="verticalLayout_5">
886 |                 <property name="spacing">
887 |                  <number>1</number>
888 |                 </property>
889 |                 <item>
890 |                  <widget class="QCheckBox" name="voiceInputCheckbox">
891 |                   <property name="text">
892 |                    <string>语音输入</string>
893 |                   </property>
894 |                  </widget>
895 |                 </item>
896 |                 <item>
897 |                  <widget class="QCheckBox" name="voiceOutputCheckbox">
898 |                   <property name="text">
899 |                    <string>语音输出</string>
900 |                   </property>
901 |                  </widget>
902 |                 </item>
903 |                </layout>
904 |               </widget>
905 |              </widget>
906 |             </item>
907 |            </layout>
908 |           </widget>
909 |          </widget>
910 |         </widget>
911 |        </item>
912 |       </layout>
913 |      </item>
914 |     </layout>
915 |    </widget>
916 |   </widget>
917 |   <widget class="QMenuBar" name="menubar">
918 |    <property name="geometry">
919 |     <rect>
920 |      <x>0</x>
921 |      <y>0</y>
922 |      <width>1939</width>
923 |      <height>28</height>
924 |     </rect>
925 |    </property>
926 |   </widget>
927 |   <widget class="QStatusBar" name="statusbar"/>
928 |  </widget>
929 |  <customwidgets>
930 |   <customwidget>
931 |    <class>QVTKWidget</class>
932 |    <extends>QWidget</extends>
933 |    <header>QVTKWidget.h</header>
934 |   </customwidget>
935 |  </customwidgets>
936 |  <resources/>
937 |  <connections/>
938 | </ui>
939 | 


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