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 * $Id: interactor_style.h 2750 2011-10-13 18:26:22Z rusu $ 00037 * 00038 */ 00039 #ifndef PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_ 00040 #define PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_ 00041 00042 // VTK includes 00043 #include <vtkSmartPointer.h> 00044 #include <vtkRendererCollection.h> 00045 #include <vtkLegendScaleActor.h> 00046 #include <vtkPNGWriter.h> 00047 #include <vtkWindowToImageFilter.h> 00048 #include <vtkInteractorStyleTrackballCamera.h> 00049 #include <vtkRenderWindowInteractor.h> 00050 #include <vtkRenderWindow.h> 00051 #include <vtkAssemblyPath.h> 00052 #include <vtkCommand.h> 00053 #include <vtkProperty.h> 00054 #include <vtkCamera.h> 00055 #include <vtkObjectFactory.h> 00056 #include <vtkScalarBarActor.h> 00057 #include <vtkScalarsToColors.h> 00058 #include <vtkBoxRepresentation.h> 00059 #include <vtkBoxWidget.h> 00060 #include <vtkBoxWidget2.h> 00061 #include <vtkClipPolyData.h> 00062 #include <vtkPlanes.h> 00063 00064 #include <boost/shared_ptr.hpp> 00065 #include <pcl/console/print.h> 00066 #include <pcl/visualization/common/actor_map.h> 00067 #include <pcl/visualization/common/ren_win_interact_map.h> 00068 #include <boost/shared_ptr.hpp> 00069 #include <boost/signals2.hpp> 00070 //#include <boost/signals2/slot.hpp> 00071 #include <pcl/visualization/keyboard_event.h> 00072 #include <pcl/visualization/mouse_event.h> 00073 #include <pcl/visualization/point_picking_event.h> 00074 00075 namespace pcl 00076 { 00077 namespace visualization 00078 { 00083 class PCL_EXPORTS PCLVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera 00084 { 00085 typedef boost::shared_ptr<CloudActorMap> CloudActorMapPtr; 00086 00087 public: 00088 static PCLVisualizerInteractorStyle *New (); 00089 // this macro defines Superclass, the isA functionality and the safe downcast method 00090 vtkTypeMacro(PCLVisualizerInteractorStyle,vtkInteractorStyleTrackballCamera); 00091 00093 virtual void 00094 Initialize (); 00095 00099 inline void 00100 setCloudActorMap (const CloudActorMapPtr &actors) { actors_ = actors; } 00101 inline CloudActorMapPtr 00102 getCloudActorMap () { return (actors_); } 00103 00107 void 00108 setRendererCollection (vtkSmartPointer<vtkRendererCollection> &rens) { rens_ = rens; } 00109 00114 boost::signals2::connection 00115 registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> ); 00116 00121 boost::signals2::connection 00122 registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> ); 00123 00128 boost::signals2::connection 00129 registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)>); 00130 00134 void 00135 saveScreenshot (const std::string &file); 00136 00137 protected: 00139 bool init_; 00140 00142 vtkSmartPointer<vtkRendererCollection> rens_; 00143 00145 CloudActorMapPtr actors_; 00146 00148 int win_height_, win_width_; 00149 00151 int win_pos_x_, win_pos_y_; 00152 00154 int max_win_height_, max_win_width_; 00155 00157 bool grid_enabled_; 00159 vtkSmartPointer<vtkLegendScaleActor> grid_actor_; 00160 00162 bool lut_enabled_; 00164 vtkSmartPointer<vtkScalarBarActor> lut_actor_; 00165 00167 vtkSmartPointer<vtkPNGWriter> snapshot_writer_; 00169 vtkSmartPointer<vtkWindowToImageFilter> wif_; 00170 00171 boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_; 00172 boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_; 00173 boost::signals2::signal<void (const pcl::visualization::PointPickingEvent&)> point_picking_signal_; 00174 00176 virtual void 00177 OnChar (); 00178 00179 // Keyboard events 00180 virtual void 00181 OnKeyDown (); 00182 virtual void 00183 OnKeyUp (); 00184 00185 // mouse button events 00186 virtual void 00187 OnMouseMove (); 00188 virtual void 00189 OnLeftButtonDown (); 00190 virtual void 00191 OnLeftButtonUp (); 00192 virtual void 00193 OnMiddleButtonDown (); 00194 virtual void 00195 OnMiddleButtonUp (); 00196 virtual void 00197 OnRightButtonDown (); 00198 virtual void 00199 OnRightButtonUp (); 00200 virtual void 00201 OnMouseWheelForward (); 00202 virtual void 00203 OnMouseWheelBackward (); 00204 00205 // mouse move event 00207 virtual void 00208 OnTimer (); 00209 00211 void 00212 zoomIn (); 00213 00215 void 00216 zoomOut (); 00217 00219 bool stereo_anaglyph_mask_default_; 00220 00222 vtkSmartPointer<PointPickingCallback> mouse_callback_; 00223 00224 friend class PointPickingCallback; 00225 }; 00226 00230 class PCLHistogramVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera 00231 { 00232 public: 00233 static PCLHistogramVisualizerInteractorStyle *New (); 00234 00236 void 00237 Initialize (); 00238 00242 void 00243 setRenWinInteractMap (const RenWinInteractMap &wins) { wins_ = wins; } 00244 00245 private: 00247 RenWinInteractMap wins_; 00248 00250 bool init_; 00251 00253 void OnKeyDown (); 00254 00256 void OnTimer (); 00257 }; 00258 } 00259 } 00260 00261 #endif