CloudViewer.cpp

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/*
Copyright (c) 2010-2016, 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.
*/

#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/CloudViewerCellPicker.h"

#include <rtabmap/core/Version.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util2d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/transforms.h>
#include <QMenu>
#include <QAction>
#include <QtGui/QContextMenuEvent>
#include <QInputDialog>
#include <QtGui/QWheelEvent>
#include <QtGui/QKeyEvent>
#include <QColorDialog>
#include <QtGui/QVector3D>
#include <QMainWindow>
#include <set>

#include <vtkCamera.h>
#include <vtkRenderWindow.h>
#include <vtkCubeSource.h>
#include <vtkGlyph3D.h>
#include <vtkGlyph3DMapper.h>
#include <vtkSmartVolumeMapper.h>
#include <vtkVolumeProperty.h>
#include <vtkColorTransferFunction.h>
#include <vtkPiecewiseFunction.h>
#include <vtkImageData.h>
#include <vtkLookupTable.h>
#include <vtkTextureUnitManager.h>
#include <vtkJPEGReader.h>
#include <vtkBMPReader.h>
#include <vtkPNMReader.h>
#include <vtkPNGReader.h>
#include <vtkTIFFReader.h>
#include <vtkOpenGLRenderWindow.h>
#include <vtkPointPicker.h>
#include <vtkTextActor.h>
#include <vtkTexture.h>
#include <vtkOBBTree.h>
#include <vtkObjectFactory.h>
#include <vtkQuad.h>
#include <opencv/vtkImageMatSource.h>

#if VTK_MAJOR_VERSION >= 7
#include <vtkEDLShading.h>
#include <vtkRenderStepsPass.h>
#include <vtkOpenGLRenderer.h>
#endif


#if VTK_MAJOR_VERSION >= 8
#include <vtkGenericOpenGLRenderWindow.h>
#endif

#ifdef RTABMAP_OCTOMAP
#include <rtabmap/core/OctoMap.h>
#endif

namespace rtabmap {

CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
                PCLQVTKWidget(parent),
                _aLockCamera(0),
                _aFollowCamera(0),
                _aResetCamera(0),
                _aLockViewZ(0),
                _aCameraOrtho(0),
                _aShowTrajectory(0),
                _aSetTrajectorySize(0),
                _aClearTrajectory(0),
                _aShowCameraAxis(0),
                _aShowFrustum(0),
                _aSetFrustumScale(0),
                _aSetFrustumColor(0),
                _aShowGrid(0),
                _aSetGridCellCount(0),
                _aSetGridCellSize(0),
                _aShowNormals(0),
                _aSetNormalsStep(0),
                _aSetNormalsScale(0),
                _aSetBackgroundColor(0),
                _aSetRenderingRate(0),
                _aSetEDLShading(0),
                _aSetLighting(0),
                _aSetFlatShading(0),
                _aSetEdgeVisibility(0),
                _aBackfaceCulling(0),
                _menu(0),
                _trajectory(new pcl::PointCloud<pcl::PointXYZ>),
                _maxTrajectorySize(100),
                _frustumScale(0.5f),
                _frustumColor(Qt::gray),
                _gridCellCount(50),
                _gridCellSize(1),
                _normalsStep(1),
                _normalsScale(0.2),
                _buildLocator(false),
                _lastCameraOrientation(0,0,0),
                _lastCameraPose(0,0,0),
                _defaultBgColor(Qt::black),
                _currentBgColor(Qt::black),
                _frontfaceCulling(false),
                _renderingRate(5.0),
                _octomapActor(0),
                _intensityAbsMax(100.0f),
                _coordinateFrameScale(1.0)
{
        UDEBUG("");
        this->setMinimumSize(200, 200);
        
        int argc = 0;
        UASSERT(style!=0);
        style->setCloudViewer(this);
        style->AutoAdjustCameraClippingRangeOff();
#if VTK_MAJOR_VERSION > 8
        auto renderer1 = vtkSmartPointer<vtkRenderer>::New();
        auto renderWindow1 = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
        renderWindow1->AddRenderer(renderer1);
        _visualizer = new pcl::visualization::PCLVisualizer(
                argc, 
                0, 
                renderer1,
                renderWindow1,
                "PCLVisualizer", 
                style,
                false);
#else
                _visualizer = new pcl::visualization::PCLVisualizer(
                argc, 
                0, 
                "PCLVisualizer", 
                style,
                false);
#endif

        _visualizer->setShowFPS(false);
        
        int viewport;
        // Layer 0: unavailable layer, used as "all" by PCLVisualizer
        _visualizer->createViewPort (0,0,1.0, 1.0, viewport); // Layer 1: all clouds here
        _visualizer->createViewPort (0,0,1.0, 1.0, viewport); // Layer 2: all 3d objects here
        _visualizer->createViewPort (0,0,1.0, 1.0, viewport); // Layer 3: text overlay
        _visualizer->getRendererCollection()->InitTraversal ();
        vtkRenderer* renderer = NULL;
        int i =0;
        while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
        {
                renderer->SetLayer(i);
                if(i==1)
                {
#if VTK_MAJOR_VERSION >= 7
                        renderer->PreserveColorBufferOff();
#endif
                        renderer->PreserveDepthBufferOff();
                        _visualizer->getInteractorStyle()->SetDefaultRenderer(renderer);
                }
                else if(i==2)
                {
#if VTK_MAJOR_VERSION >= 7
                        renderer->PreserveColorBufferOn();
#endif
                        renderer->PreserveDepthBufferOn();
                }
                ++i;
        }
        _visualizer->getRenderWindow()->SetNumberOfLayers(4);

#if VTK_MAJOR_VERSION > 8
        this->setRenderWindow(_visualizer->getRenderWindow());
#else
        this->SetRenderWindow(_visualizer->getRenderWindow());
#endif

        // Replaced by the second line, to avoid a crash in Mac OS X on close, as well as
        // the "Invalid drawable" warning when the view is not visible.
        //_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
#if VTK_MAJOR_VERSION > 8
        this->interactor()->SetInteractorStyle (_visualizer->getInteractorStyle());
#else
        this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle());
#endif
        // setup a simple point picker
        vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
        UDEBUG("pick tolerance=%f", pp->GetTolerance());
        pp->SetTolerance (pp->GetTolerance()/2.0);
#if VTK_MAJOR_VERSION > 8
        this->interactor()->SetPicker (pp);
#else
        this->GetInteractor()->SetPicker (pp);
#endif

        setRenderingRate(_renderingRate);

        this->setCameraPosition(
                                -1, 0, 0,
                                0, 0, 0,
                                0, 0, 1);
#ifndef _WIN32
        // Crash on startup on Windows (vtk issue)
        this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
#endif

        //setup menu/actions
        createMenu();

        setMouseTracking(false);
}

CloudViewer::~CloudViewer()
{
        UDEBUG("");
        this->clear();
        delete _visualizer;
        UDEBUG("");
}

void CloudViewer::clear()
{
        this->removeAllClouds();
        this->removeAllGraphs();
        this->removeAllCoordinates();
        this->removeAllLines();
        this->removeAllFrustums();
        this->removeAllTexts();
        this->removeOccupancyGridMap();
        this->removeOctomap();

        if(_aShowCameraAxis->isChecked())
        {
                this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
        }
        _lastPose.setNull();
        if(_aLockCamera->isChecked() || _aFollowCamera->isChecked())
        {
                resetCamera();
        }
        this->clearTrajectory();
}

void CloudViewer::createMenu()
{
        _aLockCamera = new QAction("Lock target", this);
        _aLockCamera->setCheckable(true);
        _aLockCamera->setChecked(false);
        _aFollowCamera = new QAction("Follow", this);
        _aFollowCamera->setCheckable(true);
        _aFollowCamera->setChecked(true);
        QAction * freeCamera = new QAction("Free", this);
        freeCamera->setCheckable(true);
        freeCamera->setChecked(false);
        _aLockViewZ = new QAction("Lock view Z", this);
        _aLockViewZ->setCheckable(true);
        _aLockViewZ->setChecked(true);
        _aCameraOrtho = new QAction("Ortho mode", this);
        _aCameraOrtho->setCheckable(true);
        _aCameraOrtho->setChecked(false);
        _aResetCamera = new QAction("Reset position", this);
        _aShowTrajectory= new QAction("Show trajectory", this);
        _aShowTrajectory->setCheckable(true);
        _aShowTrajectory->setChecked(true);
        _aSetTrajectorySize = new QAction("Set trajectory size...", this);
        _aClearTrajectory = new QAction("Clear trajectory", this);
        _aShowCameraAxis= new QAction("Show base frame", this);
        _aShowCameraAxis->setCheckable(true);
        _aShowCameraAxis->setChecked(true);
        _aSetFrameScale= new QAction("Set frame scale...", this);
        _aShowCameraAxis->setChecked(true);
        _aShowFrustum= new QAction("Show frustum", this);
        _aShowFrustum->setCheckable(true);
        _aShowFrustum->setChecked(false);
        _aSetFrustumScale = new QAction("Set frustum scale...", this);
        _aSetFrustumColor = new QAction("Set frustum color...", this);
        _aShowGrid = new QAction("Show grid", this);
        _aShowGrid->setCheckable(true);
        _aSetGridCellCount = new QAction("Set cell count...", this);
        _aSetGridCellSize = new QAction("Set cell size...", this);
        _aShowNormals = new QAction("Show normals", this);
        _aShowNormals->setCheckable(true);
        _aSetNormalsStep = new QAction("Set normals step...", this);
        _aSetNormalsScale = new QAction("Set normals scale...", this);
        _aSetIntensityRedColormap = new QAction("Red/Yellow Colormap", this);
        _aSetIntensityRedColormap->setCheckable(true);
        _aSetIntensityRedColormap->setChecked(true);
        _aSetIntensityRainbowColormap = new QAction("Rainbow Colormap", this);
        _aSetIntensityRainbowColormap->setCheckable(true);
        _aSetIntensityRainbowColormap->setChecked(false);
        _aSetIntensityMaximum = new QAction("Set maximum absolute intensity...", this);
        _aSetBackgroundColor = new QAction("Set background color...", this);    
        _aSetRenderingRate = new QAction("Set rendering rate...", this);
        _aSetEDLShading = new QAction("Eye-Dome Lighting Shading", this);
        _aSetEDLShading->setCheckable(true);
        _aSetEDLShading->setChecked(false);
#if VTK_MAJOR_VERSION < 7
        _aSetEDLShading->setEnabled(false);
#endif
        _aSetLighting = new QAction("Lighting", this);
        _aSetLighting->setCheckable(true);
        _aSetLighting->setChecked(false);
        _aSetFlatShading = new QAction("Flat Shading", this);
        _aSetFlatShading->setCheckable(true);
        _aSetFlatShading->setChecked(false);
        _aSetEdgeVisibility = new QAction("Show edges", this);
        _aSetEdgeVisibility->setCheckable(true);
        _aSetEdgeVisibility->setChecked(false);
        _aBackfaceCulling = new QAction("Backface culling", this);
        _aBackfaceCulling->setCheckable(true);
        _aBackfaceCulling->setChecked(true);
        _aPolygonPicking = new QAction("Polygon picking", this);
        _aPolygonPicking->setCheckable(true);
        _aPolygonPicking->setChecked(false);

        QMenu * cameraMenu = new QMenu("Camera", this);
        cameraMenu->addAction(_aLockCamera);
        cameraMenu->addAction(_aFollowCamera);
        cameraMenu->addAction(freeCamera);
        cameraMenu->addSeparator();
        cameraMenu->addAction(_aLockViewZ);
        cameraMenu->addAction(_aCameraOrtho);
        cameraMenu->addAction(_aResetCamera);
        QActionGroup * group = new QActionGroup(this);
        group->addAction(_aLockCamera);
        group->addAction(_aFollowCamera);
        group->addAction(freeCamera);

        QMenu * trajectoryMenu = new QMenu("Trajectory", this);
        trajectoryMenu->addAction(_aShowTrajectory);
        trajectoryMenu->addAction(_aSetTrajectorySize);
        trajectoryMenu->addAction(_aClearTrajectory);

        QMenu * frustumMenu = new QMenu("Frustum", this);
        frustumMenu->addAction(_aShowFrustum);
        frustumMenu->addAction(_aSetFrustumScale);
        frustumMenu->addAction(_aSetFrustumColor);

        QMenu * gridMenu = new QMenu("Grid", this);
        gridMenu->addAction(_aShowGrid);
        gridMenu->addAction(_aSetGridCellCount);
        gridMenu->addAction(_aSetGridCellSize);

        QMenu * normalsMenu = new QMenu("Normals", this);
        normalsMenu->addAction(_aShowNormals);
        normalsMenu->addAction(_aSetNormalsStep);
        normalsMenu->addAction(_aSetNormalsScale);

        QMenu * scanMenu = new QMenu("Scan color", this);
        scanMenu->addAction(_aSetIntensityRedColormap);
        scanMenu->addAction(_aSetIntensityRainbowColormap);
        scanMenu->addAction(_aSetIntensityMaximum);

        //menus
        _menu = new QMenu(this);
        _menu->addMenu(cameraMenu);
        _menu->addMenu(trajectoryMenu);
        _menu->addAction(_aShowCameraAxis);
        _menu->addAction(_aSetFrameScale);
        _menu->addMenu(frustumMenu);
        _menu->addMenu(gridMenu);
        _menu->addMenu(normalsMenu);
        _menu->addMenu(scanMenu);
        _menu->addAction(_aSetBackgroundColor);
        _menu->addAction(_aSetRenderingRate);
        _menu->addAction(_aSetEDLShading);
        _menu->addAction(_aSetLighting);
        _menu->addAction(_aSetFlatShading);
        _menu->addAction(_aSetEdgeVisibility);
        _menu->addAction(_aBackfaceCulling);
        _menu->addAction(_aPolygonPicking);
}

void CloudViewer::saveSettings(QSettings & settings, const QString & group) const
{
        if(!group.isEmpty())
        {
                settings.beginGroup(group);
        }

        float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
        this->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
        QVector3D pose(poseX, poseY, poseZ);
        QVector3D focal(focalX, focalY, focalZ);
        if(!this->isCameraFree())
        {
                // make camera position relative to target
                Transform T = this->getTargetPose();
                if(this->isCameraTargetLocked())
                {
                        T = Transform(T.x(), T.y(), T.z(), 0,0,0);
                }
                Transform F(focalX, focalY, focalZ, 0,0,0);
                Transform P(poseX, poseY, poseZ, 0,0,0);
                Transform newFocal = T.inverse() * F;
                Transform newPose = newFocal * F.inverse() * P;
                pose = QVector3D(newPose.x(), newPose.y(), newPose.z());
                focal = QVector3D(newFocal.x(), newFocal.y(), newFocal.z());
        }
        settings.setValue("camera_pose", pose);
        settings.setValue("camera_focal", focal);
        settings.setValue("camera_up", QVector3D(upX, upY, upZ));

        settings.setValue("grid", this->isGridShown());
        settings.setValue("grid_cell_count", this->getGridCellCount());
        settings.setValue("grid_cell_size", (double)this->getGridCellSize());

        settings.setValue("normals", this->isNormalsShown());
        settings.setValue("normals_step", this->getNormalsStep());
        settings.setValue("normals_scale", (double)this->getNormalsScale());

        settings.setValue("intensity_red_colormap", this->isIntensityRedColormap());
        settings.setValue("intensity_rainbow_colormap", this->isIntensityRainbowColormap());
        settings.setValue("intensity_max", (double)this->getIntensityMax());

        settings.setValue("trajectory_shown", this->isTrajectoryShown());
        settings.setValue("trajectory_size", this->getTrajectorySize());

        settings.setValue("camera_axis_shown", this->isCameraAxisShown());
        settings.setValue("coordinate_frame_scale", this->getCoordinateFrameScale());

        settings.setValue("frustum_shown", this->isFrustumShown());
        settings.setValue("frustum_scale", this->getFrustumScale());
        settings.setValue("frustum_color", this->getFrustumColor());

        settings.setValue("camera_target_locked", this->isCameraTargetLocked());
        settings.setValue("camera_target_follow", this->isCameraTargetFollow());
        settings.setValue("camera_free", this->isCameraFree());
        settings.setValue("camera_lockZ", this->isCameraLockZ());

        settings.setValue("bg_color", this->getDefaultBackgroundColor());
        settings.setValue("rendering_rate", this->getRenderingRate());
        if(!group.isEmpty())
        {
                settings.endGroup();
        }
}

void CloudViewer::loadSettings(QSettings & settings, const QString & group)
{
        if(!group.isEmpty())
        {
                settings.beginGroup(group);
        }

        float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
        this->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
        QVector3D pose(poseX, poseY, poseZ), focal(focalX, focalY, focalZ), up(upX, upY, upZ);
        pose = settings.value("camera_pose", pose).value<QVector3D>();
        focal = settings.value("camera_focal", focal).value<QVector3D>();
        up = settings.value("camera_up", up).value<QVector3D>();
        _lastCameraOrientation= _lastCameraPose= cv::Vec3f(0,0,0);
        this->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());

        this->setGridShown(settings.value("grid", this->isGridShown()).toBool());
        this->setGridCellCount(settings.value("grid_cell_count", this->getGridCellCount()).toUInt());
        this->setGridCellSize(settings.value("grid_cell_size", this->getGridCellSize()).toFloat());

        this->setNormalsShown(settings.value("normals", this->isNormalsShown()).toBool());
        this->setNormalsStep(settings.value("normals_step", this->getNormalsStep()).toInt());
        this->setNormalsScale(settings.value("normals_scale", this->getNormalsScale()).toFloat());

        this->setIntensityRedColormap(settings.value("intensity_red_colormap", this->isIntensityRedColormap()).toBool());
        this->setIntensityRainbowColormap(settings.value("intensity_rainbow_colormap", this->isIntensityRainbowColormap()).toBool());
        this->setIntensityMax(settings.value("intensity_max", this->getIntensityMax()).toFloat());

        this->setTrajectoryShown(settings.value("trajectory_shown", this->isTrajectoryShown()).toBool());
        this->setTrajectorySize(settings.value("trajectory_size", this->getTrajectorySize()).toUInt());

        this->setCameraAxisShown(settings.value("camera_axis_shown", this->isCameraAxisShown()).toBool());
        this->setCoordinateFrameScale(settings.value("coordinate_frame_scale", this->getCoordinateFrameScale()).toDouble());

        this->setFrustumShown(settings.value("frustum_shown", this->isFrustumShown()).toBool());
        this->setFrustumScale(settings.value("frustum_scale", this->getFrustumScale()).toDouble());
        this->setFrustumColor(settings.value("frustum_color", this->getFrustumColor()).value<QColor>());

        this->setCameraTargetLocked(settings.value("camera_target_locked", this->isCameraTargetLocked()).toBool());
        this->setCameraTargetFollow(settings.value("camera_target_follow", this->isCameraTargetFollow()).toBool());
        if(settings.value("camera_free", this->isCameraFree()).toBool())
        {
                this->setCameraFree();
        }
        this->setCameraLockZ(settings.value("camera_lockZ", this->isCameraLockZ()).toBool());

        this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
        
        this->setRenderingRate(settings.value("rendering_rate", this->getRenderingRate()).toDouble());

        if(!group.isEmpty())
        {
                settings.endGroup();
        }

        this->refreshView();
}

void CloudViewer::refreshView()
{
#if VTK_MAJOR_VERSION > 8
        this->renderWindow()->Render();
#else
        this->update();
#endif
}

bool CloudViewer::updateCloudPose(
                const std::string & id,
                const Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                //UDEBUG("Updating pose %s to %s", id.c_str(), pose.prettyPrint().c_str());
                bool samePose = _addedClouds.find(id).value() == pose;
                Eigen::Affine3f posef = pose.toEigen3f();
                if(!samePose)
                {
                        // PointCloud / Mesh
                        bool updated = _visualizer->updatePointCloudPose(id, posef);

#if VTK_MAJOR_VERSION >= 7
                        if(!updated)
                        {
                                // TextureMesh, cannot use updateShapePose because it searches for vtkLODActor, not a vtkActor
                                pcl::visualization::ShapeActorMap::iterator am_it = _visualizer->getShapeActorMap()->find (id);
                                vtkActor* actor;
                                if (am_it != _visualizer->getShapeActorMap()->end ())
                                {
                                        actor = vtkActor::SafeDownCast (am_it->second);
                                        if (actor)
                                        {
                                                vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
                                                pcl::visualization::PCLVisualizer::convertToVtkMatrix (pose.toEigen3f().matrix (), matrix);
                                                actor->SetUserMatrix (matrix);
                                                actor->Modified ();
                                                updated = true;
                                        }
                                }
                        }
#endif

                        if(updated)
                        {
                                _addedClouds.find(id).value() = pose;
                                std::string idNormals = id+"-normals";
                                if(_addedClouds.find(idNormals)!=_addedClouds.end())
                                {
                                        _visualizer->updatePointCloudPose(idNormals, posef);
                                        _addedClouds.find(idNormals).value() = pose;
                                }
                                return true;
                        }
                }
        }
        return false;
}

class PointCloudColorHandlerIntensityField : public pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>
{
        typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

public:
        typedef boost::shared_ptr<PointCloudColorHandlerIntensityField > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerIntensityField > ConstPtr;

        PointCloudColorHandlerIntensityField (const PointCloudConstPtr &cloud, float maxAbsIntensity = 0.0f, int colorMap = 0) :
                pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudColorHandler (cloud),
                maxAbsIntensity_(maxAbsIntensity),
                colormap_(colorMap)
                {
                field_idx_  = pcl::getFieldIndex (*cloud, "intensity");
                if (field_idx_ != -1)
                        capable_ = true;
                else
                        capable_ = false;
                }

        virtual ~PointCloudColorHandlerIntensityField () {}

#if PCL_VERSION_COMPARE(>, 1, 11, 1)
        virtual vtkSmartPointer<vtkDataArray> getColor () const {
                vtkSmartPointer<vtkDataArray> scalars;
                if (!capable_ || !cloud_)
                        return scalars;
#else
        virtual bool getColor (vtkSmartPointer<vtkDataArray> &scalars) const {
                if (!capable_ || !cloud_)
                        return (false);
#endif
                if (!scalars)
                        scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
                scalars->SetNumberOfComponents (3);

                vtkIdType nr_points = cloud_->width * cloud_->height;
                // Allocate enough memory to hold all colors
                float * intensities = new float[nr_points];
                float intensity;
                size_t point_offset = cloud_->fields[field_idx_].offset;
                size_t j = 0;

                // If XYZ present, check if the points are invalid
                int x_idx = pcl::getFieldIndex (*cloud_, "x");
                if (x_idx != -1)
                {
                        float x_data, y_data, z_data;
                        size_t x_point_offset = cloud_->fields[x_idx].offset;

                        // Color every point
                        for (vtkIdType cp = 0; cp < nr_points; ++cp,
                        point_offset += cloud_->point_step,
                        x_point_offset += cloud_->point_step)
                        {
                                // Copy the value at the specified field
                                memcpy (&intensity, &cloud_->data[point_offset], sizeof (float));

                                memcpy (&x_data, &cloud_->data[x_point_offset], sizeof (float));
                                memcpy (&y_data, &cloud_->data[x_point_offset + sizeof (float)], sizeof (float));
                                memcpy (&z_data, &cloud_->data[x_point_offset + 2 * sizeof (float)], sizeof (float));

                                if (!std::isfinite (x_data) || !std::isfinite (y_data) || !std::isfinite (z_data))
                                        continue;

                                intensities[j++] = intensity;
                        }
                }
                // No XYZ data checks
                else
                {
                        // Color every point
                        for (vtkIdType cp = 0; cp < nr_points; ++cp, point_offset += cloud_->point_step)
                        {
                                // Copy the value at the specified field
                                memcpy (&intensity, &cloud_->data[point_offset], sizeof (float));

                                intensities[j++] = intensity;
                        }
                }
                if (j != 0)
                {
                        // Allocate enough memory to hold all colors
                        unsigned char* colors = new unsigned char[j * 3];
                        float min, max;
                        if(maxAbsIntensity_>0.0f)
                        {
                                max = maxAbsIntensity_;
                        }
                        else
                        {
                                uMinMax(intensities, j, min, max);
                        }
                        for(size_t k=0; k<j; ++k)
                        {
                                colors[k*3+0] = colors[k*3+1] = colors[k*3+2] = max>0?(unsigned char)(std::min(intensities[k]/max*255.0f, 255.0f)):255;
                                if(colormap_ == 1)
                                {
                                        colors[k*3+0] = 255;
                                        colors[k*3+2] = 0;
                                }
                                else if(colormap_ == 2)
                                {
                                        float r,g,b;
                                        util2d::HSVtoRGB(&r, &g, &b, colors[k*3+0]*299.0f/255.0f, 1.0f, 1.0f);
                                        colors[k*3+0] = r*255.0f;
                                        colors[k*3+1] = g*255.0f;
                                        colors[k*3+2] = b*255.0f;
                                }
                        }
                        reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (j);
                        reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, j*3, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
                }
                else
                        reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (0);
                //delete [] colors;
                delete [] intensities;
#if PCL_VERSION_COMPARE(>, 1, 11, 1)
                return scalars;
#else
                return (true);
#endif
        }

protected:
        virtual std::string
        getName () const { return ("PointCloudColorHandlerIntensityField"); }

        virtual std::string
        getFieldName () const { return ("intensity"); }

private:
        float maxAbsIntensity_;
        int colormap_; // 0=grayscale, 1=redYellow, 2=RainbowHSV
};

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PCLPointCloud2Ptr & binaryCloud,
                const Transform & pose,
                bool rgb,
                bool hasNormals,
                bool hasIntensity,
                const QColor & color,
                int viewport)
{
        int previousColorIndex = -1;
        if(_addedClouds.contains(id))
        {
                previousColorIndex = _visualizer->getColorHandlerIndex(id);
                this->removeCloud(id);
        }

        Eigen::Vector4f origin(pose.x(), pose.y(), pose.z(), 0.0f);
        Eigen::Quaternionf orientation = Eigen::Quaternionf(pose.toEigen3f().linear());

        if(hasNormals && _aShowNormals->isChecked())
        {
                pcl::PointCloud<pcl::PointNormal>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointNormal>);
                pcl::fromPCLPointCloud2 (*binaryCloud, *cloud_xyz);
                std::string idNormals = id + "-normals";
                if(_visualizer->addPointCloudNormals<pcl::PointNormal>(cloud_xyz, _normalsStep, _normalsScale, idNormals, viewport))
                {
                        _visualizer->updatePointCloudPose(idNormals, pose.toEigen3f());
                        _addedClouds.insert(idNormals, pose);
                }
        }

        // add random color channel
         pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::Ptr colorHandler;
         colorHandler.reset (new pcl::visualization::PointCloudColorHandlerRandom<pcl::PCLPointCloud2> (binaryCloud));
         if(_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport))
         {
                QColor c = Qt::gray;
                if(color.isValid())
                {
                        c = color;
                }
                colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, c.red(), c.green(), c.blue()));
                _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);

                // x,y,z
                colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "x"));
                _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "y"));
                _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "z"));
                _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);

                if(rgb)
                {
                        //rgb
                        colorHandler.reset(new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>(binaryCloud));
                        _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                }
                else if(hasIntensity)
                {
                        //intensity
                        colorHandler.reset(new PointCloudColorHandlerIntensityField(binaryCloud, _intensityAbsMax, _aSetIntensityRedColormap->isChecked()?1:_aSetIntensityRainbowColormap->isChecked()?2:0));
                        _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                }
                else if(previousColorIndex == 5)
                {
                        previousColorIndex = -1;
                }

                if(hasNormals)
                {
                        //normals
                        colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_x"));
                        _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                        colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_y"));
                        _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                        colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_z"));
                        _visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id, viewport);
                }
                else if(previousColorIndex > 5)
                {
                        previousColorIndex = -1;
                }

                if(previousColorIndex>=0)
                {
                        _visualizer->updateColorHandlerIndex(id, previousColorIndex);
                }
                else if(rgb)
                {
                        _visualizer->updateColorHandlerIndex(id, 5);
                }
                else if(hasNormals)
                {
                        _visualizer->updateColorHandlerIndex(id, hasIntensity?8:7);
                }
                else if(hasIntensity)
                {
                        _visualizer->updateColorHandlerIndex(id, 5);
                }
                else if(color.isValid())
                {
                        _visualizer->updateColorHandlerIndex(id, 1);
                }

                _addedClouds.insert(id, pose);
                return true;
        }
        return false;
}

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const Transform & pose,
                const QColor & color)
{
        pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
        pcl::toPCLPointCloud2(*cloud, *binaryCloud);
        return addCloud(id, binaryCloud, pose, true, true, false, color);
}

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const Transform & pose,
                const QColor & color)
{
        pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
        pcl::toPCLPointCloud2(*cloud, *binaryCloud);
        return addCloud(id, binaryCloud, pose, true, false, false, color);
}

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
                const Transform & pose,
                const QColor & color)
{
        pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
        pcl::toPCLPointCloud2(*cloud, *binaryCloud);
        return addCloud(id, binaryCloud, pose, false, true, true, color);
}

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                const Transform & pose,
                const QColor & color)
{
        pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
        pcl::toPCLPointCloud2(*cloud, *binaryCloud);
        return addCloud(id, binaryCloud, pose, false, false, true, color);
}

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const Transform & pose,
                const QColor & color)
{
        pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
        pcl::toPCLPointCloud2(*cloud, *binaryCloud);
        return addCloud(id, binaryCloud, pose, false, true, false, color);
}

bool CloudViewer::addCloud(
                const std::string & id,
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const Transform & pose,
                const QColor & color)
{
        pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
        pcl::toPCLPointCloud2(*cloud, *binaryCloud);
        return addCloud(id, binaryCloud, pose, false, false, false, color);
}

bool CloudViewer::addCloudMesh(
        const std::string & id,
        const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
        const std::vector<pcl::Vertices> & polygons,
        const Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                this->removeCloud(id);
        }

        UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
        if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id, 1))
        {
#if VTK_MAJOR_VERSION >= 7
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.1);
#else
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
#endif
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
                _visualizer->updatePointCloudPose(id, pose.toEigen3f());
                if(_buildLocator)
                {
                        vtkSmartPointer<vtkOBBTree> tree = vtkSmartPointer<vtkOBBTree>::New();
                        tree->SetDataSet(_visualizer->getCloudActorMap()->find(id)->second.actor->GetMapper()->GetInput());
                        tree->BuildLocator();
                        _locators.insert(std::make_pair(id, tree));
                }
                _addedClouds.insert(id, pose);
                return true;
        }
        return false;
}

bool CloudViewer::addCloudMesh(
        const std::string & id,
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
        const std::vector<pcl::Vertices> & polygons,
        const Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                this->removeCloud(id);
        }

        UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
        if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id, 1))
        {
#if VTK_MAJOR_VERSION >= 7
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.1);
#else
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
#endif
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
                _visualizer->updatePointCloudPose(id, pose.toEigen3f());
                if(_buildLocator)
                {
                        vtkSmartPointer<vtkOBBTree> tree = vtkSmartPointer<vtkOBBTree>::New();
                        tree->SetDataSet(_visualizer->getCloudActorMap()->find(id)->second.actor->GetMapper()->GetInput());
                        tree->BuildLocator();
                        _locators.insert(std::make_pair(id, tree));
                }
                _addedClouds.insert(id, pose);
                return true;
        }
        return false;
}

bool CloudViewer::addCloudMesh(
        const std::string & id,
        const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
        const std::vector<pcl::Vertices> & polygons,
        const Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                this->removeCloud(id);
        }

        UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
        if(_visualizer->addPolygonMesh<pcl::PointXYZRGBNormal>(cloud, polygons, id, 1))
        {
#if VTK_MAJOR_VERSION >= 7
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.1);
#else
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
#endif
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
                _visualizer->updatePointCloudPose(id, pose.toEigen3f());
                if(_buildLocator)
                {
                        vtkSmartPointer<vtkOBBTree> tree = vtkSmartPointer<vtkOBBTree>::New();
                        tree->SetDataSet(_visualizer->getCloudActorMap()->find(id)->second.actor->GetMapper()->GetInput());
                        tree->BuildLocator();
                        _locators.insert(std::make_pair(id, tree));
                }
                _addedClouds.insert(id, pose);
                return true;
        }
        return false;
}

bool CloudViewer::addCloudMesh(
        const std::string & id,
        const pcl::PolygonMesh::Ptr & mesh,
        const Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                this->removeCloud(id);
        }

        UDEBUG("Adding %s with %d polygons", id.c_str(), (int)mesh->polygons.size());
        if(_visualizer->addPolygonMesh(*mesh, id, 1))
        {
#if VTK_MAJOR_VERSION >= 7
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.1);
#else
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
#endif
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
                _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
                _visualizer->updatePointCloudPose(id, pose.toEigen3f());
                if(_buildLocator)
                {
                        vtkSmartPointer<vtkOBBTree> tree = vtkSmartPointer<vtkOBBTree>::New();
                        tree->SetDataSet(_visualizer->getCloudActorMap()->find(id)->second.actor->GetMapper()->GetInput());
                        tree->BuildLocator();
                        _locators.insert(std::make_pair(id, tree));
                }
                _addedClouds.insert(id, pose);
                return true;
        }

        return false;
}

bool CloudViewer::addCloudTextureMesh(
        const std::string & id,
        const pcl::TextureMesh::Ptr & textureMesh,
        const cv::Mat & texture,
        const Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                this->removeCloud(id);
        }

        UDEBUG("Adding %s", id.c_str());
        if(this->addTextureMesh(*textureMesh, texture, id, 1))
        {
#if VTK_MAJOR_VERSION >= 7
                vtkActor* actor = vtkActor::SafeDownCast (_visualizer->getShapeActorMap()->find(id)->second);
#else
                vtkActor* actor = vtkActor::SafeDownCast (_visualizer->getCloudActorMap()->find(id)->second.actor);
#endif
                UASSERT(actor);
                if(!textureMesh->cloud.is_dense)
                {
                        actor->GetTexture()->SetInterpolate(1);
                        actor->GetTexture()->SetBlendingMode(vtkTexture::VTK_TEXTURE_BLENDING_MODE_REPLACE);
                }
                if(_buildLocator)
                {
                        vtkSmartPointer<vtkOBBTree> tree = vtkSmartPointer<vtkOBBTree>::New();
                        tree->SetDataSet(actor->GetMapper()->GetInput());
                        tree->BuildLocator();
                        _locators.insert(std::make_pair(id, tree));
                }
                _addedClouds.insert(id, Transform::getIdentity());
                this->updateCloudPose(id, pose);
                return true;
        }
        return false;
}

bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth, bool volumeRepresentation)
{
        UDEBUG("");
#ifdef RTABMAP_OCTOMAP
        UASSERT(octomap!=0);

        pcl::IndicesPtr obstacles(new std::vector<int>);

        if(treeDepth == 0 || treeDepth > octomap->octree()->getTreeDepth())
        {
                if(treeDepth>0)
                {
                        UWARN("Tree depth requested (%d) is deeper than the "
                                  "actual maximum tree depth of %d. Using maximum depth.",
                                  (int)treeDepth, (int)octomap->octree()->getTreeDepth());
                }
                treeDepth = octomap->octree()->getTreeDepth();
        }

        removeOctomap();

        if(!volumeRepresentation)
        {
                pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap->createCloud(treeDepth, obstacles.get(), 0, 0, false);
                if(obstacles->size())
                {
                        //vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
                        //colors->SetName("colors");
                        //colors->SetNumberOfComponents(3);
                        vtkSmartPointer<vtkFloatArray> colors = vtkSmartPointer<vtkFloatArray>::New();
                        colors->SetName("colors");
                        colors->SetNumberOfValues(obstacles->size());

                        vtkSmartPointer<vtkLookupTable> lut = vtkSmartPointer<vtkLookupTable>::New();
                        lut->SetNumberOfTableValues(obstacles->size());
                        lut->Build();

                        // Create points
                        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
                        points->SetNumberOfPoints(obstacles->size());
                        double s = octomap->octree()->getNodeSize(treeDepth) / 2.0;
                        for (unsigned int i = 0; i < obstacles->size(); i++)
                        {
                                points->InsertPoint(i,
                                                cloud->at(obstacles->at(i)).x,
                                                cloud->at(obstacles->at(i)).y,
                                                cloud->at(obstacles->at(i)).z);
                                colors->InsertValue(i,i);

                                lut->SetTableValue(i,
                                                double(cloud->at(obstacles->at(i)).r) / 255.0,
                                                double(cloud->at(obstacles->at(i)).g) / 255.0,
                                                double(cloud->at(obstacles->at(i)).b) / 255.0);
                        }

                        // Combine into a polydata
                        vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
                        polydata->SetPoints(points);
                        polydata->GetPointData()->SetScalars(colors);

                        // Create anything you want here, we will use a cube for the demo.
                        vtkSmartPointer<vtkCubeSource> cubeSource = vtkSmartPointer<vtkCubeSource>::New();
                        cubeSource->SetBounds(-s, s, -s, s, -s, s);

                        vtkSmartPointer<vtkGlyph3DMapper> mapper = vtkSmartPointer<vtkGlyph3DMapper>::New();
                        mapper->SetSourceConnection(cubeSource->GetOutputPort());
#if VTK_MAJOR_VERSION <= 5
                        mapper->SetInputConnection(polydata->GetProducerPort());
#else
                        mapper->SetInputData(polydata);
#endif
                        mapper->SetScalarRange(0, obstacles->size() - 1);
                        mapper->SetLookupTable(lut);
                        mapper->ScalingOff();
                        mapper->Update();

                        vtkSmartPointer<vtkActor> octomapActor = vtkSmartPointer<vtkActor>::New();
                        octomapActor->SetMapper(mapper);

                        octomapActor->GetProperty()->SetRepresentationToSurface();
                        octomapActor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
                        octomapActor->GetProperty()->SetLighting(_aSetLighting->isChecked());

                        _visualizer->getRendererCollection()->InitTraversal ();
                        vtkRenderer* renderer = NULL;
                        renderer = _visualizer->getRendererCollection()->GetNextItem ();
                        renderer = _visualizer->getRendererCollection()->GetNextItem ();
                        UASSERT(renderer);
                        renderer->AddActor(octomapActor);

                        _octomapActor = octomapActor.GetPointer();
                        return true;
                }
        }
        else
        {
                if(octomap->octree()->size())
                {
                        // Create an image data
                        vtkSmartPointer<vtkImageData> imageData =
                                        vtkSmartPointer<vtkImageData>::New();

                        double sizeX, sizeY, sizeZ;
                        double minX, minY, minZ;
                        double maxX, maxY, maxZ;
                        octomap->getGridMin(minX, minY, minZ);
                        octomap->getGridMax(maxX, maxY, maxZ);
                        sizeX = maxX-minX;
                        sizeY = maxY-minY;
                        sizeZ = maxZ-minZ;
                        double cellSize = octomap->octree()->getNodeSize(treeDepth);

                        UTimer t;
                        // Specify the size of the image data
                        imageData->SetExtent(0, int(sizeX/cellSize+0.5), 0, int(sizeY/cellSize+0.5), 0, int(sizeZ/cellSize+0.5)); // 3D image
#if VTK_MAJOR_VERSION <= 5
                        imageData->SetNumberOfScalarComponents(4);
                        imageData->SetScalarTypeToUnsignedChar();
#else
                        imageData->AllocateScalars(VTK_UNSIGNED_CHAR,4);
#endif

                        int dims[3];
                        imageData->GetDimensions(dims);

                        memset(imageData->GetScalarPointer(), 0, imageData->GetScalarSize()*imageData->GetNumberOfScalarComponents()*dims[0]*dims[1]*dims[2]);

                        for (RtabmapColorOcTree::iterator it = octomap->octree()->begin(treeDepth); it != octomap->octree()->end(); ++it)
                        {
                                if(octomap->octree()->isNodeOccupied(*it))
                                {
                                        octomap::point3d pt = octomap->octree()->keyToCoord(it.getKey());
                                        int x = (pt.x()-minX) / cellSize;
                                        int y = (pt.y()-minY) / cellSize;
                                        int z = (pt.z()-minZ) / cellSize;
                                        if(x>=0 && x<dims[0] && y>=0 && y<dims[1] && z>=0 && z<dims[2])
                                        {
                                                unsigned char* pixel = static_cast<unsigned char*>(imageData->GetScalarPointer(x,y,z));
                                                if(octomap->octree()->getTreeDepth() == it.getDepth() && it->isColorSet())
                                                {
                                                        pixel[0] = it->getColor().r;
                                                        pixel[1] = it->getColor().g;
                                                        pixel[2] = it->getColor().b;
                                                }
                                                else
                                                {
                                                        // Gradiant color on z axis
                                                        float H = (maxZ - pt.z())*299.0f/(maxZ-minZ);
                                                        float r,g,b;
                                                        util2d::HSVtoRGB(&r, &g, &b, H, 1, 1);
                                                        pixel[0] = r*255.0f;
                                                        pixel[1] = g*255.0f;
                                                        pixel[2] = b*255.0f;
                                                }
                                                pixel[3] = 255;
                                        }
                                }
                        }
                        vtkSmartPointer<vtkSmartVolumeMapper> volumeMapper =
                                        vtkSmartPointer<vtkSmartVolumeMapper>::New();
                        volumeMapper->SetBlendModeToComposite(); // composite first
#if VTK_MAJOR_VERSION <= 5
                        volumeMapper->SetInputConnection(imageData->GetProducerPort());
#else
                        volumeMapper->SetInputData(imageData);
#endif
                        vtkSmartPointer<vtkVolumeProperty> volumeProperty =
                                        vtkSmartPointer<vtkVolumeProperty>::New();
                        volumeProperty->ShadeOff();
                        volumeProperty->IndependentComponentsOff();

                        vtkSmartPointer<vtkPiecewiseFunction> compositeOpacity =
                                        vtkSmartPointer<vtkPiecewiseFunction>::New();
                        compositeOpacity->AddPoint(0.0,0.0);
                        compositeOpacity->AddPoint(255.0,1.0);
                        volumeProperty->SetScalarOpacity(0, compositeOpacity); // composite first.

                        vtkSmartPointer<vtkVolume> volume =
                                        vtkSmartPointer<vtkVolume>::New();
                        volume->SetMapper(volumeMapper);
                        volume->SetProperty(volumeProperty);
                        volume->SetScale(cellSize);
                        volume->SetPosition(minX, minY, minZ);

                        _visualizer->getRendererCollection()->InitTraversal ();
                        vtkRenderer* renderer = NULL;
                        renderer = _visualizer->getRendererCollection()->GetNextItem ();
                        renderer = _visualizer->getRendererCollection()->GetNextItem ();
                        UASSERT(renderer);
                        renderer->AddViewProp(volume);

                        // 3D texture mode. For coverage.
#if !defined(VTK_LEGACY_REMOVE) && !defined(VTK_OPENGL2) && VTK_MAJOR_VERSION < 9
                        volumeMapper->SetRequestedRenderModeToRayCastAndTexture();
#endif // VTK_LEGACY_REMOVE

                        // Software mode, for coverage. It also makes sure we will get the same
                        // regression image on all platforms.
                        volumeMapper->SetRequestedRenderModeToRayCast();
                        _octomapActor = volume.GetPointer();

                        return true;
                }
        }
#endif
        return false;
}

void CloudViewer::removeOctomap()
{
        UDEBUG("");
#ifdef RTABMAP_OCTOMAP
        if(_octomapActor)
        {
                _visualizer->getRendererCollection()->InitTraversal ();
                vtkRenderer* renderer = NULL;
                renderer = _visualizer->getRendererCollection()->GetNextItem ();
                renderer = _visualizer->getRendererCollection()->GetNextItem ();
                UASSERT(renderer);
                renderer->RemoveActor(_octomapActor);
                _octomapActor = 0;
        }
#endif
}

bool CloudViewer::addTextureMesh (
           const pcl::TextureMesh &mesh,
           const cv::Mat & image,
           const std::string &id,
           int viewport)
{
        // Copied from PCL 1.8, modified to ignore vertex color and accept only one material (loaded from memory instead of file)

#if VTK_MAJOR_VERSION >= 7
  pcl::visualization::ShapeActorMap::iterator am_it = _visualizer->getShapeActorMap()->find (id);
  if (am_it != _visualizer->getShapeActorMap()->end ())
#else
  pcl::visualization::CloudActorMap::iterator am_it = _visualizer->getCloudActorMap()->find (id);
  if (am_it != _visualizer->getCloudActorMap()->end ())
#endif
  {
    PCL_ERROR ("[PCLVisualizer::addTextureMesh] A shape with id <%s> already exists!"
               " Please choose a different id and retry.\n",
               id.c_str ());
    return (false);
  }
  // no texture materials --> exit
  if (mesh.tex_materials.size () == 0)
  {
    PCL_ERROR("[PCLVisualizer::addTextureMesh] No textures found!\n");
    return (false);
  }
  else if (mesh.tex_materials.size() > 1)
  {
          PCL_ERROR("[PCLVisualizer::addTextureMesh] only one material per mesh is supported!\n");
          return (false);
  }
  // polygons are mapped to texture materials
  if (mesh.tex_materials.size () != mesh.tex_polygons.size ())
  {
    PCL_ERROR("[PCLVisualizer::addTextureMesh] Materials number %lu differs from polygons number %lu!\n",
              mesh.tex_materials.size (), mesh.tex_polygons.size ());
    return (false);
  }
  // each texture material should have its coordinates set
  if (mesh.tex_materials.size () != mesh.tex_coordinates.size ())
  {
    PCL_ERROR("[PCLVisualizer::addTextureMesh] Coordinates number %lu differs from materials number %lu!\n",
              mesh.tex_coordinates.size (), mesh.tex_materials.size ());
    return (false);
  }
  // total number of vertices
  std::size_t nb_vertices = 0;
  for (std::size_t i = 0; i < mesh.tex_polygons.size (); ++i)
    nb_vertices+= mesh.tex_polygons[i].size ();
  // no vertices --> exit
  if (nb_vertices == 0)
  {
    PCL_ERROR("[PCLVisualizer::addTextureMesh] No vertices found!\n");
    return (false);
  }
  // total number of coordinates
  std::size_t nb_coordinates = 0;
  for (std::size_t i = 0; i < mesh.tex_coordinates.size (); ++i)
    nb_coordinates+= mesh.tex_coordinates[i].size ();
  // no texture coordinates --> exit
  if (nb_coordinates == 0)
  {
    PCL_ERROR("[PCLVisualizer::addTextureMesh] No textures coordinates found!\n");
    return (false);
  }

  // Create points from mesh.cloud
  vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
  vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
  bool has_color = false;
  vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New ();
  
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
    pcl::fromPCLPointCloud2 (mesh.cloud, *cloud);
    // no points --> exit
    if (cloud->points.size () == 0)
    {
      PCL_ERROR("[PCLVisualizer::addTextureMesh] Cloud is empty!\n");
      return (false);
    }
    pcl::visualization::PCLVisualizer::convertToVtkMatrix (cloud->sensor_origin_, cloud->sensor_orientation_, transformation);
    poly_points->SetNumberOfPoints (cloud->points.size ());
    for (std::size_t i = 0; i < cloud->points.size (); ++i)
    {
      const pcl::PointXYZ &p = cloud->points[i];
      poly_points->InsertPoint (i, p.x, p.y, p.z);
    }

  //create polys from polyMesh.tex_polygons
  vtkSmartPointer<vtkCellArray> polys = vtkSmartPointer<vtkCellArray>::New ();
  for (std::size_t i = 0; i < mesh.tex_polygons.size (); i++)
  {
    for (std::size_t j = 0; j < mesh.tex_polygons[i].size (); j++)
    {
      std::size_t n_points = mesh.tex_polygons[i][j].vertices.size ();
      polys->InsertNextCell (int (n_points));
      for (std::size_t k = 0; k < n_points; k++)
        polys->InsertCellPoint (mesh.tex_polygons[i][j].vertices[k]);
    }
  }

  vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
  polydata->SetPolys (polys);
  polydata->SetPoints (poly_points);
  if (has_color)
    polydata->GetPointData()->SetScalars(colors);

  vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
#if VTK_MAJOR_VERSION < 6
    mapper->SetInput (polydata);
#else
    mapper->SetInputData (polydata);
#endif

#if VTK_MAJOR_VERSION >= 7
  vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New ();
#else
  vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
#endif
  vtkTextureUnitManager* tex_manager = vtkOpenGLRenderWindow::SafeDownCast (_visualizer->getRenderWindow())->GetTextureUnitManager ();
    if (!tex_manager)
      return (false);
 
    vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New ();
    // fill vtkTexture from pcl::TexMaterial structure
        vtkSmartPointer<vtkImageMatSource> cvImageToVtk = vtkSmartPointer<vtkImageMatSource>::New();
        cvImageToVtk->SetImage(image);
        cvImageToVtk->Update();
        texture->SetInputConnection(cvImageToVtk->GetOutputPort());

    // set texture coordinates
    vtkSmartPointer<vtkFloatArray> coordinates = vtkSmartPointer<vtkFloatArray>::New ();
    coordinates->SetNumberOfComponents (2);
    coordinates->SetNumberOfTuples (mesh.tex_coordinates[0].size ());
    for (std::size_t tc = 0; tc < mesh.tex_coordinates[0].size (); ++tc)
    {
      const Eigen::Vector2f &uv = mesh.tex_coordinates[0][tc];
      coordinates->SetTuple2 (tc, (double)uv[0], (double)uv[1]);
    }
    coordinates->SetName ("TCoords");
    polydata->GetPointData ()->SetTCoords(coordinates);
    // apply texture
    actor->SetTexture (texture);

  // set mapper
  actor->SetMapper (mapper);

  //_visualizer->addActorToRenderer (actor, viewport);
  // Add it to all renderers
        _visualizer->getRendererCollection()->InitTraversal ();
        vtkRenderer* renderer = NULL;
        int i = 0;
        while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
        {
                // Should we add the actor to all renderers?
                if (viewport == 0)
                {
                        renderer->AddActor (actor);
                }
                else if (viewport == i)               // add the actor only to the specified viewport
                {
                        renderer->AddActor (actor);
                }
                ++i;
        }

  // Save the pointer/ID pair to the global actor map
#if VTK_MAJOR_VERSION >= 7
  (*_visualizer->getShapeActorMap())[id] = actor;
#else
  (*_visualizer->getCloudActorMap())[id].actor = actor;
   // Save the viewpoint transformation matrix to the global actor map
  (*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation;
#endif

#if VTK_MAJOR_VERSION >= 7
  actor->GetProperty()->SetAmbient(0.1);
#else
  actor->GetProperty()->SetAmbient(0.5);
#endif
  actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
  actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
  actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
  actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
  actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
  return true;
}

bool CloudViewer::addOccupancyGridMap(
                const cv::Mat & map8U,
                float resolution, // cell size
                float xMin,
                float yMin,
                float opacity)
{
        UASSERT(map8U.channels() == 1 && map8U.type() == CV_8U);

        float xSize = float(map8U.cols) * resolution;
        float ySize = float(map8U.rows) * resolution;

        UDEBUG("resolution=%f, xSize=%f, ySize=%f, xMin=%f, yMin=%f", resolution, xSize, ySize, xMin, yMin);
#if VTK_MAJOR_VERSION >= 7
        if(_visualizer->getShapeActorMap()->find("map") != _visualizer->getShapeActorMap()->end())
        {
                _visualizer->removeShape("map");
        }
#else
        if(_visualizer->getCloudActorMap()->find("map") != _visualizer->getCloudActorMap()->end())
        {
                _visualizer->removePointCloud("map");
        }
#endif

        if(xSize > 0.0f && ySize > 0.0f)
        {
                pcl::TextureMeshPtr mesh(new pcl::TextureMesh());
                pcl::PointCloud<pcl::PointXYZ> cloud;
                cloud.push_back(pcl::PointXYZ(xMin,       yMin,       0));
                cloud.push_back(pcl::PointXYZ(xSize+xMin, yMin,       0));
                cloud.push_back(pcl::PointXYZ(xSize+xMin, ySize+yMin, 0));
                cloud.push_back(pcl::PointXYZ(xMin,       ySize+yMin, 0));
                pcl::toPCLPointCloud2(cloud, mesh->cloud);

                std::vector<pcl::Vertices> polygons(1);
                polygons[0].vertices.push_back(0);
                polygons[0].vertices.push_back(1);
                polygons[0].vertices.push_back(2);
                polygons[0].vertices.push_back(3);
                polygons[0].vertices.push_back(0);
                mesh->tex_polygons.push_back(polygons);

                // default texture materials parameters
                pcl::TexMaterial material;
                material.tex_file = "";
                mesh->tex_materials.push_back(material);

#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
                std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > coordinates;
#else
                std::vector<Eigen::Vector2f> coordinates;
#endif
                coordinates.push_back(Eigen::Vector2f(0,1));
                coordinates.push_back(Eigen::Vector2f(1,1));
                coordinates.push_back(Eigen::Vector2f(1,0));
                coordinates.push_back(Eigen::Vector2f(0,0));
                mesh->tex_coordinates.push_back(coordinates);

                this->addTextureMesh(*mesh, map8U, "map", 1);
                setCloudOpacity("map", opacity);
        }
        return true;
}

void CloudViewer::removeOccupancyGridMap()
{
#if VTK_MAJOR_VERSION >= 7
        if(_visualizer->getShapeActorMap()->find("map") != _visualizer->getShapeActorMap()->end())
        {
                _visualizer->removeShape("map");
        }
#else
        if(_visualizer->getCloudActorMap()->find("map") != _visualizer->getCloudActorMap()->end())
        {
                _visualizer->removePointCloud("map");
        }
#endif
}

void CloudViewer::addOrUpdateCoordinate(
                        const std::string & id,
                        const Transform & transform,
                        double scale,
                        bool foreground)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeCoordinate(id);

        if(!transform.isNull())
        {
                _coordinates.insert(id);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
                _visualizer->addCoordinateSystem(scale*_coordinateFrameScale, transform.toEigen3f(), id, foreground?3:2);
#else
                // Well, on older versions, just update the main coordinate
                _visualizer->addCoordinateSystem(scale*_coordinateFrameScale, transform.toEigen3f(), 0);
#endif
        }
}

bool CloudViewer::updateCoordinatePose(
                const std::string & id,
                const Transform & pose)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
        if(_coordinates.find(id) != _coordinates.end() && !pose.isNull())
        {
                UDEBUG("Updating pose %s to %s", id.c_str(), pose.prettyPrint().c_str());
                return _visualizer->updateCoordinateSystemPose(id, pose.toEigen3f());
        }
#else
        UERROR("CloudViewer::updateCoordinatePose() is not available on PCL < 1.7.2");
#endif
        return false;
}

void CloudViewer::removeCoordinate(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_coordinates.find(id) != _coordinates.end())
        {
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
                _visualizer->removeCoordinateSystem(id);
#else
                // Well, on older versions, just update the main coordinate
                _visualizer->removeCoordinateSystem(0);
#endif
                _coordinates.erase(id);
        }
}

void CloudViewer::removeAllCoordinates(const std::string & prefix)
{
        std::set<std::string> coordinates = _coordinates;
        for(std::set<std::string>::iterator iter = coordinates.begin(); iter!=coordinates.end(); ++iter)
        {
                if(prefix.empty() || iter->find(prefix) != std::string::npos)
                {
                        this->removeCoordinate(*iter);
                }
        }
        UASSERT(!prefix.empty() || _coordinates.empty());
}

void CloudViewer::addOrUpdateLine(
                        const std::string & id,
                        const Transform & from,
                        const Transform & to,
                        const QColor & color,
                        bool arrow,
                        bool foreground)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeLine(id);

        if(!from.isNull() && !to.isNull())
        {
                _lines.insert(id);

                QColor c = Qt::gray;
                if(color.isValid())
                {
                        c = color;
                }

                pcl::PointXYZ pt1(from.x(), from.y(), from.z());
                pcl::PointXYZ pt2(to.x(), to.y(), to.z());

                if(arrow)
                {
                        _visualizer->addArrow(pt2, pt1, c.redF(), c.greenF(), c.blueF(), false, id, foreground?3:2);
                }
                else
                {
                        _visualizer->addLine(pt2, pt1, c.redF(), c.greenF(), c.blueF(), id, foreground?3:2);
                }
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
        }
}

void CloudViewer::removeLine(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_lines.find(id) != _lines.end())
        {
                _visualizer->removeShape(id);
                _lines.erase(id);
        }
}

void CloudViewer::removeAllLines()
{
        std::set<std::string> arrows = _lines;
        for(std::set<std::string>::iterator iter = arrows.begin(); iter!=arrows.end(); ++iter)
        {
                this->removeLine(*iter);
        }
        UASSERT(_lines.empty());
}

void CloudViewer::addOrUpdateSphere(
                        const std::string & id,
                        const Transform & pose,
                        float radius,
                        const QColor & color,
                        bool foreground)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeSphere(id);

        if(!pose.isNull())
        {
                _spheres.insert(id);

                QColor c = Qt::gray;
                if(color.isValid())
                {
                        c = color;
                }

                pcl::PointXYZ center(pose.x(), pose.y(), pose.z());
                _visualizer->addSphere(center, radius, c.redF(), c.greenF(), c.blueF(), id, foreground?3:2);
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
        }
}

void CloudViewer::removeSphere(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_spheres.find(id) != _spheres.end())
        {
                _visualizer->removeShape(id);
                _spheres.erase(id);
        }
}

void CloudViewer::removeAllSpheres()
{
        std::set<std::string> spheres = _spheres;
        for(std::set<std::string>::iterator iter = spheres.begin(); iter!=spheres.end(); ++iter)
        {
                this->removeSphere(*iter);
        }
        UASSERT(_spheres.empty());
}

void CloudViewer::addOrUpdateCube(
                        const std::string & id,
                        const Transform & pose,
                        float width,
                        float height,
                        float depth,
                        const QColor & color,
                        bool wireframe,
                        bool foreground)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeCube(id);

        if(!pose.isNull())
        {
                _cubes.insert(id);

                QColor c = Qt::gray;
                if(color.isValid())
                {
                        c = color;
                }
                _visualizer->addCube(Eigen::Vector3f(pose.x(), pose.y(), pose.z()), pose.getQuaternionf(), width, height, depth, id, foreground?3:2);
                if(wireframe)
                {
                        _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, id);
                }
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, c.redF(), c.greenF(), c.blueF(), id);
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
        }
}

void CloudViewer::removeCube(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_cubes.find(id) != _cubes.end())
        {
                _visualizer->removeShape(id);
                _cubes.erase(id);
        }
}

void CloudViewer::removeAllCubes()
{
        std::set<std::string> cubes = _cubes;
        for(std::set<std::string>::iterator iter = cubes.begin(); iter!=cubes.end(); ++iter)
        {
                this->removeCube(*iter);
        }
        UASSERT(_cubes.empty());
}

void CloudViewer::addOrUpdateQuad(
                const std::string & id,
                const Transform & pose,
                float width,
                float height,
                const QColor & color,
                bool foreground)
{
        addOrUpdateQuad(id, pose, width/2.0f, width/2.0f, height/2.0f, height/2.0f, color, foreground);
}

void CloudViewer::addOrUpdateQuad(
                const std::string & id,
                const Transform & pose,
                float widthLeft,
                float widthRight,
                float heightBottom,
                float heightTop,
                const QColor & color,
                bool foreground)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeQuad(id);

        if(!pose.isNull())
        {
                _quads.insert(id);

                QColor c = Qt::gray;
                if(color.isValid())
                {
                        c = color;
                }

                // Create four points (must be in counter clockwise order)
                double p0[3] = {0.0, -widthLeft, heightTop};
                double p1[3] = {0.0, -widthLeft, -heightBottom};
                double p2[3] = {0.0, widthRight, -heightBottom};
                double p3[3] = {0.0, widthRight, heightTop};

                // Add the points to a vtkPoints object
                vtkSmartPointer<vtkPoints> points =
                                vtkSmartPointer<vtkPoints>::New();
                points->InsertNextPoint(p0);
                points->InsertNextPoint(p1);
                points->InsertNextPoint(p2);
                points->InsertNextPoint(p3);

                // Create a quad on the four points
                vtkSmartPointer<vtkQuad> quad =
                                vtkSmartPointer<vtkQuad>::New();
                quad->GetPointIds()->SetId(0,0);
                quad->GetPointIds()->SetId(1,1);
                quad->GetPointIds()->SetId(2,2);
                quad->GetPointIds()->SetId(3,3);

                // Create a cell array to store the quad in
                vtkSmartPointer<vtkCellArray> quads =
                                vtkSmartPointer<vtkCellArray>::New();
                quads->InsertNextCell(quad);

                // Create a polydata to store everything in
                vtkSmartPointer<vtkPolyData> polydata =
                                vtkSmartPointer<vtkPolyData>::New();

                // Add the points and quads to the dataset
                polydata->SetPoints(points);
                polydata->SetPolys(quads);

                // Setup actor and mapper
                vtkSmartPointer<vtkPolyDataMapper> mapper =
                                vtkSmartPointer<vtkPolyDataMapper>::New();
#if VTK_MAJOR_VERSION <= 5
                mapper->SetInput(polydata);
#else
                mapper->SetInputData(polydata);
#endif

                vtkSmartPointer<vtkLODActor> actor =
                                vtkSmartPointer<vtkLODActor>::New();
                actor->SetMapper(mapper);
                actor->GetProperty()->SetColor(c.redF(), c.greenF(), c.blueF());

                //_visualizer->addActorToRenderer (actor, viewport);
                // Add it to all renderers
                _visualizer->getRendererCollection()->InitTraversal ();
                vtkRenderer* renderer = NULL;
                int i = 0;
                while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
                {
                        if ((foreground?3:2) == i)               // add the actor only to the specified viewport
                        {
                                renderer->AddActor (actor);
                        }
                        ++i;
                }

                // Save the pointer/ID pair to the global actor map
                (*_visualizer->getCloudActorMap())[id].actor = actor;

                // Save the viewpoint transformation matrix to the global actor map
                vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New ();
                pcl::visualization::PCLVisualizer::convertToVtkMatrix (pose.toEigen3f().matrix (), transformation);
                (*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation;
                (*_visualizer->getCloudActorMap())[id].actor->SetUserMatrix (transformation);
                (*_visualizer->getCloudActorMap())[id].actor->Modified ();

                (*_visualizer->getCloudActorMap())[id].actor->GetProperty()->SetLighting(false);
                _visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
        }
}

void CloudViewer::removeQuad(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_quads.find(id) != _quads.end())
        {
                _visualizer->removeShape(id);
                _quads.erase(id);
        }
}

void CloudViewer::removeAllQuads()
{
        std::set<std::string> quads = _quads;
        for(std::set<std::string>::iterator iter = quads.begin(); iter!=quads.end(); ++iter)
        {
                this->removeQuad(*iter);
        }
        UASSERT(_quads.empty());
}

static const float frustum_vertices[] = {
    0.0f,  0.0f, 0.0f,
        1.0f, 1.0f, 1.0f,
        1.0f, -1.0f, 1.0f,
        -1.0f, -1.0f, 1.0f,
        -1.0f, 1.0f, 1.0f};

static const int frustum_indices[] = {
    1, 2, 3, 4, 1, 0, 2, 0, 3, 0, 4};

void CloudViewer::addOrUpdateFrustum(
                        const std::string & id,
                        const Transform & pose,
                        const Transform & localTransform,
                        double scale,
                        const QColor & color,
                        float fovX,
                        float fovY)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

#if PCL_VERSION_COMPARE(<, 1, 7, 2)
        this->removeFrustum(id);
#endif

        if(!pose.isNull())
        {
                if(_frustums.find(id)==_frustums.end())
                {
                        _frustums.insert(id, Transform());

                        int frustumSize = sizeof(frustum_vertices)/sizeof(float);
                        UASSERT(frustumSize>0 && frustumSize % 3 == 0);
                        frustumSize/=3;
                        pcl::PointCloud<pcl::PointXYZ> frustumPoints;
                        frustumPoints.resize(frustumSize);
                        float scaleX = tan((fovX>0?fovX:1.1)/2.0f) * scale;
                        float scaleY = tan((fovY>0?fovY:0.85)/2.0f) * scale;
                        float scaleZ = scale;
                        QColor c = Qt::gray;
                        if(color.isValid())
                        {
                                c = color;
                        }
                        Transform opticalRotInv(0, -1, 0, 0, 0, 0, -1, 0, 1, 0, 0, 0);

#if PCL_VERSION_COMPARE(<, 1, 7, 2)
                        Eigen::Affine3f t = (pose*localTransform).toEigen3f();
#else
                        Eigen::Affine3f t = (localTransform).toEigen3f();
#endif
                        for(int i=0; i<frustumSize; ++i)
                        {
                                frustumPoints[i].x = frustum_vertices[i*3]*scaleX;
                                frustumPoints[i].y = frustum_vertices[i*3+1]*scaleY;
                                frustumPoints[i].z = frustum_vertices[i*3+2]*scaleZ;
                                frustumPoints[i] = pcl::transformPoint(frustumPoints[i], t);
                        }

                        pcl::PolygonMesh mesh;
                        pcl::Vertices vertices;
                        vertices.vertices.resize(sizeof(frustum_indices)/sizeof(int));
                        for(unsigned int i=0; i<vertices.vertices.size(); ++i)
                        {
                                vertices.vertices[i] = frustum_indices[i];
                        }
                        pcl::toPCLPointCloud2(frustumPoints, mesh.cloud);
                        mesh.polygons.push_back(vertices);
                        _visualizer->addPolylineFromPolygonMesh(mesh, id, 2);
                        _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, c.redF(), c.greenF(), c.blueF(), id);
                        _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
                }
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
                if(!this->updateFrustumPose(id, pose))
                {
                        UERROR("Failed updating pose of frustum %s!?", id.c_str());
                }
#endif
        }
        else
        {
                removeFrustum(id);
        }
}

bool CloudViewer::updateFrustumPose(
                const std::string & id,
                const Transform & pose)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
        QMap<std::string, Transform>::iterator iter=_frustums.find(id);
        if(iter != _frustums.end() && !pose.isNull())
        {
                if(iter.value() == pose)
                {
                        // same pose, just return
                        return true;
                }

                pcl::visualization::ShapeActorMap::iterator am_it = _visualizer->getShapeActorMap()->find (id);

                vtkActor* actor;

                if (am_it == _visualizer->getShapeActorMap()->end ())
                        return (false);
                else
                        actor = vtkActor::SafeDownCast (am_it->second);

                if (!actor)
                        return (false);

                vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();

                pcl::visualization::PCLVisualizer::convertToVtkMatrix (pose.toEigen3f().matrix (), matrix);

                actor->SetUserMatrix (matrix);
                actor->Modified ();

                iter.value() = pose;

                return true;
        }
#else
        UERROR("updateFrustumPose() cannot be used with PCL<1.7.2. Use addOrUpdateFrustum() instead.");
#endif
        return false;
}

void CloudViewer::removeFrustum(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_frustums.find(id) != _frustums.end())
        {
                _visualizer->removeShape(id);
                _frustums.remove(id);
        }
}

void CloudViewer::removeAllFrustums(bool exceptCameraReference)
{
        QMap<std::string, Transform> frustums = _frustums;
        for(QMap<std::string, Transform>::iterator iter = frustums.begin(); iter!=frustums.end(); ++iter)
        {
                if(!exceptCameraReference || !uStrContains(iter.key(), "reference_frustum"))
                {
                        this->removeFrustum(iter.key());
                }
        }
        UASSERT(exceptCameraReference || _frustums.empty());
}

void CloudViewer::addOrUpdateGraph(
                const std::string & id,
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & graph,
                const QColor & color)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeGraph(id);

        if(graph->size())
        {
                _graphes.insert(id);

                pcl::PolygonMesh mesh;
                pcl::Vertices vertices;
                vertices.vertices.resize(graph->size());
                for(unsigned int i=0; i<vertices.vertices.size(); ++i)
                {
                        vertices.vertices[i] = i;
                }
                pcl::toPCLPointCloud2(*graph, mesh.cloud);
                mesh.polygons.push_back(vertices);
                _visualizer->addPolylineFromPolygonMesh(mesh, id, 2);
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, color.redF(), color.greenF(), color.blueF(), id);
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, color.alphaF(), id);

                pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
                pcl::toPCLPointCloud2(*graph, *binaryCloud);
                this->addCloud(id+"_nodes", binaryCloud, Transform::getIdentity(), false, false, false, color, 2);
                this->setCloudPointSize(id+"_nodes", 5);
        }
}

void CloudViewer::removeGraph(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_graphes.find(id) != _graphes.end())
        {
                _visualizer->removeShape(id);
                _graphes.erase(id);
                removeCloud(id+"_nodes");
        }
}

void CloudViewer::removeAllGraphs()
{
        std::set<std::string> graphes = _graphes;
        for(std::set<std::string>::iterator iter = graphes.begin(); iter!=graphes.end(); ++iter)
        {
                this->removeGraph(*iter);
        }
        UASSERT(_graphes.empty());
}

void CloudViewer::addOrUpdateText(
                        const std::string & id,
                        const std::string & text,
                        const Transform & position,
                        double scale,
                        const QColor & color,
                        bool foreground)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        removeText(id);

        if(!position.isNull())
        {
                _texts.insert(id);
                _visualizer->addText3D(
                                text,
                                pcl::PointXYZ(position.x(), position.y(), position.z()),
                                scale,
                                color.redF(),
                                color.greenF(),
                                color.blueF(),
                                id,
                                foreground?3:2);
        }
}

void CloudViewer::removeText(const std::string & id)
{
        if(id.empty())
        {
                UERROR("id should not be empty!");
                return;
        }

        if(_texts.find(id) != _texts.end())
        {
                _visualizer->removeText3D(id);
                _texts.erase(id);
        }
}

void CloudViewer::removeAllTexts()
{
        std::set<std::string> texts = _texts;
        for(std::set<std::string>::iterator iter = texts.begin(); iter!=texts.end(); ++iter)
        {
                this->removeText(*iter);
        }
        UASSERT(_texts.empty());
}

bool CloudViewer::isTrajectoryShown() const
{
        return _aShowTrajectory->isChecked();
}

unsigned int CloudViewer::getTrajectorySize() const
{
        return _maxTrajectorySize;
}

void CloudViewer::setTrajectoryShown(bool shown)
{
        _aShowTrajectory->setChecked(shown);
}

void CloudViewer::setTrajectorySize(unsigned int value)
{
        _maxTrajectorySize = value;
}

void CloudViewer::clearTrajectory()
{
        _trajectory->clear();
        _visualizer->removeShape("trajectory");
        this->refreshView();
}

bool CloudViewer::isCameraAxisShown() const
{
        return _aShowCameraAxis->isChecked();
}

void CloudViewer::setCameraAxisShown(bool shown)
{
        if(!shown)
        {
                this->removeCoordinate("reference");
        }
        else
        {
                this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
        }
        this->refreshView();
        _aShowCameraAxis->setChecked(shown);
}

double CloudViewer::getCoordinateFrameScale() const
{
        return _coordinateFrameScale;
}

void CloudViewer::setCoordinateFrameScale(double scale)
{
        _coordinateFrameScale = std::max(0.1, scale);
}

bool CloudViewer::isFrustumShown() const
{
        return _aShowFrustum->isChecked();
}

float CloudViewer::getFrustumScale() const
{
        return _frustumScale;
}

QColor CloudViewer::getFrustumColor() const
{
        return _frustumColor;
}

void CloudViewer::setFrustumShown(bool shown)
{
        if(!shown)
        {
                QMap<std::string, Transform> frustumsCopy = _frustums;
                for(QMap<std::string, Transform>::iterator iter=frustumsCopy.begin(); iter!=frustumsCopy.end(); ++iter)
                {
                        if(uStrContains(iter.key(), "reference_frustum"))
                        {
                                this->removeFrustum(iter.key());
                        }
                }
                std::set<std::string> linesCopy = _lines;
                for(std::set<std::string>::iterator iter=linesCopy.begin(); iter!=linesCopy.end(); ++iter)
                {
                        if(uStrContains(*iter, "reference_frustum_line"))
                        {
                                this->removeLine(*iter);
                        }
                }
                this->refreshView();
        }
        _aShowFrustum->setChecked(shown);
}

void CloudViewer::setFrustumScale(float value)
{
        _frustumScale = value;
}

void CloudViewer::setFrustumColor(QColor value)
{
        if(!value.isValid())
        {
                value = Qt::gray;
        }
        for(QMap<std::string, Transform>::iterator iter=_frustums.begin(); iter!=_frustums.end(); ++iter)
        {
                _visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, value.redF(), value.greenF(), value.blueF(), iter.key());
        }
        this->refreshView();
        _frustumColor = value;
}

void CloudViewer::resetCamera()
{
        _lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
        if((_aFollowCamera->isChecked() || _aLockCamera->isChecked()) && !_lastPose.isNull())
        {
                // reset relative to last current pose
                cv::Point3f pt = util3d::transformPoint(cv::Point3f(_lastPose.x(), _lastPose.y(), _lastPose.z()), ( _lastPose.rotation()*Transform(-1, 0, 0)).translation());
                if(_aCameraOrtho->isChecked())
                {
                        this->setCameraPosition(
                                        _lastPose.x(), _lastPose.y(), _lastPose.z()+5,
                                        _lastPose.x(), _lastPose.y(), _lastPose.z(),
                                        1, 0, 0);
                }
                else if(_aLockViewZ->isChecked())
                {
                        this->setCameraPosition(
                                        pt.x, pt.y, pt.z,
                                        _lastPose.x(), _lastPose.y(), _lastPose.z(),
                                        0, 0, 1);
                }
                else
                {
                        this->setCameraPosition(
                                        pt.x, pt.y, pt.z,
                                        _lastPose.x(), _lastPose.y(), _lastPose.z(),
                                        _lastPose.r31(), _lastPose.r32(), _lastPose.r33());
                }
        }
        else if(_aCameraOrtho->isChecked())
        {
                this->setCameraPosition(
                                0, 0, 5,
                                0, 0, 0,
                                1, 0, 0);
        }
        else
        {
                this->setCameraPosition(
                                -1, 0, 0,
                                0, 0, 0,
                                0, 0, 1);
        }
}

void CloudViewer::removeAllClouds()
{
        QMap<std::string, Transform> addedClouds = _addedClouds;
        QList<std::string> ids = _addedClouds.keys();
        for(QList<std::string>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
        {
                removeCloud(*iter);
        }
        UASSERT(_addedClouds.empty());
        UASSERT(_locators.empty());
}


bool CloudViewer::removeCloud(const std::string & id)
{
        bool success = _visualizer->removePointCloud(id);
#if VTK_MAJOR_VERSION >= 7
        if(!success)
        {
                success = _visualizer->removeShape(id);
        }
#endif
        _visualizer->removePointCloud(id+"-normals");
        _addedClouds.remove(id); // remove after visualizer
        _addedClouds.remove(id+"-normals");
        _locators.erase(id);
        return success;
}

bool CloudViewer::getPose(const std::string & id, Transform & pose)
{
        if(_addedClouds.contains(id))
        {
                pose = _addedClouds.value(id);
                return true;
        }
        return false;
}

Transform CloudViewer::getTargetPose() const
{
        if(_lastPose.isNull())
        {
                return Transform::getIdentity();
        }
        return _lastPose;
}

std::string CloudViewer::getIdByActor(vtkProp * actor) const
{
        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
        {
                if(iter->second.actor.GetPointer() == actor)
                {
                        return iter->first;
                }
        }

#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
        // getShapeActorMap() not available in version < 1.7.2
        pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
        for(pcl::visualization::ShapeActorMap::iterator iter=shapeActorMap->begin(); iter!=shapeActorMap->end(); ++iter)
        {
                if(iter->second.GetPointer() == actor)
                {
                        std::string id = iter->first;
                        while(id.size() && id.at(id.size()-1) == '*')
                        {
                                id.erase(id.size()-1);
                        }

                        return id;
                }
        }
#endif
        return std::string();
}

QColor CloudViewer::getColor(const std::string & id)
{
        QColor color;
        pcl::visualization::CloudActorMap::iterator iter = _visualizer->getCloudActorMap()->find(id);
        if(iter != _visualizer->getCloudActorMap()->end())
        {
                double r,g,b,a;
                iter->second.actor->GetProperty()->GetColor(r,g,b);
                a = iter->second.actor->GetProperty()->GetOpacity();
                color.setRgbF(r, g, b, a);
        }
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
        // getShapeActorMap() not available in version < 1.7.2
        else
        {
                std::string idLayer1 = id+"*";
                std::string idLayer2 = id+"**";
                pcl::visualization::ShapeActorMap::iterator iter = _visualizer->getShapeActorMap()->find(id);
                if(iter == _visualizer->getShapeActorMap()->end())
                {
                        iter = _visualizer->getShapeActorMap()->find(idLayer1);
                        if(iter == _visualizer->getShapeActorMap()->end())
                        {
                                iter = _visualizer->getShapeActorMap()->find(idLayer2);
                        }
                }
                if(iter != _visualizer->getShapeActorMap()->end())
                {
                        vtkActor * actor = vtkActor::SafeDownCast(iter->second);
                        if(actor)
                        {
                                double r,g,b,a;
                                actor->GetProperty()->GetColor(r,g,b);
                                a = actor->GetProperty()->GetOpacity();
                                color.setRgbF(r, g, b, a);
                        }
                }
        }
#endif
        return color;
}

void CloudViewer::setColor(const std::string & id, const QColor & color)
{
        pcl::visualization::CloudActorMap::iterator iter = _visualizer->getCloudActorMap()->find(id);
        if(iter != _visualizer->getCloudActorMap()->end())
        {
                iter->second.actor->GetProperty()->SetColor(color.redF(),color.greenF(),color.blueF());
                iter->second.actor->GetProperty()->SetOpacity(color.alphaF());
        }
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
        // getShapeActorMap() not available in version < 1.7.2
        else
        {
                std::string idLayer1 = id+"*";
                std::string idLayer2 = id+"**";
                pcl::visualization::ShapeActorMap::iterator iter = _visualizer->getShapeActorMap()->find(id);
                if(iter == _visualizer->getShapeActorMap()->end())
                {
                        iter = _visualizer->getShapeActorMap()->find(idLayer1);
                        if(iter == _visualizer->getShapeActorMap()->end())
                        {
                                iter = _visualizer->getShapeActorMap()->find(idLayer2);
                        }
                }
                if(iter != _visualizer->getShapeActorMap()->end())
                {
                        vtkActor * actor = vtkActor::SafeDownCast(iter->second);
                        if(actor)
                        {
                                actor->GetProperty()->SetColor(color.redF(),color.greenF(),color.blueF());
                                actor->GetProperty()->SetOpacity(color.alphaF());
                        }
                }
        }
#endif
}

void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling)
{
        _aBackfaceCulling->setChecked(enabled);
        _frontfaceCulling = frontfaceCulling;

        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
        {
                iter->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
                iter->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
        }
#if VTK_MAJOR_VERSION >= 7
        pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
        for(pcl::visualization::ShapeActorMap::iterator iter=shapeActorMap->begin(); iter!=shapeActorMap->end(); ++iter)
        {
                vtkActor* actor = vtkActor::SafeDownCast (iter->second);
                if(actor)
                {
                        actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
                        actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
                }
        }
#endif
        this->refreshView();
}

void CloudViewer::setPolygonPicking(bool enabled)
{
        _aPolygonPicking->setChecked(enabled);

        if(!_aPolygonPicking->isChecked())
        {
                vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
                pp->SetTolerance (pp->GetTolerance());
                #if VTK_MAJOR_VERSION > 8
                this->interactor()->SetPicker (pp);
#else
                this->GetInteractor()->SetPicker (pp);
#endif
                setMouseTracking(false);
        }
        else
        {
                vtkSmartPointer<CloudViewerCellPicker> pp = vtkSmartPointer<CloudViewerCellPicker>::New ();
                pp->SetTolerance (pp->GetTolerance());
#if VTK_MAJOR_VERSION > 8
                this->interactor()->SetPicker (pp);
#else
                this->GetInteractor()->SetPicker (pp);
#endif
                setMouseTracking(true);
        }
}



void CloudViewer::setRenderingRate(double rate)
{
        _renderingRate = rate;
        _visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(_renderingRate);
}

void CloudViewer::setEDLShading(bool on)
{
#if VTK_MAJOR_VERSION >= 7
        _aSetEDLShading->setChecked(on);
        _visualizer->getRendererCollection()->InitTraversal ();
        vtkRenderer* renderer = NULL;
        renderer = _visualizer->getRendererCollection()->GetNextItem ();
        renderer = _visualizer->getRendererCollection()->GetNextItem (); // Get Layer 1
        UASSERT(renderer);

        vtkOpenGLRenderer* glrenderer = vtkOpenGLRenderer::SafeDownCast(renderer);
        UASSERT(glrenderer);
        if(on)
        {
                // EDL shader
                vtkSmartPointer<vtkRenderStepsPass> basicPasses = vtkSmartPointer<vtkRenderStepsPass>::New ();
                vtkSmartPointer<vtkEDLShading> edl = vtkSmartPointer<vtkEDLShading>::New ();
                edl->SetDelegatePass(basicPasses);
                glrenderer->SetPass(edl);
        }
        else if(glrenderer->GetPass())
        {
                glrenderer->GetPass()->ReleaseGraphicsResources(NULL);
                glrenderer->SetPass(NULL);
        }

        this->refreshView();
#else
        if(on)
        {
                UERROR("RTAB-Map must be built with VTK>=7 to enable EDL shading!");
        }
#endif
}

void CloudViewer::setLighting(bool on)
{
        _aSetLighting->setChecked(on);
        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
        {
                iter->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
        }
#if VTK_MAJOR_VERSION >= 7
        pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
        for(pcl::visualization::ShapeActorMap::iterator iter=shapeActorMap->begin(); iter!=shapeActorMap->end(); ++iter)
        {
                vtkActor* actor = vtkActor::SafeDownCast (iter->second);
                if(actor && _addedClouds.contains(iter->first))
                {
                        actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
                }
        }
#endif
        this->refreshView();
}

void CloudViewer::setShading(bool on)
{
        _aSetFlatShading->setChecked(on);
        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
        {
                iter->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); // VTK_FLAT - VTK_GOURAUD - VTK_PHONG
        }
#if VTK_MAJOR_VERSION >= 7
        pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
        for(pcl::visualization::ShapeActorMap::iterator iter=shapeActorMap->begin(); iter!=shapeActorMap->end(); ++iter)
        {
                vtkActor* actor = vtkActor::SafeDownCast (iter->second);
                if(actor && _addedClouds.contains(iter->first))
                {
                        actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); // VTK_FLAT - VTK_GOURAUD - VTK_PHONG
                }
        }
#endif
        this->refreshView();
}

void CloudViewer::setEdgeVisibility(bool visible)
{
        _aSetEdgeVisibility->setChecked(visible);
        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
        {
                iter->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
        }
#if VTK_MAJOR_VERSION >= 7
        pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
        for(pcl::visualization::ShapeActorMap::iterator iter=shapeActorMap->begin(); iter!=shapeActorMap->end(); ++iter)
        {
                vtkActor* actor = vtkActor::SafeDownCast (iter->second);
                if(actor && _addedClouds.contains(iter->first))
                {
                        actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
                }
        }
#endif
        this->refreshView();
}

void CloudViewer::setInteractorLayer(int layer)
{
        _visualizer->getRendererCollection()->InitTraversal ();
        vtkRenderer* renderer = NULL;
        int i =0;
        while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
        {
                if(i==layer)
                {
                        _visualizer->getInteractorStyle()->SetDefaultRenderer(renderer);
                        _visualizer->getInteractorStyle()->SetCurrentRenderer(renderer);
                        return;
                }
                ++i;
        }
        UWARN("Could not set layer %d to interactor (layers=%d).", layer, _visualizer->getRendererCollection()->GetNumberOfItems());
}

void CloudViewer::getCameraPosition(
                float & x, float & y, float & z,
                float & focalX, float & focalY, float & focalZ,
                float & upX, float & upY, float & upZ) const
{
        std::vector<pcl::visualization::Camera> cameras;
        _visualizer->getCameras(cameras);
        if(cameras.size())
        {
                x = cameras.begin()->pos[0];
                y = cameras.begin()->pos[1];
                z = cameras.begin()->pos[2];
                focalX = cameras.begin()->focal[0];
                focalY = cameras.begin()->focal[1];
                focalZ = cameras.begin()->focal[2];
                upX = cameras.begin()->view[0];
                upY = cameras.begin()->view[1];
                upZ = cameras.begin()->view[2];
        }
        else
        {
                UERROR("No camera set!?");
        }
}

void CloudViewer::setCameraPosition(
                float x, float y, float z,
                float focalX, float focalY, float focalZ,
                float upX, float upY, float upZ)
{
        vtkRenderer* renderer = NULL;
        double boundingBox[6] = {1, -1, 1, -1, 1, -1};

        // compute global bounding box
        _visualizer->getRendererCollection()->InitTraversal ();
        while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
        {
                vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
                cam->SetPosition (x, y, z);
                cam->SetFocalPoint (focalX, focalY, focalZ);
                cam->SetViewUp (upX, upY, upZ);

                double BB[6];
                renderer->ComputeVisiblePropBounds(BB);
                for (int i = 0; i < 6; i++) {
                        if (i % 2 == 0) {
                                // Even Index is Min
                                if (BB[i] < boundingBox[i]) {
                                        boundingBox[i] = BB[i];
                                }
                        } else {
                                // Odd Index is Max
                                if (BB[i] > boundingBox[i]) {
                                        boundingBox[i] = BB[i];
                                }
                        }
                }
        }

        _visualizer->getRendererCollection()->InitTraversal ();
        while ((renderer = _visualizer->getRendererCollection()->GetNextItem ()) != NULL)
        {
                renderer->ResetCameraClippingRange(boundingBox);
        }

        _visualizer->getRenderWindow()->Render ();
}

void CloudViewer::updateCameraTargetPosition(const Transform & pose)
{
        if(!pose.isNull())
        {
                Eigen::Affine3f m = pose.toEigen3f();
                Eigen::Vector3f pos = m.translation();

                Eigen::Vector3f lastPos(0,0,0);
                if(_trajectory->size())
                {
                        lastPos[0]=_trajectory->back().x;
                        lastPos[1]=_trajectory->back().y;
                        lastPos[2]=_trajectory->back().z;
                }

                _trajectory->push_back(pcl::PointXYZ(pos[0], pos[1], pos[2]));
                if(_maxTrajectorySize>0)
                {
                        while(_trajectory->size() > _maxTrajectorySize)
                        {
                                _trajectory->erase(_trajectory->begin());
                        }
                }
                if(_aShowTrajectory->isChecked())
                {
                        _visualizer->removeShape("trajectory");
                        pcl::PolygonMesh mesh;
                        pcl::Vertices vertices;
                        vertices.vertices.resize(_trajectory->size());
                        for(unsigned int i=0; i<vertices.vertices.size(); ++i)
                        {
                                vertices.vertices[i] = i;
                        }
                        pcl::toPCLPointCloud2(*_trajectory, mesh.cloud);
                        mesh.polygons.push_back(vertices);
                        _visualizer->addPolylineFromPolygonMesh(mesh, "trajectory", 2);
                }

                if(pose != _lastPose || _lastPose.isNull())
                {
                        if(_lastPose.isNull())
                        {
                                _lastPose.setIdentity();
                        }

                        std::vector<pcl::visualization::Camera> cameras;
                        _visualizer->getCameras(cameras);

                        if(_aLockCamera->isChecked() || _aCameraOrtho->isChecked())
                        {
                                //update camera position
                                Eigen::Vector3f diff = pos - Eigen::Vector3f(_lastPose.x(), _lastPose.y(), _lastPose.z());
                                cameras.front().pos[0] += diff[0];
                                cameras.front().pos[1] += diff[1];
                                cameras.front().pos[2] += diff[2];
                                cameras.front().focal[0] += diff[0];
                                cameras.front().focal[1] += diff[1];
                                cameras.front().focal[2] += diff[2];
                        }
                        else if(_aFollowCamera->isChecked())
                        {
                                Eigen::Vector3f vPosToFocal = Eigen::Vector3f(cameras.front().focal[0] - cameras.front().pos[0],
                                                                                                                          cameras.front().focal[1] - cameras.front().pos[1],
                                                                                                                          cameras.front().focal[2] - cameras.front().pos[2]).normalized();
                                Eigen::Vector3f zAxis(cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
                                Eigen::Vector3f yAxis = zAxis.cross(vPosToFocal);
                                Eigen::Vector3f xAxis = yAxis.cross(zAxis);
                                Transform PR(xAxis[0], xAxis[1], xAxis[2],0,
                                                        yAxis[0], yAxis[1], yAxis[2],0,
                                                        zAxis[0], zAxis[1], zAxis[2],0);

                                PR.normalizeRotation();

                                Transform P(PR[0], PR[1], PR[2], cameras.front().pos[0],
                                                        PR[4], PR[5], PR[6], cameras.front().pos[1],
                                                        PR[8], PR[9], PR[10], cameras.front().pos[2]);
                                Transform F(PR[0], PR[1], PR[2], cameras.front().focal[0],
                                                        PR[4], PR[5], PR[6], cameras.front().focal[1],
                                                        PR[8], PR[9], PR[10], cameras.front().focal[2]);
                                Transform N = pose;
                                Transform O = _lastPose;
                                Transform O2N = O.inverse()*N;
                                Transform F2O = F.inverse()*O;
                                Transform T = F2O * O2N * F2O.inverse();
                                Transform Fp = F * T;
                                Transform P2F = P.inverse()*F;
                                Transform Pp = P * P2F * T * P2F.inverse();

                                cameras.front().pos[0] = Pp.x();
                                cameras.front().pos[1] = Pp.y();
                                cameras.front().pos[2] = Pp.z();
                                cameras.front().focal[0] = Fp.x();
                                cameras.front().focal[1] = Fp.y();
                                cameras.front().focal[2] = Fp.z();
                                //FIXME: the view up is not set properly...
                                cameras.front().view[0] = _aLockViewZ->isChecked()?0:Fp[8];
                                cameras.front().view[1] = _aLockViewZ->isChecked()?0:Fp[9];
                                cameras.front().view[2] = _aLockViewZ->isChecked()?1:Fp[10];
                        }

                        if(_aShowCameraAxis->isChecked())
                        {
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
                                if(_coordinates.find("reference") != _coordinates.end())
                                {
                                        this->updateCoordinatePose("reference", pose);
                                }
                                else
#endif
                                {
                                        this->addOrUpdateCoordinate("reference", pose, 0.2);
                                }
                        }

                        this->setCameraPosition(
                                cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
                                cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
                                cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
                }
        }

        _lastPose = pose;
}

void CloudViewer::updateCameraFrustum(const Transform & pose, const StereoCameraModel & model)
{
        std::vector<CameraModel> models;
        models.push_back(model.left());
        CameraModel right = model.right();
        if(!model.left().localTransform().isNull())
        {
                right.setLocalTransform(model.left().localTransform() * Transform(model.baseline(), 0, 0, 0, 0, 0));
        }
        models.push_back(right);
        updateCameraFrustums(pose, models);
}

void CloudViewer::updateCameraFrustum(const Transform & pose, const CameraModel & model)
{
        std::vector<CameraModel> models;
        models.push_back(model);
        updateCameraFrustums(pose, models);
}

void CloudViewer::updateCameraFrustums(const Transform & pose, const std::vector<CameraModel> & models)
{
        if(!pose.isNull())
        {
                if(_aShowFrustum->isChecked())
                {
                        Transform baseToCamera;
                        for(unsigned int i=0; i<models.size(); ++i)
                        {
                                baseToCamera = Transform::getIdentity();
                                if(!models[i].localTransform().isNull() && !models[i].localTransform().isIdentity())
                                {
                                        baseToCamera = models[i].localTransform();
                                }
                                std::string id = uFormat("reference_frustum_%d", i);
                                this->removeFrustum(id);
                                this->addOrUpdateFrustum(id, pose, baseToCamera, _frustumScale, _frustumColor, models[i].fovX(), models[i].fovY());
                                if(!baseToCamera.isIdentity())
                                {
                                        this->addOrUpdateLine(uFormat("reference_frustum_line_%d", i), pose, pose * baseToCamera, _frustumColor);
                                }
                        }
                }
        }
}
void CloudViewer::updateCameraFrustums(const Transform & pose, const std::vector<StereoCameraModel> & stereoModels)
{
        std::vector<CameraModel> models;
        for(size_t i=0; i<stereoModels.size(); ++i)
        {
                models.push_back(stereoModels[i].left());
                CameraModel right = stereoModels[i].right();
                if(!stereoModels[i].left().localTransform().isNull())
                {
                        right.setLocalTransform(stereoModels[i].left().localTransform() * Transform(stereoModels[i].baseline(), 0, 0, 0, 0, 0));
                }
                models.push_back(right);
                updateCameraFrustums(pose, models);
        }
}

const QColor & CloudViewer::getDefaultBackgroundColor() const
{
        return _defaultBgColor;
}

void CloudViewer::setDefaultBackgroundColor(const QColor & color)
{
        if(_currentBgColor == _defaultBgColor)
        {
                setBackgroundColor(color);
        }
        _defaultBgColor = color;
}

const QColor & CloudViewer::getBackgroundColor() const
{
        return _currentBgColor;
}

void CloudViewer::setBackgroundColor(const QColor & color)
{
        _currentBgColor = color;
        _visualizer->setBackgroundColor(color.redF(), color.greenF(), color.blueF());
}

void CloudViewer::setCloudVisibility(const std::string & id, bool isVisible)
{
        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        pcl::visualization::CloudActorMap::iterator iter = cloudActorMap->find(id);
        if(iter != cloudActorMap->end())
        {
                iter->second.actor->SetVisibility(isVisible?1:0);

                iter = cloudActorMap->find(id+"-normals");
                if(iter != cloudActorMap->end())
                {
                        iter->second.actor->SetVisibility(isVisible&&_aShowNormals->isChecked()?1:0);
                }
        }
        else
        {
#if VTK_MAJOR_VERSION >= 7
                pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
                pcl::visualization::ShapeActorMap::iterator iter = shapeActorMap->find(id);
                if(iter != shapeActorMap->end())
                {
                        vtkActor* actor = vtkActor::SafeDownCast (iter->second);
                        if(actor)
                        {
                                actor->SetVisibility(isVisible?1:0);
                                return;
                        }
                }
#endif
                UERROR("Cannot find actor named \"%s\".", id.c_str());
        }
}

bool CloudViewer::getCloudVisibility(const std::string & id)
{
        pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
        pcl::visualization::CloudActorMap::iterator iter = cloudActorMap->find(id);
        if(iter != cloudActorMap->end())
        {
                return iter->second.actor->GetVisibility() != 0;
        }
        else
        {
#if VTK_MAJOR_VERSION >= 7
                pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
                pcl::visualization::ShapeActorMap::iterator iter = shapeActorMap->find(id);
                if(iter != shapeActorMap->end())
                {
                        vtkActor* actor = vtkActor::SafeDownCast (iter->second);
                        if(actor)
                        {
                                return actor->GetVisibility() != 0;
                        }
                }
#endif
                UERROR("Cannot find actor named \"%s\".", id.c_str());
        }
        return false;
}

void CloudViewer::setCloudColorIndex(const std::string & id, int index)
{
        if(index>0)
        {
                _visualizer->updateColorHandlerIndex(id, index-1);
        }
}

void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
{
        double lastOpacity;
        if(_visualizer->getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, lastOpacity, id))
        {
                if(lastOpacity != opacity)
                {
                        _visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, id);
                }
        }
#if VTK_MAJOR_VERSION >= 7
        else
        {
                pcl::visualization::ShapeActorMap::iterator am_it = _visualizer->getShapeActorMap()->find (id);
                if (am_it != _visualizer->getShapeActorMap()->end ())
                {
                        vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
                        if(actor)
                        {
                                actor->GetProperty ()->SetOpacity (opacity);
                                actor->Modified ();
                        }
                }
        }
#endif
}

void CloudViewer::setCloudPointSize(const std::string & id, int size)
{
        double lastSize;
        if(_visualizer->getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, lastSize, id))
        {
                if((int)lastSize != size)
                {
                        _visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, (double)size, id);
                }
        }
}

void CloudViewer::setCameraTargetLocked(bool enabled)
{
        _aLockCamera->setChecked(enabled);
}

void CloudViewer::setCameraTargetFollow(bool enabled)
{
        _aFollowCamera->setChecked(enabled);
}

void CloudViewer::setCameraFree()
{
        _aLockCamera->setChecked(false);
        _aFollowCamera->setChecked(false);
}

void CloudViewer::setCameraLockZ(bool enabled)
{
        _lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
        _aLockViewZ->setChecked(enabled);
}
void CloudViewer::setCameraOrtho(bool enabled)
{
        _lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
#if VTK_MAJOR_VERSION > 8
        CloudViewerInteractorStyle * interactor = CloudViewerInteractorStyle::SafeDownCast(this->interactor()->GetInteractorStyle());
#else
        CloudViewerInteractorStyle * interactor = CloudViewerInteractorStyle::SafeDownCast(this->GetInteractor()->GetInteractorStyle());
#endif
        if(interactor)
        {
                interactor->setOrthoMode(enabled);
                this->refreshView();
        }
        _aCameraOrtho->setChecked(enabled);
}
bool CloudViewer::isCameraTargetLocked() const
{
        return _aLockCamera->isChecked();
}
bool CloudViewer::isCameraTargetFollow() const
{
        return _aFollowCamera->isChecked();
}
bool CloudViewer::isCameraFree() const
{
        return !_aFollowCamera->isChecked() && !_aLockCamera->isChecked();
}
bool CloudViewer::isCameraLockZ() const
{
        return _aLockViewZ->isChecked();
}
bool CloudViewer::isCameraOrtho() const
{
        return _aCameraOrtho->isChecked();
}
bool CloudViewer::isBackfaceCulling() const
{
        return _aBackfaceCulling->isChecked();
}
bool CloudViewer::isFrontfaceCulling() const
{
        return _frontfaceCulling;
}
bool CloudViewer::isPolygonPicking() const
{
        return _aPolygonPicking->isChecked();
}
bool CloudViewer::isEDLShadingOn() const
{
        return _aSetEDLShading->isChecked();
}
bool CloudViewer::isLightingOn() const
{
        return _aSetLighting->isChecked();
}
bool CloudViewer::isShadingOn() const
{
        return _aSetFlatShading->isChecked();
}
bool CloudViewer::isEdgeVisible() const
{
        return _aSetEdgeVisibility->isChecked();
}
double CloudViewer::getRenderingRate() const
{
        return _renderingRate;
}

void CloudViewer::setGridShown(bool shown)
{
        _aShowGrid->setChecked(shown);
        if(shown)
        {
                this->addGrid();
        }
        else
        {
                this->removeGrid();
        }
}
bool CloudViewer::isGridShown() const
{
        return _aShowGrid->isChecked();
}
unsigned int CloudViewer::getGridCellCount() const
{
        return _gridCellCount;
}
float CloudViewer::getGridCellSize() const
{
        return _gridCellSize;
}
void CloudViewer::setGridCellCount(unsigned int count)
{
        if(count > 0)
        {
                _gridCellCount = count;
                if(_aShowGrid->isChecked())
                {
                        this->removeGrid();
                        this->addGrid();
                }
        }
        else
        {
                UERROR("Cannot set grid cell count < 1, count=%d", count);
        }
}
void CloudViewer::setGridCellSize(float size)
{
        if(size > 0)
        {
                _gridCellSize = size;
                if(_aShowGrid->isChecked())
                {
                        this->removeGrid();
                        this->addGrid();
                }
        }
        else
        {
                UERROR("Cannot set grid cell size <= 0, value=%f", size);
        }
}
void CloudViewer::addGrid()
{
        if(_gridLines.empty())
        {
                float cellSize = _gridCellSize;
                int cellCount = _gridCellCount;
                double r=0.5;
                double g=0.5;
                double b=0.5;
                int id = 0;
                float min = -float(cellCount/2) * cellSize;
                float max = float(cellCount/2) * cellSize;
                std::string name;
                for(float i=min; i<=max; i += cellSize)
                {
                        //over x
                        name = uFormat("line%d", ++id);
                        _visualizer->addLine(
                                        pcl::PointXYZ(i, min, 0.0f),
                                        pcl::PointXYZ(i, max, 0.0f),
                                        r, g, b, name, 2);
                        _gridLines.push_back(name);
                        //over y or z
                        name = uFormat("line%d", ++id);
                        _visualizer->addLine(
                                        pcl::PointXYZ(min, i, 0),
                                        pcl::PointXYZ(max, i, 0),
                                        r, g, b, name, 2);
                        _gridLines.push_back(name);
                }
                // this will update clipping planes
                std::vector<pcl::visualization::Camera> cameras;
                _visualizer->getCameras(cameras);
                this->setCameraPosition(
                                cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
                                cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
                                cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
        }
}

void CloudViewer::removeGrid()
{
        for(std::list<std::string>::iterator iter = _gridLines.begin(); iter!=_gridLines.end(); ++iter)
        {
                _visualizer->removeShape(*iter);
        }
        _gridLines.clear();
}

void CloudViewer::setNormalsShown(bool shown)
{
        _aShowNormals->setChecked(shown);
        QList<std::string> ids = _addedClouds.keys();
        for(QList<std::string>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
        {
                std::string idNormals = *iter + "-normals";
                if(_addedClouds.find(idNormals) != _addedClouds.end())
                {
                        this->setCloudVisibility(idNormals, this->getCloudVisibility(*iter) && shown);
                }
        }
}
bool CloudViewer::isNormalsShown() const
{
        return _aShowNormals->isChecked();
}
int CloudViewer::getNormalsStep() const
{
        return _normalsStep;
}
float CloudViewer::getNormalsScale() const
{
        return _normalsScale;
}
void CloudViewer::setNormalsStep(int step)
{
        if(step > 0)
        {
                _normalsStep = step;
        }
        else
        {
                UERROR("Cannot set normals step <= 0, step=%d", step);
        }
}
void CloudViewer::setNormalsScale(float scale)
{
        if(scale > 0)
        {
                _normalsScale= scale;
        }
        else
        {
                UERROR("Cannot set normals scale <= 0, value=%f", scale);
        }
}

bool CloudViewer::isIntensityRedColormap() const
{
        return _aSetIntensityRedColormap->isChecked();
}
bool CloudViewer::isIntensityRainbowColormap() const
{
        return _aSetIntensityRainbowColormap->isChecked();
}
float CloudViewer::getIntensityMax() const
{
        return _intensityAbsMax;
}

void CloudViewer::setIntensityRedColormap(bool on)
{
        _aSetIntensityRedColormap->setChecked(on);
        if(on)
        {
                _aSetIntensityRainbowColormap->setChecked(false);
        }
}
void CloudViewer::setIntensityRainbowColormap(bool on)
{
        _aSetIntensityRainbowColormap->setChecked(on);
        if(on)
        {
                _aSetIntensityRedColormap->setChecked(false);
        }
}
void CloudViewer::setIntensityMax(float value)
{
        if(value >= 0.0f)
        {
                _intensityAbsMax = value;
        }
        else
        {
                UERROR("Cannot set normals scale < 0, value=%f", value);
        }
}

void CloudViewer::buildPickingLocator(bool enable)
{
        _buildLocator = enable;
}

Eigen::Vector3f rotatePointAroundAxe(
                const Eigen::Vector3f & point,
                const Eigen::Vector3f & axis,
                float angle)
{
        Eigen::Vector3f direction = point;
        Eigen::Vector3f zAxis = axis;
        float dotProdZ = zAxis.dot(direction);
        Eigen::Vector3f ptOnZaxis = zAxis * dotProdZ;
        direction -= ptOnZaxis;
        Eigen::Vector3f xAxis = direction.normalized();
        Eigen::Vector3f yAxis = zAxis.cross(xAxis);

        Eigen::Matrix3f newFrame;
        newFrame << xAxis[0], yAxis[0], zAxis[0],
                                  xAxis[1], yAxis[1], zAxis[1],
                                  xAxis[2], yAxis[2], zAxis[2];

        // transform to axe frame
        // transpose=inverse for orthogonal matrices
        Eigen::Vector3f newDirection = newFrame.transpose() * direction;

        // rotate about z
        float cosTheta = cos(angle);
        float sinTheta = sin(angle);
        float magnitude = newDirection.norm();
        newDirection[0] = ( magnitude * cosTheta );
        newDirection[1] = ( magnitude * sinTheta );

        // transform back to global frame
        direction = newFrame * newDirection;

        return direction + ptOnZaxis;
}

void CloudViewer::keyReleaseEvent(QKeyEvent * event) {
        if(event->key() == Qt::Key_Up ||
                event->key() == Qt::Key_Down ||
                event->key() == Qt::Key_Left ||
                event->key() == Qt::Key_Right)
        {
                _keysPressed -= (Qt::Key)event->key();
        }
        else
        {
                PCLQVTKWidget::keyPressEvent(event);
        }
}

void CloudViewer::keyPressEvent(QKeyEvent * event)
{
        if(event->key() == Qt::Key_Up ||
                event->key() == Qt::Key_Down ||
                event->key() == Qt::Key_Left ||
                event->key() == Qt::Key_Right)
        {
                _keysPressed += (Qt::Key)event->key();

                std::vector<pcl::visualization::Camera> cameras;
                _visualizer->getCameras(cameras);

                //update camera position
                Eigen::Vector3f pos(cameras.front().pos[0], cameras.front().pos[1], _aLockViewZ->isChecked()?0:cameras.front().pos[2]);
                Eigen::Vector3f focal(cameras.front().focal[0], cameras.front().focal[1], _aLockViewZ->isChecked()?0:cameras.front().focal[2]);
                Eigen::Vector3f viewUp(cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
                Eigen::Vector3f cummulatedDir(0,0,0);
                Eigen::Vector3f cummulatedFocalDir(0,0,0);
                float step = 0.2f;
                float stepRot = 0.02f; // radian
                if(_keysPressed.contains(Qt::Key_Up))
                {
                        Eigen::Vector3f dir;
                        if(event->modifiers() & Qt::ShiftModifier)
                        {
                                dir = viewUp * step;// up
                        }
                        else
                        {
                                dir = (focal-pos).normalized() * step; // forward
                        }
                        cummulatedDir += dir;
                }
                if(_keysPressed.contains(Qt::Key_Down))
                {
                        Eigen::Vector3f dir;
                        if(event->modifiers() & Qt::ShiftModifier)
                        {
                                dir = viewUp * -step;// down
                        }
                        else
                        {
                                dir = (focal-pos).normalized() * -step; // backward
                        }
                        cummulatedDir += dir;
                }
                if(_keysPressed.contains(Qt::Key_Right))
                {
                        if(event->modifiers() & Qt::ShiftModifier)
                        {
                                // rotate right
                                Eigen::Vector3f point = (focal-pos);
                                Eigen::Vector3f newPoint = rotatePointAroundAxe(point, viewUp, -stepRot);
                                Eigen::Vector3f diff = newPoint - point;
                                cummulatedFocalDir += diff;
                        }
                        else
                        {
                                Eigen::Vector3f dir = ((focal-pos).cross(viewUp)).normalized() * step; // strafing right
                                cummulatedDir += dir;
                        }
                }
                if(_keysPressed.contains(Qt::Key_Left))
                {
                        if(event->modifiers() & Qt::ShiftModifier)
                        {
                                // rotate left
                                Eigen::Vector3f point = (focal-pos);
                                Eigen::Vector3f newPoint = rotatePointAroundAxe(point, viewUp, stepRot);
                                Eigen::Vector3f diff = newPoint - point;
                                cummulatedFocalDir += diff;
                        }
                        else
                        {
                                Eigen::Vector3f dir = ((focal-pos).cross(viewUp)).normalized() * -step; // strafing left
                                cummulatedDir += dir;
                        }
                }

                cameras.front().pos[0] += cummulatedDir[0];
                cameras.front().pos[1] += cummulatedDir[1];
                cameras.front().pos[2] += cummulatedDir[2];
                cameras.front().focal[0] += cummulatedDir[0] + cummulatedFocalDir[0];
                cameras.front().focal[1] += cummulatedDir[1] + cummulatedFocalDir[1];
                cameras.front().focal[2] += cummulatedDir[2] + cummulatedFocalDir[2];
                this->setCameraPosition(
                        cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
                        cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
                        cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);

                Q_EMIT configChanged();
        }
        else
        {
                PCLQVTKWidget::keyPressEvent(event);
        }
}

void CloudViewer::mousePressEvent(QMouseEvent * event)
{
        if(event->button() == Qt::RightButton)
        {
                event->accept();
        }
        else
        {
                PCLQVTKWidget::mousePressEvent(event);
        }
}

void CloudViewer::mouseMoveEvent(QMouseEvent * event)
{
        PCLQVTKWidget::mouseMoveEvent(event);

        std::vector<pcl::visualization::Camera> cameras;
        _visualizer->getCameras(cameras);

        // camera view up z locked?
        if(_aLockViewZ->isChecked() && !_aCameraOrtho->isChecked())
        {
                cv::Vec3d newCameraOrientation = cv::Vec3d(0,0,1).cross(cv::Vec3d(cameras.front().pos)-cv::Vec3d(cameras.front().focal));

                if(     _lastCameraOrientation!=cv::Vec3d(0,0,0) &&
                        _lastCameraPose!=cv::Vec3d(0,0,0) &&
                        (uSign(_lastCameraOrientation[0]) != uSign(newCameraOrientation[0]) &&
                         uSign(_lastCameraOrientation[1]) != uSign(newCameraOrientation[1])))
                {
                        cameras.front().pos[0] = _lastCameraPose[0];
                        cameras.front().pos[1] = _lastCameraPose[1];
                        cameras.front().pos[2] = _lastCameraPose[2];
                }
                else if(newCameraOrientation != cv::Vec3d(0,0,0))
                {
                        _lastCameraOrientation = newCameraOrientation;
                        _lastCameraPose = cv::Vec3d(cameras.front().pos);
                }
                else
                {
                        if(cameras.front().view[2] == 0)
                        {
                                cameras.front().pos[0] -= 0.00001*cameras.front().view[0];
                                cameras.front().pos[1] -= 0.00001*cameras.front().view[1];
                        }
                        else
                        {
                                cameras.front().pos[0] -= 0.00001;
                        }
                }
                cameras.front().view[0] = 0;
                cameras.front().view[1] = 0;
                cameras.front().view[2] = 1;
        }

        this->setCameraPosition(
                        cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
                        cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
                        cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);

        Q_EMIT configChanged();
}

void CloudViewer::wheelEvent(QWheelEvent * event)
{
        PCLQVTKWidget::wheelEvent(event);

        std::vector<pcl::visualization::Camera> cameras;
        _visualizer->getCameras(cameras);

        if(_aLockViewZ->isChecked() && !_aCameraOrtho->isChecked())
        {
                _lastCameraPose = cv::Vec3d(cameras.front().pos);
        }

        this->setCameraPosition(
                cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
                cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
                cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);

        Q_EMIT configChanged();
}

void CloudViewer::contextMenuEvent(QContextMenuEvent * event)
{
        QAction * a = _menu->exec(event->globalPos());
        if(a)
        {
                handleAction(a);
                Q_EMIT configChanged();
        }
}

void CloudViewer::handleAction(QAction * a)
{
        if(a == _aSetTrajectorySize)
        {
                bool ok;
                int value = QInputDialog::getInt(this, tr("Set trajectory size"), tr("Size (0=infinite)"), _maxTrajectorySize, 0, 10000, 10, &ok);
                if(ok)
                {
                        _maxTrajectorySize = value;
                }
        }
        else if(a == _aClearTrajectory)
        {
                this->clearTrajectory();
        }
        else if(a == _aShowCameraAxis)
        {
                this->setCameraAxisShown(a->isChecked());
        }
        else if(a == _aSetFrameScale)
        {
                bool ok;
                double value = QInputDialog::getDouble(this, tr("Set frame scale"), tr("Scale"), _coordinateFrameScale, 0.1, 999.0, 1, &ok);
                if(ok)
                {
                        this->setCoordinateFrameScale(value);
                }
        }
        else if(a == _aShowFrustum)
        {
                this->setFrustumShown(a->isChecked());
        }
        else if(a == _aSetFrustumScale)
        {
                bool ok;
                double value = QInputDialog::getDouble(this, tr("Set frustum scale"), tr("Scale"), _frustumScale, 0.0, 999.0, 1, &ok);
                if(ok)
                {
                        this->setFrustumScale(value);
                }
        }
        else if(a == _aSetFrustumColor)
        {
                QColor value = QColorDialog::getColor(_frustumColor, this);
                if(value.isValid())
                {
                        this->setFrustumColor(value);
                }
        }
        else if(a == _aResetCamera)
        {
                this->resetCamera();
        }
        else if(a == _aShowGrid)
        {
                if(_aShowGrid->isChecked())
                {
                        this->addGrid();
                }
                else
                {
                        this->removeGrid();
                }

                this->refreshView();
        }
        else if(a == _aSetGridCellCount)
        {
                bool ok;
                int value = QInputDialog::getInt(this, tr("Set grid cell count"), tr("Count"), _gridCellCount, 1, 10000, 10, &ok);
                if(ok)
                {
                        this->setGridCellCount(value);
                }
        }
        else if(a == _aSetGridCellSize)
        {
                bool ok;
                double value = QInputDialog::getDouble(this, tr("Set grid cell size"), tr("Size (m)"), _gridCellSize, 0.01, 1000, 2, &ok);
                if(ok)
                {
                        this->setGridCellSize(value);
                }
        }
        else if(a == _aShowNormals)
        {
                this->setNormalsShown(_aShowNormals->isChecked());
                this->refreshView();
        }
        else if(a == _aSetNormalsStep)
        {
                bool ok;
                int value = QInputDialog::getInt(this, tr("Set normals step"), tr("Step"), _normalsStep, 1, 10000, 1, &ok);
                if(ok)
                {
                        this->setNormalsStep(value);
                }
        }
        else if(a == _aSetNormalsScale)
        {
                bool ok;
                double value = QInputDialog::getDouble(this, tr("Set normals scale"), tr("Scale (m)"), _normalsScale, 0.01, 10, 2, &ok);
                if(ok)
                {
                        this->setNormalsScale(value);
                }
        }
        else if(a == _aSetIntensityMaximum)
        {
                bool ok;
                double value = QInputDialog::getDouble(this, tr("Set maximum absolute intensity"), tr("Intensity (0=auto)"), _intensityAbsMax, 0.0, 99999, 2, &ok);
                if(ok)
                {
                        this->setIntensityMax(value);
                }
        }
        else if(a == _aSetIntensityRedColormap)
        {
                this->setIntensityRedColormap(_aSetIntensityRedColormap->isChecked());
        }
        else if(a == _aSetIntensityRainbowColormap)
        {
                this->setIntensityRainbowColormap(_aSetIntensityRainbowColormap->isChecked());
        }
        else if(a == _aSetBackgroundColor)
        {
                QColor color = this->getDefaultBackgroundColor();
                color = QColorDialog::getColor(color, this);
                if(color.isValid())
                {
                        this->setDefaultBackgroundColor(color);
                        this->refreshView();
                }
        }
        else if(a == _aSetRenderingRate)
        {
                bool ok;
                double value = QInputDialog::getDouble(this, tr("Rendering rate"), tr("Rate (hz)"), _renderingRate, 0, 60, 0, &ok);
                if(ok)
                {
                        this->setRenderingRate(value);
                }
        }
        else if(a == _aLockViewZ)
        {
                if(_aLockViewZ->isChecked())
                {
                        this->refreshView();
                }
        }
        else if(a == _aCameraOrtho)
        {
                this->setCameraOrtho(_aCameraOrtho->isChecked());
        }
        else if(a == _aSetEDLShading)
        {
                this->setEDLShading(_aSetEDLShading->isChecked());
        }
        else if(a == _aSetLighting)
        {
                this->setLighting(_aSetLighting->isChecked());
        }
        else if(a == _aSetFlatShading)
                {
                        this->setShading(_aSetFlatShading->isChecked());
                }
        else if(a == _aSetEdgeVisibility)
        {
                this->setEdgeVisibility(_aSetEdgeVisibility->isChecked());
        }
        else if(a == _aBackfaceCulling)
        {
                this->setBackfaceCulling(_aBackfaceCulling->isChecked(), _frontfaceCulling);
        }
        else if(a == _aPolygonPicking)
        {
                this->setPolygonPicking(_aPolygonPicking->isChecked());
        }
}

} /* namespace rtabmap */