Data player multicam support (#1365)

* Data player multicam support

* viewer: fixed pause button

rtabmap_viz/include/rtabmap_viz/rgbd_image_viewer.hpp

@@ -0,0 +1,84 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RGBDIMAGEVIEWER_H_
+#define RGBDIMAGEVIEWER_H_
+
+#include <rtabmap_viz/visibility.h>
+#include <rclcpp/rclcpp.hpp>
+#include <QMainWindow>
+#include "rtabmap_msgs/msg/rgbd_image.hpp"
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#include <rtabmap/core/Parameters.h>
+#include <rtabmap/utilite/UEventsSender.h>
+
+namespace rtabmap
+{
+	class CameraViewer;
+}
+
+class QComboBox;
+class QSpinBox;
+class QLabel;
+
+namespace rtabmap_viz {
+
+class RGBDImageViewer : public QMainWindow, public UEventsSender
+{
+    Q_OBJECT
+
+public:
+	RTABMAP_VIZ_PUBLIC
+	explicit RGBDImageViewer(std::shared_ptr<rclcpp::Node> & node, const rtabmap::ParametersMap & parameters);
+	virtual ~RGBDImageViewer();
+
+private Q_SLOTS:
+    void updateTopicList();
+    void topicSelected(const QString & topicName);
+
+private:
+	void callback(const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr msg);
+
+private:
+  QComboBox * topicComboBox_;
+  QComboBox * frameComboBox_;
+  QSpinBox * spinBox_;
+  QLabel * warningLabel_;
+	rtabmap::CameraViewer * cameraView_;
+	rclcpp::Subscription<rtabmap_msgs::msg::RGBDImage>::SharedPtr rgbdImageSub_;
+  
+  std::shared_ptr<rclcpp::Node> node_;
+  std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
+	std::shared_ptr<tf2_ros::TransformListener> tfListener_;
+
+  std::mutex mutex_;
+};
+
+}
+
+#endif /* RGBDIMAGEVIEWER_H_ */