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CloudViewer: custom interactor can be set for convenience

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matlabbe
2018-05-25 12:32:22 -04:00
parent d34a529116
commit 124d78fefd
2 changed files with 279 additions and 258 deletions
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29
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -50,6 +50,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/visualization/mouse_event.h>
#include <pcl/visualization/point_picking_event.h>
#include <pcl/visualization/interactor_style.h>
#include <pcl/PCLPointCloud2.h>
namespace pcl {
@@ -66,13 +67,39 @@ class vtkOBBTree;
namespace rtabmap {
class OctoMap;
class CloudViewer;
class RTABMAPGUI_EXP CloudViewerInteractorStyle: public pcl::visualization::PCLVisualizerInteractorStyle
{
public:
static CloudViewerInteractorStyle *New ();
public:
CloudViewerInteractorStyle();
virtual void Rotate();
protected:
virtual void OnMouseMove();
virtual void OnLeftButtonDown();
protected:
friend class CloudViewer;
void setCloudViewer(CloudViewer * cloudViewer) {viewer_ = cloudViewer;}
CloudViewer * viewer_;
private:
unsigned int NumberOfClicks;
int PreviousPosition[2];
int ResetPixelDistance;
float PreviousMeasure[3];
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointsHolder_;
};
class RTABMAPGUI_EXP CloudViewer : public QVTKWidget
{
Q_OBJECT
public:
CloudViewer(QWidget * parent = 0);
CloudViewer(QWidget * parent = 0, CloudViewerInteractorStyle* style = CloudViewerInteractorStyle::New());
virtual ~CloudViewer();
void saveSettings(QSettings & settings, const QString & group = "") const;