pcd_video_player.h

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/*
 * Software License Agreement (BSD License)
 * 
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2012-, Open Perception, Inc.
 * 
 * All rights reserved.
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 * are met: 
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 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    with the distribution.
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#include <ui_pcd_video_player.h>

#include <iostream>
#include <time.h>

// QT4
#include <QMainWindow>
#include <QMutex>
#include <QTimer>

// Boost
#include <boost/thread/thread.hpp>
#include <boost/filesystem.hpp>

// PCL
#include <pcl/console/print.h>
#include <pcl/console/parse.h>

#include <pcl/common/common.h>
#include <pcl/common/angles.h>
#include <pcl/common/time.h>
#include <pcl/common/transforms.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/io/pcd_grabber.h>
#include <pcl/io/pcd_io.h>

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_handlers.h>

#include <pcl/registration/transformation_estimation_svd.h>

#define CURRENT_VERSION 0.2

// Useful macros
#define FPS_CALC(_WHAT_) \
do \
{ \
    static unsigned count = 0;\
    static double last = pcl::getTime ();\
    double now = pcl::getTime (); \
    ++count; \
    if (now - last >= 1.0) \
    { \
      std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" <<  std::endl; \
      count = 0; \
      last = now; \
    } \
}while(false)

namespace Ui
{
  class MainWindow;
}

class PCDVideoPlayer : public QMainWindow
{
  Q_OBJECT
  public:
    typedef pcl::PointCloud<pcl::PointXYZRGBA> Cloud;
    typedef Cloud::Ptr CloudPtr;
    typedef Cloud::ConstPtr CloudConstPtr;

    PCDVideoPlayer ();

    ~PCDVideoPlayer () {}

  protected:
    boost::shared_ptr<pcl::visualization::PCLVisualizer> vis_;
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_;

    QMutex mtx_;
    QMutex vis_mtx_;
    Ui::MainWindow *ui_;
    QTimer *vis_timer_;

    QString dir_;

    std::vector<std::string> pcd_files_;
    std::vector<boost::filesystem::path> pcd_paths_;


    unsigned int current_frame_;
    unsigned int nr_of_frames_;

    bool cloud_present_;
    bool cloud_modified_;

    bool play_mode_;
    unsigned int speed_counter_;
    unsigned int speed_value_;

  public slots:
    void 
    playButtonPressed ()
    { play_mode_ = true; }

    void 
    stopButtonPressed()
    { play_mode_ = false; }

    void
    backButtonPressed ();

    void
    nextButtonPressed ();

    void
    selectFolderButtonPressed ();

    void
    selectFilesButtonPressed ();

    void
    indexSliderValueChanged (int value);

  private slots:
    void
    timeoutSlot ();

};