QtKittiVisualizer.h

/*

Copyright 2016 Mark Muth

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

*/

#ifndef QT_KITTI_VISUALIZER_H
#define QT_KITTI_VISUALIZER_H

#include <vector>
// Qt
#include <QMainWindow>
#include <QWidget>

// Boost
#include <boost/program_options.hpp>

// PCL
#include <pcl/visualization/keyboard_event.h>
#include <pcl/visualization/pcl_visualizer.h>

// VTK
#include <vtkRenderWindow.h>

#include "KittiDataset.h"

#include <kitti-devkit-raw/tracklets.h>

namespace Ui
{
class KittiVisualizerQt;
}

class KittiVisualizerQt : public QMainWindow
{
    Q_OBJECT

public:

    KittiVisualizerQt(QWidget *parent, int argc, char** argv);
    virtual ~KittiVisualizerQt();

    bool loadDataset();
    bool loadNextFrame();
    bool loadPreviousFrame();

    void getTrackletColor(const KittiTracklet& tracklet, int &r, int& g, int& b);

public slots:

    void newDatasetRequested(int value);
    void newFrameRequested(int value);
    void newTrackletRequested(int value);

    void showFramePointCloudToggled(bool value);
    void showTrackletBoundingBoxesToggled(bool value);
    void showTrackletPointCloudsToggled(bool value);
    void showTrackletInCenterToggled(bool value);

private:

    int parseCommandLineOptions(int argc, char** argv);

    int dataset_index;
    KittiDataset* dataset;

    int frame_index;

    int tracklet_index;

    pcl::visualization::PCLVisualizer::Ptr pclVisualizer;

    void loadAvailableTracklets();
    void clearAvailableTracklets();
    std::vector<KittiTracklet> availableTracklets;

    void updateDatasetLabel();
    void updateFrameLabel();
    void updateTrackletLabel();

    void loadPointCloud();
    void showPointCloud();
    void hidePointCloud();
    bool pointCloudVisible;
    KittiPointCloud::Ptr pointCloud;

    void showTrackletBoxes();
    void hideTrackletBoxes();
    bool trackletBoundingBoxesVisible;

    void loadTrackletPoints();
    void showTrackletPoints();
    void hideTrackletPoints();
    void clearTrackletPoints();
    bool trackletPointsVisible;
    std::vector<KittiPointCloud::Ptr> croppedTrackletPointClouds;

    void showTrackletInCenter();
    void hideTrackletInCenter();
    bool trackletInCenterVisible;

    void setFrameNumber(int frameNumber);

    void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
                                void* viewer_void);

    Ui::KittiVisualizerQt *ui;
};

#endif // QT_KITTI_VISUALIZER_H