CloudViewer: refactoring + added CloudViewerCellPicker class to ignore picking backfaces (when backface culling is on)

guilib/include/rtabmap/gui/CloudViewer.h

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/Transform.h"
 #include "rtabmap/core/StereoCameraModel.h"
+#include "rtabmap/gui/CloudViewerInteractorStyle.h"
 
 #include <QVTKWidget.h>
 #include <pcl/pcl_base.h>
@@ -48,9 +49,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opencv2/opencv.hpp>
 #include <set>
 
-#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 {
@@ -67,32 +65,6 @@ 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
 {

guilib/include/rtabmap/gui/CloudViewerCellPicker.h

@@ -0,0 +1,40 @@
+/*
+ * CloudViewerCellPicker.h
+ *
+ *  Created on: Aug 21, 2018
+ *      Author: mathieu
+ */
+
+#ifndef GUILIB_SRC_CLOUDVIEWERCELLPICKER_H_
+#define GUILIB_SRC_CLOUDVIEWERCELLPICKER_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <vtkCellPicker.h>
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP CloudViewerCellPicker : public vtkCellPicker {
+public:
+public:
+    static CloudViewerCellPicker *New ();
+	CloudViewerCellPicker();
+	virtual ~CloudViewerCellPicker();
+
+protected:
+	// overrided to ignore back faces
+    virtual double IntersectActorWithLine(const double p1[3],
+    		const double p2[3],
+			double t1, double t2,
+			double tol,
+			vtkProp3D *prop,
+			vtkMapper *mapper);
+
+private:
+	vtkGenericCell * cell_; //used to accelerate picking
+	vtkIdList * pointIds_; // used to accelerate picking
+};
+
+} /* namespace rtabmap */
+
+#endif /* GUILIB_SRC_CLOUDVIEWERCELLPICKER_H_ */

guilib/include/rtabmap/gui/CloudViewerInteractorStyle.h

@@ -0,0 +1,49 @@
+/*
+ * CloudViewerInteractorStyl.h
+ *
+ *  Created on: Aug 21, 2018
+ *      Author: mathieu
+ */
+
+#ifndef GUILIB_SRC_CLOUDVIEWERINTERACTORSTYLE_H_
+#define GUILIB_SRC_CLOUDVIEWERINTERACTORSTYLE_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <pcl/visualization/mouse_event.h>
+#include <pcl/visualization/point_picking_event.h>
+#include <pcl/visualization/interactor_style.h>
+#include <pcl/point_types.h>
+
+namespace rtabmap {
+
+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_;
+};
+
+} /* namespace rtabmap */
+
+#endif /* GUILIB_SRC_CLOUDVIEWERINTERACTORSTYLE_H_ */