RangeView.cc

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/* 
 * File:   RangeViewGL.cc
 * Author: Matthias Goldhoorn (matthias.goldhoorn@dfki.de) 
 * 
 */

#include <stdexcept>
#include "RangeView.h"
#include "RangeViewGL.h"
#include <QtCore/QtPlugin>
#include "RangeViewGL.h"

RangeView::RangeView(QWidget *parent,bool use_openGL):
ImageViewOld(parent,use_openGL)
{
        image_view_gl = NULL;
    //setOpenGL(use_openGL);
    setOpenGL(true);
}


RangeView::~RangeView()
{
}

void RangeView::setOpenGL(bool flag)
{
  if(flag)
  {
    //prevent activating if it is already activated
    if(image_view_gl)
      return;

    image_view_gl = new RangeViewGL(*this);
    if (!image_view_gl)
      return;
    image_view_gl->resize(width(),height());
    //image_view_gl->setAspectRatio(aspect_ratio);
    image_view_gl->show();
  }
  else
  {
    delete image_view_gl;
    image_view_gl = NULL;
  }
   
}

void RangeView::setRangeScan3(const QList<double> &data){
    setRangeScan(data.toVector().data(),data.size());
}

void RangeView::setRangeScan(double *data, int size){
    if(size%3!=0){
        fprintf(stderr,"Cannot set data from non division of three\n");
    }
    RangeViewGL *window = dynamic_cast<RangeViewGL*>(image_view_gl);
    if(!window){
        fprintf(stderr,"Cannot set data have no widget?!\n");
        return;
    }
    std::vector<Eigen::Vector3d> points;
    for(int i=0;i<size;i+=3){
        points.push_back(Eigen::Vector3d(data[i],data[i+1],data[i+2]));
        
    }
    window->setData(points);
}

void RangeView::keyPressEvent ( QKeyEvent * event ){
    RangeViewGL *window = dynamic_cast<RangeViewGL*>(image_view_gl);
    window->keyPressEvent(event);   
}