in_hand_scanner.h

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/*
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 * Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_APPS_IN_HAND_SCANNER_IN_HAND_SCANNER_H
#define PCL_APPS_IN_HAND_SCANNER_IN_HAND_SCANNER_H

#include <string>
#include <sstream>
#include <iomanip>

#include <pcl/pcl_exports.h>
#include <pcl/apps/in_hand_scanner/boost.h>
#include <pcl/apps/in_hand_scanner/common_types.h>
#include <pcl/apps/in_hand_scanner/opengl_viewer.h>

#include <pcl/PCLPointCloud2.h>

#include <ros/ros.h>
#include "sensor_msgs/PointCloud2.h"

// Forward declarations

namespace pcl
{
  class OpenNIGrabber;

  namespace ihs
  {
    class ICP;
    class InputDataProcessing;
    class Integration;
    class MeshProcessing;
  } // End namespace ihs
} // End namespace pcl

// InHandScanner

namespace pcl
{
  namespace ihs
  {
    class PCL_EXPORTS InHandScanner : public pcl::ihs::OpenGLViewer
    {
      Q_OBJECT

      public:

        typedef pcl::ihs::OpenGLViewer  Base;
        typedef pcl::ihs::InHandScanner Self;

        typedef pcl::ihs::InputDataProcessing                 InputDataProcessing;
        typedef boost::shared_ptr <InputDataProcessing>       InputDataProcessingPtr;
        typedef boost::shared_ptr <const InputDataProcessing> InputDataProcessingConstPtr;

        typedef pcl::ihs::ICP                 ICP;
        typedef boost::shared_ptr <ICP>       ICPPtr;
        typedef boost::shared_ptr <const ICP> ICPConstPtr;

        typedef pcl::ihs::Integration                 Integration;
        typedef boost::shared_ptr <Integration>       IntegrationPtr;
        typedef boost::shared_ptr <const Integration> IntegrationConstPtr;

        typedef pcl::ihs::MeshProcessing                 MeshProcessing;
        typedef boost::shared_ptr <MeshProcessing>       MeshProcessingPtr;
        typedef boost::shared_ptr <const MeshProcessing> MeshProcessingConstPtr;

        typedef enum RunningMode
        {
          RM_SHOW_MODEL          = 0, 
          RM_UNPROCESSED         = 1, 
          RM_PROCESSED           = 2, 
          RM_REGISTRATION_CONT   = 3, 
          RM_REGISTRATION_SINGLE = 4  
        } RunningMode;

        typedef enum FileType
        {
          FT_PLY = 0, 
          //FT_PLY_BIN = 1
          FT_VTK = 1,  
          FT_OBJ = 2,
          FT_MESH = 3

        } FileType;

        explicit InHandScanner (Base* parent=0);

        ~InHandScanner ();

        inline InputDataProcessing&
        getInputDataProcessing () {return (*input_data_processing_);}

        inline ICP&
        getICP () {return (*icp_);}

        inline Integration&
        getIntegration () {return (*integration_);}

      signals:

        void
        runningModeChanged (RunningMode new_running_mode) const;

      public slots:

        void
        startGrabber ();

        void
        showUnprocessedData ();

        void
        showProcessedData ();

        void
        registerContinuously ();

        void
        registerOnce ();

        void
        showModel ();

        void
        removeUnfitVertices ();

        void
        reset ();

        void
        saveAs (const std::string& filename, const FileType& filetype);

        void
        keyPressEvent (QKeyEvent* event);

      private:

        typedef pcl::PointXYZRGBA              PointXYZRGBA;
        typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
        typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
        typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;

        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;

        typedef pcl::ihs::PointIHS         PointIHS;
        typedef pcl::ihs::CloudIHS         CloudIHS;
        typedef pcl::ihs::CloudIHSPtr      CloudIHSPtr;
        typedef pcl::ihs::CloudIHSConstPtr CloudIHSConstPtr;

        typedef pcl::ihs::Mesh         Mesh;
        typedef pcl::ihs::MeshPtr      MeshPtr;
        typedef pcl::ihs::MeshConstPtr MeshConstPtr;

        typedef pcl::OpenNIGrabber                Grabber;
        typedef boost::shared_ptr <Grabber>       GrabberPtr;
        typedef boost::shared_ptr <const Grabber> GrabberConstPtr;

        pcl::PCLPointCloud2 pcl_pc2;
        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_ptr_xyzrgba;

        class ComputationFPS : public Base::FPS
        {
          public:
            ComputationFPS () : Base::FPS () {}
            ~ComputationFPS () {}
        };

        class VisualizationFPS : public Base::FPS
        {
          public:
            VisualizationFPS () : Base::FPS () {}
            ~VisualizationFPS () {}
        };

        void
        newDataCallback (const CloudXYZRGBAConstPtr& cloud_in);

        void
        grab_pc(const sensor_msgs::PointCloud2::ConstPtr &msg);


        void
        paintEvent (QPaintEvent* event);

        void
        drawText ();

        void
        startGrabberImpl ();

        // Members

        boost::mutex mutex_;

        ComputationFPS computation_fps_;

        VisualizationFPS visualization_fps_;

        RunningMode running_mode_;

        unsigned int iteration_;

        GrabberPtr grabber_;

        bool starting_grabber_;

        boost::signals2::connection new_data_connection_;

        InputDataProcessingPtr input_data_processing_;

        ICPPtr icp_;

        Eigen::Matrix4f transformation_;

        IntegrationPtr integration_;

        MeshProcessingPtr mesh_processing_;

        MeshPtr mesh_model_;

        bool destructor_called_;

      public:

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  } // End namespace ihs
} // End namespace pcl

// http://doc.qt.digia.com/qt/qmetatype.html#Q_DECLARE_METATYPE
Q_DECLARE_METATYPE (pcl::ihs::InHandScanner::RunningMode)

#endif // PCL_APPS_IN_HAND_SCANNER_IN_HAND_SCANNER_H