AppController::AppController() :
lastTick_(0), frameCounter_(0), frameRate_(0) {
model_ = new AppModel();
gui_ = new MainWindow(model_, this);
// register data update functions to model
boost::function<void()> data_cb = boost::bind(&AppController::dataUpdated,
this);
update_con_ = model_->registerCallback(data_cb);
// register pointpick callback of model to gui
boost::function<void(const pcl::visualization::PointPickingEvent &)> pointpick_cb =
boost::bind(&AppModel::pickPoint, model_, _1);
gui_->registerPointPickCallback(pointpick_cb);
// connect signal / slots to gui
connect(this, SIGNAL(newCloud()), gui_, SLOT(updatePointCloud()));
connect(this, SIGNAL(newSmallCloud(void)), gui_,
SLOT(updateSmallPointCloud(void)));
qRegisterMetaType<QImage>("QImage");
connect(this, SIGNAL(newRgbImage(QImage)), gui_,
SLOT(updateRgbImage(QImage)));
qRegisterMetaType<QString>("QString");
connect(this, SIGNAL(newStatusMessage(QString)), gui_,
SLOT(updateStatusMessage(QString)));
gui_->show();
}
void SLPointCloudWidget::keyPressEvent(QKeyEvent *event){
// std::cout << event->key() << std::endl;
// Switch between color handlers
switch(event->key()){
case '1':
surfaceReconstruction = false;
visualizer->removePolygonMesh("meshPCL");
colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();
break;
case '2':
surfaceReconstruction = false;
visualizer->removePolygonMesh("meshPCL");
colorHandler = new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZRGB>("z");
break;
case '3':
surfaceReconstruction = true;
visualizer->removePointCloud("pointCloudPCL");
break;
}
updatePointCloud(pointCloudPCL);
if(!(('0' <= event->key()) & (event->key() <= '9')))
QVTKWidget::keyPressEvent(event);
}
void testApp::update() {
if(reloadImage) {
curKinect = loadRaw(kinectList.getPath(curImage), 640, 480);
// curKinect.loadRaw(kinectList.getPath(curImage), 640, 480);
kinectCalibration.undistort(toCv(curKinect));
updatePointCloud();
curColor.loadImage(colorList.getPath(curImage));
curColor.update();
updateColors();
reloadImage = false;
}
}
