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/LoopClosureViewer.h

@@ -0,0 +1,60 @@
+/*
+ * LoopClosureViewer.h
+ *
+ *  Created on: 2013-10-21
+ *      Author: Mathieu
+ */
+
+#ifndef LOOPCLOSUREVIEWER_H_
+#define LOOPCLOSUREVIEWER_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <rtabmap/core/Parameters.h>
+#include <rtabmap/core/Transform.h>
+#include <opencv2/opencv.hpp>
+#include <QtGui/QWidget>
+
+class Ui_loopClosureViewer;
+
+namespace rtabmap {
+
+class Signature;
+
+class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
+
+	Q_OBJECT
+
+public:
+	LoopClosureViewer(QWidget * parent);
+	virtual ~LoopClosureViewer();
+
+	// take ownership
+	void setData(Signature * sA, Signature * sB); // sB contains loop transform as pose() from sA
+
+	const Signature * sA() const {return sA_;}
+	const Signature * sB() const {return sB_;}
+
+public slots:
+	void setDecimation(int decimation) {decimation_ = decimation;}
+	void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
+	void setSamples(int samples) {samples_ = samples;}
+	void updateView(const Transform & AtoB = Transform());
+
+protected:
+	virtual void showEvent(QShowEvent * event);
+
+private:
+	Ui_loopClosureViewer * ui_;
+
+	Signature * sA_;
+	Signature * sB_;
+	Transform transform_;
+
+	int decimation_;
+	float maxDepth_;
+	int samples_;
+};
+
+} /* namespace rtabmap */
+#endif /* LOOPCLOSUREVIEWER_H_ */