Point Cloud Library (PCL)  1.3.1
image_viewer.h
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00001 /*
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00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * Author: Suat Gedikli (gedikli@willowgarage.com)
00035  */
00036 
00037 #ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_H__
00038 #define PCL_VISUALIZATION_IMAGE_VISUALIZER_H__
00039 
00040 #include <vtkImageViewer.h>
00041 #include <vtkImageViewer2.h>
00042 #include <vtkInteractorStyle.h>
00043 #include <boost/shared_array.hpp>
00044 #include <pcl/pcl_macros.h>
00045 #include <pcl/console/print.h>
00046 #include <vtkRenderWindow.h>
00047 #include <vtkRenderWindowInteractor.h>
00048 #include <vtkSmartPointer.h>
00049 #include <boost/signals2.hpp>
00050 #include <vtkCallbackCommand.h>
00051 #include <pcl/visualization/interactor_style.h>
00052 
00053 namespace pcl
00054 {
00055   namespace visualization
00056   {
00057     typedef Eigen::Array<unsigned char, 3, 1> Vector3ub;
00058     static const Vector3ub green_color(0,255,0);
00059     static const Vector3ub red_color(255,0,0);
00060     static const Vector3ub blue_color(0,0,255);
00061 
00062     class PCL_EXPORTS ImageViewer
00063     {
00064       public:
00065         ImageViewer (const std::string& window_title = "");
00066         virtual ~ImageViewer ();
00067         
00068         void 
00069         showRGBImage (const unsigned char* data, unsigned width, unsigned height);
00070 
00071         void 
00072         showRGBImage (const pcl::PointCloud<pcl::PointXYZRGB> &data);
00073 
00074         void 
00075         showFloatImage (const float* data, unsigned int width, unsigned int height, 
00076                         float min_value, float max_value, bool grayscale = false);
00077         
00078         void
00079         showShortImage (const unsigned short* short_image, unsigned int width, unsigned int height, 
00080                         unsigned short min_value, unsigned short max_value, bool grayscale);
00081 
00082         void 
00083         showAngleImage (const float* data, unsigned width, unsigned height);
00084 
00085         void 
00086         showHalfAngleImage (const float* data, unsigned width, unsigned height);
00087 
00093         void
00094         markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color = red_color, float radius = 2);
00095 
00096         void
00097         setName(const std::string& name)
00098         {
00099           strcpy(image_viewer_->GetWindowName (), name.c_str ());
00100         }
00101 
00103         void 
00104         spin ();
00105         
00111         void 
00112         spinOnce (int time = 1, bool force_redraw = false);
00113         
00119         boost::signals2::connection 
00120         registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), 
00121                                   void* cookie = NULL)
00122         {
00123           return (registerKeyboardCallback (boost::bind (callback, _1, cookie)));
00124         }
00125         
00132         template<typename T> boost::signals2::connection 
00133         registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), 
00134                                   T& instance, void* cookie = NULL)
00135         {
00136           return (registerKeyboardCallback (boost::bind (callback,  boost::ref (instance), _1, cookie)));
00137         }
00138         
00143         boost::signals2::connection 
00144         registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> );
00145 
00151         boost::signals2::connection 
00152         registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), 
00153                                void* cookie = NULL)
00154         {
00155           return (registerMouseCallback (boost::bind (callback, _1, cookie)));
00156         }
00157         
00164         template<typename T> boost::signals2::connection 
00165         registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), 
00166                                T& instance, void* cookie = NULL)
00167         {
00168           return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie)));
00169         }
00170 
00175         boost::signals2::connection 
00176         registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> );
00177         
00178       protected: // methods
00180         void 
00181         resetStoppedFlag () { stopped_ = false; }
00182 
00183         void 
00184         emitMouseEvent (unsigned long event_id);
00185         
00186         void 
00187         emitKeyboardEvent (unsigned long event_id);
00188         
00189         // Callbacks used to register for vtk command
00190         static void 
00191         MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
00192         static void 
00193         KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
00194         
00195       protected: // types
00196         struct ExitMainLoopTimerCallback : public vtkCommand
00197         {
00198           static ExitMainLoopTimerCallback* New ()
00199           {
00200             return (new ExitMainLoopTimerCallback);
00201           }
00202           virtual void 
00203           Execute (vtkObject* vtkNotUsed (caller), unsigned long event_id, void* call_data)
00204           {
00205             if (event_id != vtkCommand::TimerEvent)
00206               return;
00207             int timer_id = *(int*)call_data;
00208             if (timer_id != right_timer_id)
00209               return;
00210             window->interactor_->TerminateApp ();
00211           }
00212           int right_timer_id;
00213           ImageViewer* window;
00214         };
00215         struct ExitCallback : public vtkCommand
00216         {
00217           static ExitCallback* New ()
00218           {
00219             return (new ExitCallback);
00220           }
00221           virtual void 
00222           Execute (vtkObject* caller, unsigned long event_id, void* call_data)
00223           {
00224             if (event_id != vtkCommand::ExitEvent)
00225               return;
00226             window->stopped_ = true;
00227             window->interactor_->TerminateApp ();
00228           }
00229           ImageViewer* window;
00230         };
00231 
00232     private:
00233         boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
00234         boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
00235         
00236         vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
00237         vtkCallbackCommand* mouse_command_;
00238         vtkCallbackCommand* keyboard_command_;
00239 
00241         vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
00242         vtkSmartPointer<ExitCallback> exit_callback_;
00243 
00245         vtkSmartPointer<vtkImageViewer> image_viewer_;
00246    
00248         boost::shared_array<unsigned char> data_;
00250         size_t data_size_;
00251 
00253         bool stopped_;
00254 
00256         int timer_id_;
00257      };
00258   }
00259 }
00260 
00261 #endif  /* __IMAGE_VISUALIZER_H__ */
00262 
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