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/*

 *

 SLStudio - Platform for Real-Time  Structured Light

 (c) 2013 -- 2014 Jakob Wilm, DTU, Kgs.Lyngby, Denmark

 *

*/

#ifndef SMPointCloudWidget_H

#define SMPointCloudWidget_H

#include <QTime>

#ifndef Q_MOC_RUN

    #include <QVTKWidget.h>

    #include <pcl/visualization/pcl_visualizer.h>

    #include <Eigen/Eigen>

#endif

#include <opencv2/opencv.hpp>

typedef pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudPtr;

typedef pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr PointCloudConstPtr;

typedef pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGB>* ColorHandlerPtr;

typedef const pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGB>* ColorHandlerConstPtr;

class SMPointCloudWidget : public QVTKWidget {

    Q_OBJECT

    public:

        explicit SMPointCloudWidget(QWidget *parent = 0);

        ~SMPointCloudWidget();

    public slots:

        void updatePointCloud(PointCloudConstPtr _pointCloudPCL);

        void savePointCloud();

        void saveScreenShot();

    signals:

        void newPointCloudDisplayed();

    private:

        pcl::visualization::PCLVisualizer *visualizer;

        PointCloudConstPtr pointCloudPCL;

        ColorHandlerPtr colorHandler;

        QTime time;

};

#endif // SMPointCloudWidget_H