Subversion Repositories seema-scanner

#ifndef SMPointCloudWidget_H

#define SMPointCloudWidget_H

#include <QTime>

#ifndef Q_MOC_RUN

    #include <QVTKWidget.h>

    #include <pcl/visualization/pcl_visualizer.h>

    #include <Eigen/Eigen>

#endif

#include <opencv2/opencv.hpp>

typedef pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudPtr;

typedef pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr PointCloudConstPtr;

typedef pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGB>* ColorHandlerPtr;

typedef const pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGB>* ColorHandlerConstPtr;

class SMPointCloudWidget : public QVTKWidget {

    Q_OBJECT

    public:

        explicit SMPointCloudWidget(QWidget *parent = 0);

        ~SMPointCloudWidget();

    public slots:

        void addPointCloud(PointCloudPtr _pointCloudPCL, int id);

        void updatePointCloud(PointCloudPtr _pointCloudPCL, int id);

        void savePointCloud();

        void saveScreenShot();

        void updateCalibrationParameters();

    signals:

        void newPointCloudDisplayed();

    private:

        pcl::visualization::PCLVisualizer *visualizer;

        PointCloudConstPtr pointCloudPCL;

        ColorHandlerPtr colorHandler;

        QTime time;

};

#endif // SMPointCloudWidget_H