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   * Software License Agreement (BSD License)
   * 
   * Point Cloud Library (PCL) - www.pointclouds.org
   * Copyright (c) 2012-, Open Perception, Inc.
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  #ifndef PCL_ORGANIZED_SEGMENTATION_DEMO_H_
  #define PCL_ORGANIZED_SEGMENTATION_DEMO_H_
  
  #include "pcl_orgseg_qt.h"
  
  // Boost
  #include <boost/thread/thread.hpp>
  // PCL
  #include <pcl/point_cloud.h>
  #include <pcl/point_types.h>
  #include <pcl/io/openni_grabber.h>
  #include <pcl/io/oni_grabber.h>
  #include <pcl/io/pcd_grabber.h>
  #include <pcl/io/pcd_io.h>
  #include <pcl/common/time.h>
  #include <pcl/visualization/pcl_visualizer.h>
  #include <pcl/filters/voxel_grid.h>
  #include <pcl/features/integral_image_normal.h>
  #include <pcl/segmentation/organized_multi_plane_segmentation.h>
  #include <pcl/segmentation/planar_polygon_fusion.h>
  #include <pcl/common/transforms.h>
  #include <pcl/segmentation/plane_coefficient_comparator.h>
  #include <pcl/segmentation/euclidean_plane_coefficient_comparator.h>
  #include <pcl/segmentation/rgb_plane_coefficient_comparator.h>
  #include <pcl/segmentation/edge_aware_plane_comparator.h>
  #include <pcl/segmentation/euclidean_cluster_comparator.h>
  #include <pcl/segmentation/organized_connected_component_segmentation.h>
  
  typedef pcl::PointXYZRGBA PointT;
  
  // 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 OrganizedSegmentationDemo : public QMainWindow
  {
    Q_OBJECT
    public:
      typedef pcl::PointCloud<PointT> Cloud;
      typedef Cloud::Ptr CloudPtr;
      typedef Cloud::ConstPtr CloudConstPtr;
    
  
      OrganizedSegmentationDemo(pcl::Grabber& grabber);
  
      ~OrganizedSegmentationDemo ()
      {
        if(grabber_.isRunning())
          grabber_.stop();
      }
    
      void cloud_cb (const CloudConstPtr& cloud);
    
    protected:
      boost::shared_ptr<pcl::visualization::PCLVisualizer> vis_;
      pcl::Grabber& grabber_;
  
      QMutex mtx_;
      QMutex vis_mtx_;
      Ui::MainWindow *ui_;
      QTimer *vis_timer_;
      pcl::PointCloud<PointT> prev_cloud_;
      pcl::PointCloud<pcl::Normal> prev_normals_;
      std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > prev_regions_;
      float* prev_distance_map_;
      
      pcl::PointCloud<PointT>::CloudVectorType prev_clusters_;
      
      pcl::IntegralImageNormalEstimation<PointT, pcl::Normal> ne;
      pcl::OrganizedMultiPlaneSegmentation<PointT, pcl::Normal, pcl::Label> mps;
  
      bool capture_;
      bool data_modified_;
      size_t previous_data_size_;
      size_t previous_clusters_size_;
  
      bool display_normals_;
      bool display_curvature_;
      bool display_distance_map_;
  
      bool use_planar_refinement_;
      bool use_clustering_;
  
      pcl::PlaneCoefficientComparator<PointT, pcl::Normal>::Ptr plane_comparator_;
      pcl::EuclideanPlaneCoefficientComparator<PointT, pcl::Normal>::Ptr euclidean_comparator_;
      pcl::RGBPlaneCoefficientComparator<PointT, pcl::Normal>::Ptr rgb_comparator_;
      pcl::RGBPlaneCoefficientComparator<PointT, pcl::Normal> rgb_comp_;
      pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal>::Ptr edge_aware_comparator_;
      pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator_;
  
    public slots:
      void toggleCapturePressed()
      {
        capture_ = !capture_;
      }
  
      void usePlaneComparatorPressed ();
      void useEuclideanComparatorPressed ();
      void useRGBComparatorPressed ();
      void useEdgeAwareComparatorPressed ();
      
      void displayCurvaturePressed ();
      void displayDistanceMapPressed ();
      void displayNormalsPressed ();
                                   
      void disableRefinementPressed ()
      {
        use_planar_refinement_ = false;
      }
      
      void usePlanarRefinementPressed ()
      {
        use_planar_refinement_ = true;
      }
  
      void disableClusteringPressed ()
      {
        use_clustering_ = false;
      }
  
      void useEuclideanClusteringPressed ()
      {
        use_clustering_ = true;
      }
      
  
    private slots:
    void
      timeoutSlot();
  
  };
  
  #endif    // PCL_ORGANIZED_SEGMENTATION_DEMO_H_
  