image_viewer.h

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#ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_H__
#define PCL_VISUALIZATION_IMAGE_VISUALIZER_H__

#include <vtkImageViewer.h>
#include <vtkImageViewer2.h>
#include <vtkInteractorStyle.h>
#include <boost/shared_array.hpp>
#include <pcl/pcl_macros.h>
#include <pcl/console/print.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkSmartPointer.h>
#include <boost/signals2.hpp>
#include <vtkCallbackCommand.h>
#include <pcl/visualization/interactor_style.h>

namespace pcl
{
  namespace visualization
  {
    typedef Eigen::Array<unsigned char, 3, 1> Vector3ub;
    static const Vector3ub green_color(0,255,0);
    static const Vector3ub red_color(255,0,0);
    static const Vector3ub blue_color(0,0,255);

    class PCL_EXPORTS ImageViewer
    {
      public:
        ImageViewer (const std::string& window_title = "");

        virtual ~ImageViewer ();
       
        void 
        showMonoImage (const unsigned char* data, unsigned width, unsigned height);

        void 
        showRGBImage (const unsigned char* data, unsigned width, unsigned height);

        void 
        showRGBImage (const pcl::PointCloud<pcl::PointXYZRGB> &data);

        void 
        showRGBImage (const pcl::PointCloud<pcl::PointXYZRGBA> &data);

        void 
        showFloatImage (const float* data, unsigned int width, unsigned int height, 
                        float min_value = std::numeric_limits<float>::min (), 
                        float max_value = std::numeric_limits<float>::max (), bool grayscale = false);
        
        void
        showShortImage (const unsigned short* short_image, unsigned int width, unsigned int height, 
                        unsigned short min_value = std::numeric_limits<unsigned short>::min (), 
                        unsigned short max_value = std::numeric_limits<unsigned short>::max (), bool grayscale = false);

        void 
        showAngleImage (const float* data, unsigned width, unsigned height);

        void 
        showHalfAngleImage (const float* data, unsigned width, unsigned height);

        void
        markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color = red_color, float radius = 2);

        void
        setWindowTitle (const std::string& name)
        {
          strcpy (image_viewer_->GetWindowName (), name.c_str ());
        }

        void 
        spin ();
        
        void 
        spinOnce (int time = 1, bool force_redraw = false);
        
        boost::signals2::connection 
        registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), 
                                  void* cookie = NULL)
        {
          return (registerKeyboardCallback (boost::bind (callback, _1, cookie)));
        }
        
        template<typename T> boost::signals2::connection 
        registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), 
                                  T& instance, void* cookie = NULL)
        {
          return (registerKeyboardCallback (boost::bind (callback,  boost::ref (instance), _1, cookie)));
        }
        
        boost::signals2::connection 
        registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> cb);

        boost::signals2::connection 
        registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), 
                               void* cookie = NULL)
        {
          return (registerMouseCallback (boost::bind (callback, _1, cookie)));
        }
        
        template<typename T> boost::signals2::connection 
        registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), 
                               T& instance, void* cookie = NULL)
        {
          return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie)));
        }

        boost::signals2::connection 
        registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> cb);
        
        void
        setPosition (int x, int y)
        {
          image_viewer_->SetPosition (x, y);
        }
      protected: // methods
        void 
        resetStoppedFlag () { stopped_ = false; }

        void 
        emitMouseEvent (unsigned long event_id);
        
        void 
        emitKeyboardEvent (unsigned long event_id);
        
        // Callbacks used to register for vtk command
        static void 
        MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
        static void 
        KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
        
      protected: // types
        struct ExitMainLoopTimerCallback : public vtkCommand
        {
          static ExitMainLoopTimerCallback* New ()
          {
            return (new ExitMainLoopTimerCallback);
          }
          virtual void 
          Execute (vtkObject* vtkNotUsed (caller), unsigned long event_id, void* call_data)
          {
            if (event_id != vtkCommand::TimerEvent)
              return;
            int timer_id = *(int*)call_data;
            if (timer_id != right_timer_id)
              return;
            window->interactor_->TerminateApp ();
          }
          int right_timer_id;
          ImageViewer* window;
        };
        struct ExitCallback : public vtkCommand
        {
          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }
          virtual void 
          Execute (vtkObject* caller, unsigned long event_id, void* call_data)
          {
            if (event_id != vtkCommand::ExitEvent)
              return;
            window->stopped_ = true;
            window->interactor_->TerminateApp ();
          }
          ImageViewer* window;
        };

    private:
        boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
        boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
        
        vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
        vtkCallbackCommand* mouse_command_;
        vtkCallbackCommand* keyboard_command_;

        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;

        vtkSmartPointer<vtkImageViewer> image_viewer_;
   
        boost::shared_array<unsigned char> data_;
        size_t data_size_;

        bool stopped_;

        int timer_id_;
     };
  }
}

#endif  /* __IMAGE_VISUALIZER_H__ */