text: /*
  Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  All rights reserved.
  
  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of the Universite de Sherbrooke nor the
        names of its contributors may be used to endorse or promote products
        derived from this software without specific prior written permission.
  
  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
  
  #ifndef MAPBUILDER_H_
  #define MAPBUILDER_H_
  
  #include <QVBoxLayout>
  #include <QtCore/QMetaType>
  #include <QAction>
  
  #ifndef Q_MOC_RUN // Mac OS X issue
  #include "rtabmap/gui/CloudViewer.h"
  #include "rtabmap/core/util3d.h"
  #include "rtabmap/core/RtabmapEvent.h"
  #endif
  #include "rtabmap/utilite/UStl.h"
  #include "rtabmap/utilite/UConversion.h"
  #include "rtabmap/utilite/UEventsHandler.h"
  #include "rtabmap/utilite/ULogger.h"
  #include "rtabmap/core/OdometryEvent.h"
  #include "rtabmap/core/CameraThread.h"
  
  using namespace rtabmap;
  
  // This class receives RtabmapEvent and construct/update a 3D Map
  class MapBuilder : public QWidget, public UEventsHandler
  {
  	Q_OBJECT
  public:
  	//Camera ownership is not transferred!
  	MapBuilder(CameraThread * camera = 0) :
  		camera_(camera),
  		odometryCorrection_(Transform::getIdentity()),
  		processingStatistics_(false),
  		lastOdometryProcessed_(true)
  	{
  		this->setWindowFlags(Qt::Dialog);
  		this->setWindowTitle(tr("3D Map"));
  		this->setMinimumWidth(800);
  		this->setMinimumHeight(600);
  
  		cloudViewer_ = new CloudViewer(this);
  
  		QVBoxLayout *layout = new QVBoxLayout();
  		layout->addWidget(cloudViewer_);
  		this->setLayout(layout);
  
  		qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
  		qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
  
  		QAction * pause = new QAction(this);
  		this->addAction(pause);
  		pause->setShortcut(Qt::Key_Space);
  		connect(pause, SIGNAL(triggered()), this, SLOT(pauseDetection()));
  	}
  
  	virtual ~MapBuilder()
  	{
  		this->unregisterFromEventsManager();
  	}
  
  protected slots:
  	virtual void pauseDetection()
  	{
  		UWARN("");
  		if(camera_)
  		{
  			if(camera_->isCapturing())
  			{
  				camera_->join(true);
  			}
  			else
  			{
  				camera_->start();
  			}
  		}
  	}
  
  	virtual void processOdometry(const rtabmap::SensorData & data)
  	{
  		if(!this->isVisible())
  		{
  			return;
  		}
  
  		Transform pose = data.pose();
  		if(pose.isNull())
  		{
  			//Odometry lost
  			cloudViewer_->setBackgroundColor(Qt::darkRed);
  
  			pose = lastOdomPose_;
  		}
  		else
  		{
  			cloudViewer_->setBackgroundColor(cloudViewer_->getDefaultBackgroundColor());
  		}
  		if(!pose.isNull())
  		{
  			lastOdomPose_ = pose;
  
  			// 3d cloud
  			if(data.depth().cols == data.image().cols &&
  			   data.depth().rows == data.image().rows &&
  			   !data.depth().empty() &&
  			   data.fx() > 0.0f &&
  			   data.fy() > 0.0f)
  			{
  				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
  					data.image(),
  					data.depth(),
  					data.cx(),
  					data.cy(),
  					data.fx(),
  					data.fy(),
  					2); // decimation // high definition
  				if(cloud->size())
  				{
  					cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
  					if(cloud->size())
  					{
  						cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.localTransform());
  					}
  				}
  				if(!cloudViewer_->addOrUpdateCloud("cloudOdom", cloud, odometryCorrection_*pose))
  				{
  					UERROR("Adding cloudOdom to viewer failed!");
  				}
  			}
  
  			if(!data.pose().isNull())
  			{
  				// update camera position
  				cloudViewer_->updateCameraTargetPosition(odometryCorrection_*data.pose());
  			}
  		}
  		cloudViewer_->update();
  
  		lastOdometryProcessed_ = true;
  	}
  
  
  	virtual void processStatistics(const rtabmap::Statistics & stats)
  	{
  		processingStatistics_ = true;
  
  		//============================
  		// Add RGB-D clouds
  		//============================
  		const std::map<int, Transform> & poses = stats.poses();
  		QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
  		for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
  		{
  			if(!iter->second.isNull())
  			{
  				std::string cloudName = uFormat("cloud%d", iter->first);
  
  				// 3d point cloud
  				if(clouds.contains(cloudName))
  				{
  					// Update only if the pose has changed
  					Transform tCloud;
  					cloudViewer_->getPose(cloudName, tCloud);
  					if(tCloud.isNull() || iter->second != tCloud)
  					{
  						if(!cloudViewer_->updateCloudPose(cloudName, iter->second))
  						{
  							UERROR("Updating pose cloud %d failed!", iter->first);
  						}
  					}
  					cloudViewer_->setCloudVisibility(cloudName, true);
  				}
  				else if(iter->first == stats.refImageId() &&
  						stats.getSignature().id() == iter->first)
  				{
  					Signature s = stats.getSignature();
  					s.uncompressData(); // make sure data is uncompressed
  					// Add the new cloud
  					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
  							s.getImageRaw(),
  							s.getDepthRaw(),
  							s.getCx(),
  							s.getCy(),
  							s.getFx(),
  							s.getFy(),
  						   4); // decimation
  
  					if(cloud->size())
  					{
  						cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
  						if(cloud->size())
  						{
  							cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, stats.getSignature().getLocalTransform());
  						}
  					}
  					if(!cloudViewer_->addOrUpdateCloud(cloudName, cloud, iter->second))
  					{
  						UERROR("Adding cloud %d to viewer failed!", iter->first);
  					}
  				}
  			}
  		}
  
  		//============================
  		// Add 3D graph (show all poses)
  		//============================
  		cloudViewer_->removeAllGraphs();
  		cloudViewer_->removeCloud("graph_nodes");
  		if(poses.size())
  		{
  			// Set graph
  			pcl::PointCloud<pcl::PointXYZ>::Ptr graph(new pcl::PointCloud<pcl::PointXYZ>);
  			pcl::PointCloud<pcl::PointXYZ>::Ptr graphNodes(new pcl::PointCloud<pcl::PointXYZ>);
  			for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
  			{
  				graph->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
  			}
  			*graphNodes = *graph;
  
  
  			// add graph
  			cloudViewer_->addOrUpdateGraph("graph", graph, Qt::gray);
  			cloudViewer_->addOrUpdateCloud("graph_nodes", graphNodes, Transform::getIdentity(), Qt::green);
  			cloudViewer_->setCloudPointSize("graph_nodes", 5);
  		}
  
  		odometryCorrection_ = stats.mapCorrection();
  
  		cloudViewer_->update();
  
  		processingStatistics_ = false;
  	}
  
  	virtual void handleEvent(UEvent * event)
  	{
  		if(event->getClassName().compare("RtabmapEvent") == 0)
  		{
  			RtabmapEvent * rtabmapEvent = (RtabmapEvent *)event;
  			const Statistics & stats = rtabmapEvent->getStats();
  			// Statistics must be processed in the Qt thread
  			if(this->isVisible())
  			{
  				QMetaObject::invokeMethod(this, "processStatistics", Q_ARG(rtabmap::Statistics, stats));
  			}
  		}
  		else if(event->getClassName().compare("OdometryEvent") == 0)
  		{
  			OdometryEvent * odomEvent = (OdometryEvent *)event;
  			// Odometry must be processed in the Qt thread
  			if(this->isVisible() &&
  			   lastOdometryProcessed_ &&
  			   !processingStatistics_)
  			{
  				lastOdometryProcessed_ = false; // if we receive too many odometry events!
  				QMetaObject::invokeMethod(this, "processOdometry", Q_ARG(rtabmap::SensorData, odomEvent->data()));
  			}
  		}
  	}
  
  protected:
  	CloudViewer * cloudViewer_;
  	CameraThread * camera_;
  	Transform lastOdomPose_;
  	Transform odometryCorrection_;
  	bool processingStatistics_;
  	bool lastOdometryProcessed_;
  };
  
  
  #endif /* MAPBUILDER_H_ */
  