comthread.h

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#ifndef COMTHREAD_H
#define COMTHREAD_H

#include <QThread>
#include <QStringList>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <ros/subscriber.h>
#include <QMutex>
#include <QDir>
#include <tf/transform_listener.h>

namespace pcl {
namespace visualization {
class CloudViewer;
}
};

typedef pcl::PointXYZRGB PointType;

class ComThread : public QThread
{
    Q_OBJECT
public:
    explicit ComThread(QObject *parent = 0);

    virtual ~ComThread();

    void pointCloudReceived(const sensor_msgs::PointCloud2ConstPtr& pcl_msg);

    void loadPointCloud(const QString& filename);

    bool createPreview(QDir& model_dir);

Q_SIGNALS:
    void addStatusMessage(QString);
    void newCloudReceived(QString);

public Q_SLOTS:
    void recording(bool startstop);
    void reset();
    void removeCloud(QStringList);
    void selectCloud(QStringList);

    void changedBoxSize(double);

    void createRe_visionModel(QDir& parent_dir, const QString& model_name);
    void createKinectModel(QDir& parent_dir, const QString& model_name);

    void maxScanNumberChanged(int);

    void markerSizeChanged(double value);
    
    void markerSpacingChanged(double value);

protected:
    void run();

    void getMergedPointCloud(pcl::PointCloud<PointType>& merged_pcl);
    void saveMergedPCL(QString);
    void saveFaces(QDir);
    int addPointCloud(boost::shared_ptr<pcl::PointCloud<PointType> > cloud);

    tf::TransformListener tf;
    ros::Subscriber sub;
    bool isRecording;
    std::map<int, boost::shared_ptr< pcl::PointCloud<PointType> > > pcls;
    int npoints;
    pcl::visualization::CloudViewer* cloudViewer;
    QMutex mutex;

    unsigned int max_pointclouds;
};

#endif // COMTHREAD_H