Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CloudViewer.h

@@ -0,0 +1,138 @@
+/*
+ * CloudViewer.h
+ *
+ *  Created on: 2013-10-13
+ *      Author: Mathieu
+ */
+
+#ifndef CLOUDVIEWER_H_
+#define CLOUDVIEWER_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QVTKWidget.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/PolygonMesh.h>
+#include "rtabmap/core/Transform.h"
+#include <QtCore/QMap>
+
+#include <pcl/PCLPointCloud2.h>
+
+namespace pcl {
+	namespace visualization {
+		class PCLVisualizer;
+	}
+}
+
+class QMenu;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP CloudViewer : public QVTKWidget
+{
+	Q_OBJECT
+
+public:
+	CloudViewer(QWidget * parent = 0);
+	virtual ~CloudViewer();
+
+	bool updateCloudPose(
+		const std::string & id,
+		const Transform & pose); //including mesh
+
+	bool updateCloud(
+		const std::string & id,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const Transform & pose = Transform::getIdentity());
+
+	bool updateCloud(
+		const std::string & id,
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
+		const Transform & pose = Transform::getIdentity());
+
+	bool addOrUpdateCloud(
+		const std::string & id,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const Transform & pose = Transform::getIdentity());
+
+	bool addOrUpdateCloud(
+			const std::string & id,
+			const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
+			const Transform & pose = Transform::getIdentity());
+
+	bool addCloud(
+			const std::string & id,
+			const pcl::PCLPointCloud2Ptr & binaryCloud,
+			const Transform & pose,
+			bool rgb);
+
+	bool addCloud(
+		const std::string & id,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const Transform & pose = Transform::getIdentity());
+
+	bool addCloud(
+		const std::string & id,
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
+		const Transform & pose = Transform::getIdentity());
+
+	bool addCloudMesh(
+		const std::string & id,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const std::vector<pcl::Vertices> & polygons,
+		const Transform & pose = Transform::getIdentity());
+
+	bool addCloudMesh(
+		const std::string & id,
+		const pcl::PolygonMesh::Ptr & mesh,
+		const Transform & pose = Transform::getIdentity());
+
+	void updateCameraPosition(
+		const Transform & pose);
+
+	void setTrajectoryShown(bool shown);
+	void setTrajectorySize(int value);
+
+	void removeAllClouds(); //including meshes
+	bool removeCloud(const std::string & id); //including mesh
+
+	bool getPose(const std::string & id, Transform & pose); //including meshes
+
+	const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes
+
+public slots:
+	void render();
+	void setBackgroundColor(const QColor & color);
+	void setCloudVisibility(const std::string & id, bool isVisible);
+	void setCloudOpacity(const std::string & id, double opacity = 1.0);
+	void setCloudPointSize(const std::string & id, int size);
+
+protected:
+	virtual void contextMenuEvent(QContextMenuEvent * event);
+	virtual void handleAction(QAction * event);
+	QMenu * menu() {return _menu;}
+
+private:
+	void createMenu();
+
+private:
+    pcl::visualization::PCLVisualizer * _visualizer;
+    QAction * _aLockCamera;
+    QAction * _aFollowCamera;
+    QAction * _aResetCamera;
+    QAction * _aLockViewZ;
+    QAction * _aShowTrajectory;
+    QAction * _aSetTrajectorySize;
+    QAction * _aClearTrajectory;
+    QAction * _aShowGrid;
+    QMenu * _menu;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
+    unsigned int _maxTrajectorySize;
+    QMap<std::string, Transform> _addedClouds; // include meshes
+    Transform _lastPose;
+    std::list<std::string> _gridLines;
+};
+
+} /* namespace rtabmap */
+#endif /* CLOUDVIEWER_H_ */