interactor_style.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: interactor_style.h 3771 2012-01-01 06:58:14Z rusu $
 *
 */
#ifndef PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
#define PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_

// VTK includes
#include <vtkSmartPointer.h>
#include <vtkRendererCollection.h>
#include <vtkLegendScaleActor.h>
#include <vtkPNGWriter.h>
#include <vtkWindowToImageFilter.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderWindow.h>
#include <vtkAssemblyPath.h>
#include <vtkCommand.h>
#include <vtkProperty.h>
#include <vtkCamera.h>
#include <vtkObjectFactory.h>
#include <vtkScalarBarActor.h>
#include <vtkScalarsToColors.h>
#include <vtkBoxRepresentation.h>
#include <vtkBoxWidget.h>
#include <vtkBoxWidget2.h>
#include <vtkClipPolyData.h>
#include <vtkPlanes.h>

#include <boost/shared_ptr.hpp>
#include <pcl/console/print.h>
#include <pcl/visualization/common/actor_map.h>
#include <pcl/visualization/common/ren_win_interact_map.h>
#include <boost/shared_ptr.hpp>
#include <boost/signals2.hpp>
//#include <boost/signals2/slot.hpp>
#include <pcl/visualization/keyboard_event.h>
#include <pcl/visualization/mouse_event.h>
#include <pcl/visualization/point_picking_event.h>

namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS PCLVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera
    {
      typedef boost::shared_ptr<CloudActorMap> CloudActorMapPtr;

      public:
        static PCLVisualizerInteractorStyle *New ();
        // this macro defines Superclass, the isA functionality and the safe downcast method
        vtkTypeMacro(PCLVisualizerInteractorStyle,vtkInteractorStyleTrackballCamera);
        
        virtual void 
        Initialize ();
        
        inline void 
        setCloudActorMap (const CloudActorMapPtr &actors) { actors_ = actors; }

        inline CloudActorMapPtr 
        getCloudActorMap () { return (actors_); }

        void 
        setRendererCollection (vtkSmartPointer<vtkRendererCollection> &rens) { rens_ = rens; }

        boost::signals2::connection 
        registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> cb);

        boost::signals2::connection 
        registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> cb);

        boost::signals2::connection 
        registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)> cb);

        void
        saveScreenshot (const std::string &file);

       protected:
        bool init_;

        vtkSmartPointer<vtkRendererCollection> rens_;

        CloudActorMapPtr actors_;

        int win_height_, win_width_;

        int win_pos_x_, win_pos_y_;

        int max_win_height_, max_win_width_;

        bool grid_enabled_;
        vtkSmartPointer<vtkLegendScaleActor> grid_actor_;

        bool lut_enabled_;
        vtkSmartPointer<vtkScalarBarActor> lut_actor_;

        vtkSmartPointer<vtkPNGWriter> snapshot_writer_;
        vtkSmartPointer<vtkWindowToImageFilter> wif_;

        boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
        boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
        boost::signals2::signal<void (const pcl::visualization::PointPickingEvent&)> point_picking_signal_;

        virtual void 
        OnChar ();

        // Keyboard events
        virtual void 
        OnKeyDown ();
        virtual void 
        OnKeyUp ();
        
        // mouse button events
        virtual void  
        OnMouseMove ();
        virtual void  
        OnLeftButtonDown ();
        virtual void  
        OnLeftButtonUp ();
        virtual void  
        OnMiddleButtonDown ();
        virtual void  
        OnMiddleButtonUp ();
        virtual void  
        OnRightButtonDown ();
        virtual void  
        OnRightButtonUp ();
        virtual void  
        OnMouseWheelForward ();
        virtual void  
        OnMouseWheelBackward ();
        
        // mouse move event
        virtual void 
        OnTimer ();

        void 
        zoomIn ();

        void 
        zoomOut ();

        bool stereo_anaglyph_mask_default_;

        vtkSmartPointer<PointPickingCallback> mouse_callback_;

        friend class PointPickingCallback;
    };

    class PCLHistogramVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera
    {
      public:
        static PCLHistogramVisualizerInteractorStyle *New ();

        void 
        Initialize ();
        
        void 
        setRenWinInteractMap (const RenWinInteractMap &wins) { wins_ = wins; }

      private:
        RenWinInteractMap wins_;

        bool init_;

        void OnKeyDown ();

        void OnTimer ();
    };
  }
}

#endif