glviewer.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
 *  Author: Qinghua Li, Yan Zhuang, Fei Yan
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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/*
 * glviewer.h
 *
 *  Created on: 2012.01.07
 *      Author: Qinghua Li (qinghua__li@163.com)
 */

#ifndef GLVIEWER_H_
#define GLVIEWER_H_

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

// OpenGL based display of the 3D point cloud
class GLViewer : public QGLWidget
{
  public:
    GLViewer (std::vector< std::vector<pcl::PointXYZ> > &points, int flag, QWidget *parent = 0);
    ~GLViewer ();

    QSize minimumSizeHint () const;
    QSize sizeHint () const;

    void reset ();

  protected:
    void setXRotation (int angle);
    void setYRotation (int angle);
    void setZRotation (int angle);

    void initializeGL ();
    void paintGL ();
    void resizeGL (int width, int height);

    // Draw colored axis, scale long
    void drawAxis (float scale);
    // Draw the scene
    void drawPointCloud ();

    void wheelEvent (QWheelEvent *event);
    void mousePressEvent (QMouseEvent *event);
    void mouseMoveEvent (QMouseEvent *event);

    void keyPressEvent (QKeyEvent *e);

  private:
    int label;
    float bg_color[4];
    int xRot, yRot, zRot;
    float xTra, yTra, zTra;

    int width_, height_;
    double fov_;   /* Field of view */
    double rotation_step_, translation_step_;

    QPoint lastPos;
    bool show_axis_;
    std::vector< std::vector<pcl::PointXYZ> > &point_cloud;
};

#endif // GLVIEWER_H_