ViewerGui.h

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/*
 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
 * Framework Based on Octrees
 * http://octomap.github.io
 *
 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved. License for the viewer octovis: GNU GPL v2
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 *
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see http://www.gnu.org/licenses/.
 */
 
#ifndef VIEWERGUI_H
#define VIEWERGUI_H
 
#include <qglobal.h>
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
#include <QtWidgets>
#else  // QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
#include <QtGui>
#endif // QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
#include <QFileDialog>
#include <QMessageBox>
#include <QDockWidget>
#include <string>
#include <cmath>
#include "TrajectoryDrawer.h"
#include "PointcloudDrawer.h"
#include "OcTreeDrawer.h"
#include "CameraFollowMode.h"
#include "ViewerWidget.h"
#include "ViewerSettings.h"
#include "ViewerSettingsPanel.h"
#include "ViewerSettingsPanelCamera.h"
#include "ui_ViewerGui.h"
 
#include <octomap/AbstractOcTree.h>
#include <octomap/OcTreeBase.h>
#include <octovis/OcTreeRecord.h>
 
namespace octomap {
 
  class ViewerGui : public QMainWindow {
    Q_OBJECT
   
  public:
    ViewerGui(const std::string& filename="", QWidget *parent = 0, unsigned int initTreeDepth = 16);
    ~ViewerGui();
 
    static const unsigned int LASERTYPE_URG  = 0;
    static const unsigned int LASERTYPE_SICK = 1;
 
    // use this drawer id if loading files or none is specified in msg
    static const unsigned int DEFAULT_OCTREE_ID  = 0; 
 
    public slots:
 
    void changeTreeDepth(int depth);
    void addNextScans(unsigned scans);
    void gotoFirstScan();
 
    bool isShown();
 
    private slots:
 
    // auto-connected Slots (by name))
 
    void on_actionExit_triggered();
    void on_actionOpen_file_triggered();
    void on_actionOpen_graph_incremental_triggered();
    void on_actionSave_file_triggered();
    void on_actionExport_view_triggered();
    void on_actionExport_sequence_triggered(bool checked);
    void on_actionClear_selection_triggered();
    void on_actionFill_selection_triggered();
    void on_actionClear_unknown_in_selection_triggered();
    void on_actionFill_unknown_in_selection_triggered();
    void on_actionClear_nodes_in_selection_triggered();
    void on_actionFill_nodes_in_selection_triggered();
    void on_actionDelete_nodes_in_selection_triggered();
    void on_actionDelete_nodes_outside_of_selection_triggered();
    void on_actionHelp_triggered();
    void on_actionSettings_triggered();
    void on_actionPrune_tree_triggered();
    void on_actionExpand_tree_triggered();
    void on_actionConvert_ml_tree_triggered();
    void on_actionReload_Octree_triggered();
    void on_actionPrintout_mode_toggled(bool checked);
    void on_actionSelection_box_toggled(bool checked);
    void on_actionHeight_map_toggled(bool checked);
    void on_actionSemanticColoring_toggled(bool checked);
    void on_actionStore_camera_triggered();
    void on_actionRestore_camera_triggered();
    void on_actionPointcloud_toggled(bool checked);
    void on_actionTrajectory_toggled(bool checked);
    void on_actionOctree_cells_toggled(bool enabled);
    void on_actionOctree_structure_toggled(bool enabled);
    void on_actionFree_toggled(bool enabled);
    void on_actionSelected_toggled(bool enabled);
    void on_actionAxes_toggled(bool checked);
    void on_actionHideBackground_toggled(bool checked);
    void on_actionAlternateRendering_toggled(bool checked);
    void on_actionClear_triggered();
    void voxelSelected(const QMouseEvent* e);
 
    void on_action_bg_black_triggered();
    void on_action_bg_white_triggered();
    void on_action_bg_gray_triggered();
 
    void on_savecampose_triggered();
    void on_loadcampose_triggered();
 
    // use it for testcases etc.
    void on_actionTest_triggered();
 
  signals:
    void updateStatusBar(QString message, int duration);
    void changeNumberOfScans(unsigned scans);
    void changeCurrentScan(unsigned scans);
    void changeResolution(double resolution);
    void changeCamPosition(double x, double y, double z, double lookX, double lookY, double lookZ);
 
  private:
    void openFile();
 
    void openPointcloud();
 
    void openGraph(bool completeGraph = true);
 
    void loadGraph(bool completeGraph = true);
 
    void addNextScan();
 
    void openPC();
 
    void openOcTree();
 
    void openTree();
 
    // EXPERIMENTAL
    // open a map collection (.hot-file)
    void openMapCollection();
 
 
    void setOcTreeUISwitches();
 
    void generateOctree();
    void showOcTree();
 
    void showInfo(QString string, bool newline=false);
 
    void addOctree(AbstractOcTree* tree, int id, pose6d origin);
    void addOctree(AbstractOcTree* tree, int id);
    bool getOctreeRecord(int id, OcTreeRecord*& otr);
 
    void saveCameraPosition(const char* filename) const;
    void loadCameraPosition(const char* filename);
 
    void updateNodesInBBX(const point3d& min, const point3d& max, bool occupied);
    void setNodesInBBX(const point3d& min, const point3d& max, bool occupied);
    void setNonNodesInBBX(const point3d& min, const point3d& max, bool occupied);
 
    std::map<int, OcTreeRecord> m_octrees;
 
    ScanGraph* m_scanGraph;
    ScanGraph::iterator m_nextScanToAdd;
 
    Ui::ViewerGuiClass ui;
    ViewerWidget* m_glwidget;
    TrajectoryDrawer* m_trajectoryDrawer;
    PointcloudDrawer* m_pointcloudDrawer;
    CameraFollowMode* m_cameraFollowMode;
    double m_octreeResolution;
    double m_laserMaxRange;
    double m_occupancyThresh; // FIXME: This is not really used at the moment...
    unsigned int m_max_tree_depth;
    unsigned int m_laserType; // SICK or Hokuyo /URG
    bool m_cameraStored;
    QLabel* m_nodeSelected;
    QLabel* m_mapSizeStatus;
    QLabel* m_mapMemoryStatus;
 
    std::string m_filename;
  };
 
} // namespace
 
 
#endif // VIEWERGUI_H