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Point Cloud Library (PCL)
1.4.0
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Point Cloud Library (PCL)
1.4.0
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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: pcl_visualizer.h 3771 2012-01-01 06:58:14Z rusu $ 00037 * 00038 */ 00039 #ifndef PCL_PCL_VISUALIZER_H_ 00040 #define PCL_PCL_VISUALIZER_H_ 00041 00042 // PCL includes 00043 #include <pcl/point_types.h> 00044 #include <pcl/correspondence.h> 00045 #include <pcl/point_cloud.h> 00046 #include <pcl/PolygonMesh.h> 00047 // 00048 #include <pcl/console/print.h> 00049 #include <pcl/visualization/common/common.h> 00050 #include <pcl/visualization/common/shapes.h> 00051 #include <pcl/visualization/window.h> 00052 #include <boost/algorithm/string/split.hpp> 00053 #include <boost/algorithm/string/classification.hpp> 00054 // VTK includes 00055 #include <vtkAxes.h> 00056 #include <vtkFloatArray.h> 00057 #include <vtkAppendPolyData.h> 00058 #include <vtkPointData.h> 00059 #include <vtkPolyData.h> 00060 #include <vtkUnstructuredGrid.h> 00061 #include <vtkTubeFilter.h> 00062 #include <vtkPolyDataMapper.h> 00063 #include <vtkDataSetMapper.h> 00064 #include <vtkCellArray.h> 00065 #include <vtkCommand.h> 00066 #include <vtkPLYReader.h> 00067 #include <vtkTransformFilter.h> 00068 #include <vtkPolyLine.h> 00069 #include <vtkVectorText.h> 00070 #include <vtkFollower.h> 00071 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00072 #include <pcl/visualization/interactor.h> 00073 #else 00074 #include <vtkRenderWindowInteractor.h> 00075 #endif 00076 00077 namespace pcl 00078 { 00079 namespace visualization 00080 { 00085 class PCL_EXPORTS PCLVisualizer 00086 { 00087 public: 00088 typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler; 00089 typedef GeometryHandler::Ptr GeometryHandlerPtr; 00090 typedef GeometryHandler::ConstPtr GeometryHandlerConstPtr; 00091 00092 typedef PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler; 00093 typedef ColorHandler::Ptr ColorHandlerPtr; 00094 typedef ColorHandler::ConstPtr ColorHandlerConstPtr; 00095 00100 PCLVisualizer (const std::string &name = "", const bool create_interactor = true); 00108 PCLVisualizer (int &argc, char **argv, const std::string &name = "", 00109 PCLVisualizerInteractorStyle* style = PCLVisualizerInteractorStyle::New (), const bool create_interactor = true); 00110 00112 virtual ~PCLVisualizer (); 00113 00118 boost::signals2::connection 00119 registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> cb); 00120 00126 inline boost::signals2::connection 00127 registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), void* cookie = NULL) 00128 { 00129 return (registerKeyboardCallback (boost::bind (callback, _1, cookie))); 00130 } 00131 00138 template<typename T> inline boost::signals2::connection 00139 registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), T& instance, void* cookie = NULL) 00140 { 00141 return (registerKeyboardCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00142 } 00143 00148 boost::signals2::connection 00149 registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> cb); 00150 00156 inline boost::signals2::connection 00157 registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), void* cookie = NULL) 00158 { 00159 return (registerMouseCallback (boost::bind (callback, _1, cookie))); 00160 } 00161 00168 template<typename T> inline boost::signals2::connection 00169 registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), T& instance, void* cookie = NULL) 00170 { 00171 return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00172 } 00173 00178 boost::signals2::connection 00179 registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)> cb); 00180 00186 inline boost::signals2::connection 00187 registerPointPickingCallback (void (*callback) (const pcl::visualization::PointPickingEvent&, void*), void* cookie = NULL) 00188 { 00189 return (registerPointPickingCallback (boost::bind (callback, _1, cookie))); 00190 } 00191 00198 template<typename T> inline boost::signals2::connection 00199 registerPointPickingCallback (void (T::*callback) (const pcl::visualization::PointPickingEvent&, void*), T& instance, void* cookie = NULL) 00200 { 00201 return (registerPointPickingCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00202 } 00203 00205 void 00206 spin (); 00207 00213 void 00214 spinOnce (int time = 1, bool force_redraw = false); 00215 00220 void 00221 addCoordinateSystem (double scale = 1.0, int viewport = 0); 00222 00230 void 00231 addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0); 00232 00264 void 00265 addCoordinateSystem (double scale, const Eigen::Matrix4f& t, int viewport = 0); 00266 00270 bool 00271 removeCoordinateSystem (int viewport = 0); 00272 00277 bool 00278 removePointCloud (const std::string &id = "cloud", int viewport = 0); 00279 00284 inline bool 00285 removePolygonMesh (const std::string &id = "polygon", int viewport = 0) 00286 { 00287 // Polygon Meshes are represented internally as point clouds with special cell array structures since 1.4 00288 return (removePointCloud (id, viewport)); 00289 } 00290 00295 bool 00296 removeShape (const std::string &id = "cloud", int viewport = 0); 00297 00302 bool 00303 removeText3D (const std::string &id = "cloud", int viewport = 0); 00304 00308 bool 00309 removeAllPointClouds (int viewport = 0); 00310 00314 bool 00315 removeAllShapes (int viewport = 0); 00316 00323 void 00324 setBackgroundColor (const double &r, const double &g, const double &b, int viewport = 0); 00325 00333 bool 00334 addText (const std::string &text, 00335 int xpos, int ypos, 00336 const std::string &id = "", int viewport = 0); 00337 00348 bool 00349 addText (const std::string &text, int xpos, int ypos, double r, double g, double b, 00350 const std::string &id = "", int viewport = 0); 00351 00363 bool 00364 addText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b, 00365 const std::string &id = "", int viewport = 0); 00366 00367 00378 template <typename PointT> bool 00379 addText3D (const std::string &text, 00380 const PointT &position, 00381 double textScale = 1.0, 00382 double r = 1.0, double g = 1.0, double b = 1.0, 00383 const std::string &id = "", int viewport = 0); 00384 00392 template <typename PointNT> bool 00393 addPointCloudNormals (const typename pcl::PointCloud<PointNT>::ConstPtr &cloud, 00394 int level = 100, double scale = 0.02, 00395 const std::string &id = "cloud", int viewport = 0); 00396 00405 template <typename PointT, typename PointNT> bool 00406 addPointCloudNormals (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00407 const typename pcl::PointCloud<PointNT>::ConstPtr &normals, 00408 int level = 100, double scale = 0.02, 00409 const std::string &id = "cloud", int viewport = 0); 00410 00420 bool 00421 addPointCloudPrincipalCurvatures ( 00422 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud, 00423 const pcl::PointCloud<pcl::Normal>::ConstPtr &normals, 00424 const pcl::PointCloud<pcl::PrincipalCurvatures>::ConstPtr &pcs, 00425 int level = 100, double scale = 1.0, 00426 const std::string &id = "cloud", int viewport = 0); 00427 00433 template <typename PointT> bool 00434 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00435 const std::string &id = "cloud", int viewport = 0); 00436 00442 template <typename PointT> bool 00443 updatePointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00444 const std::string &id = "cloud"); 00445 00452 template <typename PointT> bool 00453 updatePointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00454 const PointCloudGeometryHandler<PointT> &geometry_handler, 00455 const std::string &id = "cloud"); 00456 00463 template <typename PointT> bool 00464 updatePointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00465 const PointCloudColorHandler<PointT> &color_handler, 00466 const std::string &id = "cloud"); 00467 00468 // bool 00469 // updatePointCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, 00470 // const PointCloudColorHandlerRGBField<pcl::PointXYZRGB> &color_handler, 00471 // const std::string &id = "cloud"); 00472 00479 template <typename PointT> bool 00480 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00481 const PointCloudGeometryHandler<PointT> &geometry_handler, 00482 const std::string &id = "cloud", int viewport = 0); 00483 00496 template <typename PointT> bool 00497 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00498 const GeometryHandlerConstPtr &geometry_handler, 00499 const std::string &id = "cloud", int viewport = 0); 00500 00507 template <typename PointT> bool 00508 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00509 const PointCloudColorHandler<PointT> &color_handler, 00510 const std::string &id = "cloud", int viewport = 0); 00511 00524 template <typename PointT> bool 00525 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00526 const ColorHandlerConstPtr &color_handler, 00527 const std::string &id = "cloud", int viewport = 0); 00528 00542 template <typename PointT> bool 00543 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00544 const GeometryHandlerConstPtr &geometry_handler, 00545 const ColorHandlerConstPtr &color_handler, 00546 const std::string &id = "cloud", int viewport = 0); 00547 00555 template <typename PointT> bool 00556 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00557 const PointCloudColorHandler<PointT> &color_handler, 00558 const PointCloudGeometryHandler<PointT> &geometry_handler, 00559 const std::string &id = "cloud", int viewport = 0); 00560 00566 inline bool 00567 addPointCloud (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud, 00568 const std::string &id = "cloud", int viewport = 0) 00569 { 00570 return (addPointCloud<pcl::PointXYZ> (cloud, id, viewport)); 00571 } 00572 00573 00579 inline bool 00580 addPointCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, 00581 const std::string &id = "cloud", int viewport = 0) 00582 { 00583 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> color_handler (cloud); 00584 return (addPointCloud<pcl::PointXYZRGB> (cloud, color_handler, id, viewport)); 00585 } 00586 00592 inline bool 00593 updatePointCloud (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud, 00594 const std::string &id = "cloud") 00595 { 00596 return (updatePointCloud<pcl::PointXYZ> (cloud, id)); 00597 } 00598 00604 inline bool 00605 updatePointCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, 00606 const std::string &id = "cloud") 00607 { 00608 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> color_handler (cloud); 00609 return (updatePointCloud<pcl::PointXYZRGB> (cloud, color_handler, id)); 00610 } 00611 00617 bool 00618 addPolygonMesh (const pcl::PolygonMesh &polymesh, 00619 const std::string &id = "polygon", 00620 int viewport = 0); 00621 00628 template <typename PointT> bool 00629 addPolygonMesh (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00630 const std::vector<pcl::Vertices> &vertices, 00631 const std::string &id = "polygon", 00632 int viewport = 0); 00633 00640 template <typename PointT> bool 00641 updatePolygonMesh (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00642 const std::vector<pcl::Vertices> &vertices, 00643 const std::string &id = "polygon"); 00644 00650 bool 00651 addPolylineFromPolygonMesh (const pcl::PolygonMesh &polymesh, 00652 const std::string &id = "polyline", 00653 int viewport = 0); 00654 00662 template <typename PointT> bool 00663 addCorrespondences (const typename pcl::PointCloud<PointT>::ConstPtr &source_points, 00664 const typename pcl::PointCloud<PointT>::ConstPtr &target_points, 00665 const std::vector<int> & correspondences, 00666 const std::string &id = "correspondences", 00667 int viewport = 0); 00668 00676 template <typename PointT> bool 00677 addCorrespondences (const typename pcl::PointCloud<PointT>::ConstPtr &source_points, 00678 const typename pcl::PointCloud<PointT>::ConstPtr &target_points, 00679 const pcl::Correspondences &correspondences, 00680 const std::string &id = "correspondences", 00681 int viewport = 0); 00682 00687 inline void 00688 removeCorrespondences (const std::string &id = "correspondences", int viewport = 0) 00689 { 00690 removeShape (id, viewport); 00691 } 00692 00696 inline int 00697 getColorHandlerIndex (const std::string &id) 00698 { 00699 CloudActorMap::iterator am_it = style_->getCloudActorMap ()->find (id); 00700 if (am_it == cloud_actor_map_->end ()) 00701 return (-1); 00702 00703 return (am_it->second.color_handler_index_); 00704 } 00705 00709 inline int 00710 getGeometryHandlerIndex (const std::string &id) 00711 { 00712 CloudActorMap::iterator am_it = style_->getCloudActorMap ()->find (id); 00713 if (am_it != cloud_actor_map_->end ()) 00714 return (-1); 00715 00716 return (am_it->second.geometry_handler_index_); 00717 } 00718 00723 bool 00724 updateColorHandlerIndex (const std::string &id, int index); 00725 00734 bool 00735 setPointCloudRenderingProperties (int property, double val1, double val2, double val3, 00736 const std::string &id = "cloud", int viewport = 0); 00737 00744 bool 00745 setPointCloudRenderingProperties (int property, double value, 00746 const std::string &id = "cloud", int viewport = 0); 00747 00753 bool 00754 getPointCloudRenderingProperties (int property, double &value, 00755 const std::string &id = "cloud"); 00756 00763 bool 00764 setShapeRenderingProperties (int property, double value, 00765 const std::string &id, int viewport = 0); 00766 00775 bool 00776 setShapeRenderingProperties (int property, double val1, double val2, double val3, 00777 const std::string &id, int viewport = 0); 00778 00779 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00780 00781 bool 00782 wasStopped () const { if (interactor_ != NULL) return (interactor_->stopped); else return true; } 00783 00785 void 00786 resetStoppedFlag () { if (interactor_ != NULL) interactor_->stopped = false; } 00787 #else 00788 00789 bool 00790 wasStopped () const { if (interactor_ != NULL) return (stopped_); else return (true); } 00791 00793 void 00794 resetStoppedFlag () { if (interactor_ != NULL) stopped_ = false; } 00795 #endif 00796 00803 void 00804 createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport); 00805 00815 template <typename PointT> bool 00816 addPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00817 double r, double g, double b, 00818 const std::string &id = "polygon", int viewport = 0); 00819 00826 template <typename PointT> bool 00827 addPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00828 const std::string &id = "polygon", 00829 int viewport = 0); 00830 00837 template <typename P1, typename P2> bool 00838 addLine (const P1 &pt1, const P2 &pt2, const std::string &id = "line", 00839 int viewport = 0); 00840 00850 template <typename P1, typename P2> bool 00851 addLine (const P1 &pt1, const P2 &pt2, double r, double g, double b, 00852 const std::string &id = "line", int viewport = 0); 00853 00863 template <typename P1, typename P2> bool 00864 addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, 00865 const std::string &id = "arrow", int viewport = 0); 00866 00873 template <typename PointT> bool 00874 addSphere (const PointT ¢er, double radius, const std::string &id = "sphere", 00875 int viewport = 0); 00876 00886 template <typename PointT> bool 00887 addSphere (const PointT ¢er, double radius, double r, double g, double b, 00888 const std::string &id = "sphere", int viewport = 0); 00889 00895 bool 00896 addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, 00897 const std::string & id = "PolyData", 00898 int viewport = 0); 00899 00906 bool 00907 addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, 00908 vtkSmartPointer<vtkTransform> transform, 00909 const std::string &id = "PolyData", 00910 int viewport = 0); 00911 00917 bool 00918 addModelFromPLYFile (const std::string &filename, 00919 const std::string &id = "PLYModel", 00920 int viewport = 0); 00921 00928 bool 00929 addModelFromPLYFile (const std::string &filename, 00930 vtkSmartPointer<vtkTransform> transform, 00931 const std::string &id = "PLYModel", 00932 int viewport = 0); 00933 00960 bool 00961 addCylinder (const pcl::ModelCoefficients &coefficients, 00962 const std::string &id = "cylinder", 00963 int viewport = 0); 00964 00987 bool 00988 addSphere (const pcl::ModelCoefficients &coefficients, 00989 const std::string &id = "sphere", 00990 int viewport = 0); 00991 01015 bool 01016 addLine (const pcl::ModelCoefficients &coefficients, 01017 const std::string &id = "line", 01018 int viewport = 0); 01019 01040 bool 01041 addPlane (const pcl::ModelCoefficients &coefficients, 01042 const std::string &id = "plane", 01043 int viewport = 0); 01044 01064 bool 01065 addCircle (const pcl::ModelCoefficients &coefficients, 01066 const std::string &id = "circle", 01067 int viewport = 0); 01068 01074 bool 01075 addCone (const pcl::ModelCoefficients &coefficients, 01076 const std::string &id = "cone", 01077 int viewport = 0); 01078 01084 bool 01085 addCube (const pcl::ModelCoefficients &coefficients, 01086 const std::string &id = "cube", 01087 int viewport = 0); 01088 01090 void 01091 setRepresentationToSurfaceForAllActors (); 01092 01100 void 01101 renderView (int xres, int yres, pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud); 01102 01120 void 01121 renderViewTesselatedSphere ( 01122 int xres, int yres, 01123 std::vector<pcl::PointCloud<pcl::PointXYZ>,Eigen::aligned_allocator< pcl::PointCloud<pcl::PointXYZ> > > & cloud, 01124 std::vector<Eigen::Matrix4f,Eigen::aligned_allocator< Eigen::Matrix4f > > & poses, std::vector<float> & enthropies, int tesselation_level, 01125 float view_angle = 45, float radius_sphere = 1, bool use_vertices = true); 01126 01128 Camera camera_; 01129 01131 void 01132 initCameraParameters (); 01133 01138 bool 01139 getCameraParameters (int argc, char **argv); 01140 01142 bool 01143 cameraParamsSet () const; 01144 01146 void 01147 updateCamera (); 01148 01150 void 01151 resetCamera (); 01152 01156 void 01157 resetCameraViewpoint (const std::string &id = "cloud"); 01158 01167 void 01168 setCameraPosition (double posX,double posY, double posZ, 01169 double viewX, double viewY, double viewZ); 01170 01172 void 01173 getCameras (std::vector<Camera>& cameras); 01174 01176 Eigen::Affine3f 01177 getViewerPose (); 01178 01182 void 01183 saveScreenshot (const std::string &file); 01184 01186 vtkSmartPointer<vtkRenderWindow> 01187 getRenderWindow () 01188 { 01189 return (win_); 01190 } 01191 01193 void 01194 createInteractor (); 01195 01196 protected: 01198 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01199 vtkSmartPointer<PCLVisualizerInteractor> interactor_; 01200 #else 01201 vtkSmartPointer<vtkRenderWindowInteractor> interactor_; 01202 #endif 01203 private: 01204 struct ExitMainLoopTimerCallback : public vtkCommand 01205 { 01206 static ExitMainLoopTimerCallback* New() 01207 { 01208 return new ExitMainLoopTimerCallback; 01209 } 01210 virtual void Execute(vtkObject* vtkNotUsed(caller), unsigned long event_id, void* call_data) 01211 { 01212 if (event_id != vtkCommand::TimerEvent) 01213 return; 01214 int timer_id = *(int*)call_data; 01215 //PCL_WARN ("[pcl::visualization::PCLVisualizer::ExitMainLoopTimerCallback] Timer %d called.\n", timer_id); 01216 if (timer_id != right_timer_id) 01217 return; 01218 // Stop vtk loop and send notification to app to wake it up 01219 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01220 pcl_visualizer->interactor_->stopLoop (); 01221 #else 01222 pcl_visualizer->interactor_->TerminateApp (); 01223 #endif 01224 } 01225 int right_timer_id; 01226 PCLVisualizer* pcl_visualizer; 01227 }; 01228 struct ExitCallback : public vtkCommand 01229 { 01230 static ExitCallback* New () 01231 { 01232 return new ExitCallback; 01233 } 01234 virtual void Execute (vtkObject* caller, unsigned long event_id, void* call_data) 01235 { 01236 if (event_id != vtkCommand::ExitEvent) 01237 return; 01238 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01239 pcl_visualizer->interactor_->stopped = true; 01240 // This tends to close the window... 01241 pcl_visualizer->interactor_->stopLoop (); 01242 #else 01243 pcl_visualizer->stopped_ = true; 01244 // This tends to close the window... 01245 pcl_visualizer->interactor_->TerminateApp (); 01246 #endif 01247 } 01248 PCLVisualizer* pcl_visualizer; 01249 }; 01250 01251 #if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01252 01253 bool stopped_; 01254 01256 int timer_id_; 01257 #endif 01258 01259 vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_; 01260 vtkSmartPointer<ExitCallback> exit_callback_; 01261 01263 vtkSmartPointer<vtkRendererCollection> rens_; 01264 01266 vtkSmartPointer<vtkRenderWindow> win_; 01267 01269 vtkSmartPointer<PCLVisualizerInteractorStyle> style_; 01270 01272 CloudActorMapPtr cloud_actor_map_; 01273 01275 ShapeActorMapPtr shape_actor_map_; 01276 01278 CoordinateActorMap coordinate_actor_map_; 01279 01281 bool camera_set_; 01282 01287 void 01288 removeActorFromRenderer (const vtkSmartPointer<vtkLODActor> &actor, 01289 int viewport = 0); 01290 01295 void 01296 addActorToRenderer (const vtkSmartPointer<vtkProp> &actor, 01297 int viewport = 0); 01298 01303 void 01304 removeActorFromRenderer (const vtkSmartPointer<vtkProp> &actor, 01305 int viewport = 0); 01306 01312 void 01313 createActorFromVTKDataSet (const vtkSmartPointer<vtkDataSet> &data, 01314 vtkSmartPointer<vtkLODActor> &actor, 01315 bool use_scalars = true); 01316 01323 template <typename PointT> void 01324 convertPointCloudToVTKPolyData (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 01325 vtkSmartPointer<vtkPolyData> &polydata, 01326 vtkSmartPointer<vtkIdTypeArray> &initcells); 01327 01334 template <typename PointT> void 01335 convertPointCloudToVTKPolyData (const PointCloudGeometryHandler<PointT> &geometry_handler, 01336 vtkSmartPointer<vtkPolyData> &polydata, 01337 vtkSmartPointer<vtkIdTypeArray> &initcells); 01338 01345 void 01346 convertPointCloudToVTKPolyData (const GeometryHandlerConstPtr &geometry_handler, 01347 vtkSmartPointer<vtkPolyData> &polydata, 01348 vtkSmartPointer<vtkIdTypeArray> &initcells); 01349 01358 void 01359 updateCells (vtkSmartPointer<vtkIdTypeArray> &cells, 01360 vtkSmartPointer<vtkIdTypeArray> &initcells, 01361 vtkIdType nr_points); 01362 01371 template <typename PointT> bool 01372 fromHandlersToScreen (const PointCloudGeometryHandler<PointT> &geometry_handler, 01373 const PointCloudColorHandler<PointT> &color_handler, 01374 const std::string &id, 01375 int viewport); 01376 01385 template <typename PointT> bool 01386 fromHandlersToScreen (const PointCloudGeometryHandler<PointT> &geometry_handler, 01387 const ColorHandlerConstPtr &color_handler, 01388 const std::string &id, 01389 int viewport); 01390 01399 bool 01400 fromHandlersToScreen (const GeometryHandlerConstPtr &geometry_handler, 01401 const ColorHandlerConstPtr &color_handler, 01402 const std::string &id, 01403 int viewport); 01404 01413 template <typename PointT> bool 01414 fromHandlersToScreen (const GeometryHandlerConstPtr &geometry_handler, 01415 const PointCloudColorHandler<PointT> &color_handler, 01416 const std::string &id, 01417 int viewport); 01418 01422 void 01423 allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata); 01424 01428 void 01429 allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata); 01430 01434 void 01435 allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata); 01436 01442 void 01443 getTransformationMatrix (const Eigen::Vector4f &origin, 01444 const Eigen::Quaternion<float> &orientation, 01445 Eigen::Matrix4f &transformation); 01446 01451 void 01452 convertToVtkMatrix (const Eigen::Matrix4f &m, 01453 vtkSmartPointer<vtkMatrix4x4> &vtk_matrix); 01454 01460 void 01461 convertToVtkMatrix (const Eigen::Vector4f &origin, 01462 const Eigen::Quaternion<float> &orientation, 01463 vtkSmartPointer<vtkMatrix4x4> &vtk_matrix); 01464 01465 }; 01466 } 01467 } 01468 01469 #include <pcl/visualization/impl/pcl_visualizer.hpp> 01470 01471 #endif 01472
1.7.6.1
