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/OdometryViewer.h

@@ -0,0 +1,52 @@
+/*
+ * OdometryViewer.h
+ *
+ *  Created on: 2013-10-15
+ *      Author: Mathieu
+ */
+
+#ifndef ODOMETRYVIEWER_H_
+#define ODOMETRYVIEWER_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include "rtabmap/core/Image.h"
+#include "rtabmap/gui/CloudViewer.h"
+#include "rtabmap/utilite/UEventsHandler.h"
+#include "rtabmap/utilite/UTimer.h"
+#include "rtabmap/utilite/UMutex.h"
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP OdometryViewer : public CloudViewer, public UEventsHandler
+{
+	Q_OBJECT
+
+public:
+	OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, QWidget * parent = 0);
+	virtual ~OdometryViewer() {}
+
+protected:
+	void handleAction(QAction * a);
+	virtual void handleEvent(UEvent * event);
+
+private slots:
+	void processData();
+
+private:
+	UMutex dataMutex_;
+	std::list<rtabmap::Image> buffer_;
+	UTimer timer_;
+	int maxClouds_;
+	float voxelSize_;
+	int decimation_;
+	int id_;
+	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
+	QAction * _aSetVoxelSize;
+	QAction * _aSetDecimation;
+	QAction * _aSetCloudHistorySize;
+	QAction * _aPause;
+};
+
+} /* namespace rtabmap */
+#endif /* ODOMETRYVIEWER_H_ */