Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef PCL_VISUALIZATION_POINT_PICKING_EVENT_H_ 00039 #define PCL_VISUALIZATION_POINT_PICKING_EVENT_H_ 00040 00041 #include <pcl/pcl_macros.h> 00042 #include <vtkRenderWindowInteractor.h> 00043 #include <vtkCommand.h> 00044 00045 namespace pcl 00046 { 00047 namespace visualization 00048 { 00049 class PCL_EXPORTS PointPickingCallback : public vtkCommand 00050 { 00051 public: 00052 static PointPickingCallback *New () 00053 { 00054 return (new PointPickingCallback); 00055 } 00056 00057 PointPickingCallback () : x_ (0), y_ (0), z_ (0), idx_ (-1), pick_first_ (false) {} 00058 00059 virtual void 00060 Execute (vtkObject *caller, unsigned long eventid, void*); 00061 00062 int 00063 performSinglePick (vtkRenderWindowInteractor *iren); 00064 00065 int 00066 performSinglePick (vtkRenderWindowInteractor *iren, float &x, float &y, float &z); 00067 00068 private: 00069 float x_, y_, z_; 00070 int idx_; 00071 bool pick_first_; 00072 }; 00073 00075 class PCL_EXPORTS PointPickingEvent 00076 { 00077 public: 00078 PointPickingEvent (int idx) : idx_ (idx), idx2_ (-1) {} 00079 PointPickingEvent (int idx, float x, float y, float z) : idx_ (idx), idx2_ (-1), x_ (x), y_ (y), z_ (z) {} 00080 00081 PointPickingEvent (int idx1, int idx2, float x1, float y1, float z1, float x2, float y2, float z2) : 00082 idx_ (idx1), idx2_ (idx2), x_ (x1), y_ (y1), z_ (z1), x2_ (x2), y2_ (y2), z2_ (z2) 00083 {} 00084 00086 inline int 00087 getPointIndex () const 00088 { 00089 return (idx_); 00090 } 00091 00097 inline void 00098 getPoint (float &x, float &y, float &z) const 00099 { 00100 x = x_; y = y_; z = z_; 00101 } 00102 00112 inline bool 00113 getPoints (float &x1, float &y1, float &z1, float &x2, float &y2, float &z2) const 00114 { 00115 if (idx2_ == -1) 00116 return (false); 00117 x1 = x_; y1 = y_; z1 = z_; 00118 x2 = x2_; y2 = y2_; z2 = z2_; 00119 return (true); 00120 } 00121 00122 private: 00123 int idx_, idx2_; 00124 00125 float x_, y_, z_; 00126 float x2_, y2_, z2_; 00127 }; 00128 } //namespace visualization 00129 } //namespace pcl 00130 00131 #endif /* PCL_VISUALIZATION_POINT_PICKING_EVENT_H_ */ 00132