Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #ifndef PCL_VISUALIZER_WINDOW_H__ 00040 #define PCL_VISUALIZER_WINDOW_H__ 00041 00042 #include <pcl/pcl_macros.h> 00043 #include <boost/signals2/signal.hpp> 00044 00045 #include <vtkCommand.h> 00046 00047 template <typename T> class vtkSmartPointer; 00048 class vtkObject; 00049 class vtkRenderWindow; 00050 class vtkRenderWindowInteractor; 00051 class vtkCallbackCommand; 00052 class vtkRendererCollection; 00053 class PCLVisualizerInteractorStyle; 00054 00055 namespace pcl 00056 { 00057 namespace visualization 00058 { 00059 class MouseEvent; 00060 class KeyboardEvent; 00061 00062 class PCL_EXPORTS Window 00063 { 00064 public: 00065 Window (const std::string& window_name = ""); 00066 Window (const Window &src); 00067 Window& operator = (const Window &src); 00068 00069 virtual ~Window (); 00070 00071 /** \brief Spin method. Calls the interactor and runs an internal loop. */ 00072 void 00073 spin (); 00074 00075 /** \brief Spin once method. Calls the interactor and updates the screen once. 00076 * \param time - How long (in ms) should the visualization loop be allowed to run. 00077 * \param force_redraw - if false it might return without doing anything if the 00078 * interactor's framerate does not require a redraw yet. 00079 */ 00080 void 00081 spinOnce (int time = 1, bool force_redraw = false); 00082 00083 /** \brief Returns true when the user tried to close the window */ 00084 bool 00085 wasStopped () const { return (stopped_); } 00086 00087 /** 00088 * @brief registering a callback function for keyboard events 00089 * @param callback the function that will be registered as a callback for a keyboard event 00090 * @param cookie user data that is passed to the callback 00091 * @return connection object that allows to disconnect the callback function. 00092 */ 00093 boost::signals2::connection 00094 registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), 00095 void* cookie = NULL) 00096 { 00097 return registerKeyboardCallback (boost::bind (callback, _1, cookie)); 00098 } 00099 00100 /** 00101 * @brief registering a callback function for keyboard events 00102 * @param callback the member function that will be registered as a callback for a keyboard event 00103 * @param instance instance to the class that implements the callback function 00104 * @param cookie user data that is passed to the callback 00105 * @return connection object that allows to disconnect the callback function. 00106 */ 00107 template<typename T> boost::signals2::connection 00108 registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), 00109 T& instance, void* cookie = NULL) 00110 { 00111 return registerKeyboardCallback (boost::bind (callback, boost::ref (instance), _1, cookie)); 00112 } 00113 00114 /** 00115 * @brief 00116 * @param callback the function that will be registered as a callback for a mouse event 00117 * @param cookie user data that is passed to the callback 00118 * @return connection object that allows to disconnect the callback function. 00119 */ 00120 boost::signals2::connection 00121 registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), 00122 void* cookie = NULL) 00123 { 00124 return registerMouseCallback (boost::bind (callback, _1, cookie)); 00125 } 00126 00127 /** 00128 * @brief registering a callback function for mouse events 00129 * @param callback the member function that will be registered as a callback for a mouse event 00130 * @param instance instance to the class that implements the callback function 00131 * @param cookie user data that is passed to the callback 00132 * @return connection object that allows to disconnect the callback function. 00133 */ 00134 template<typename T> boost::signals2::connection 00135 registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), 00136 T& instance, void* cookie = NULL) 00137 { 00138 return registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie)); 00139 } 00140 00141 protected: // methods 00142 00143 /** \brief Set the stopped flag back to false */ 00144 void 00145 resetStoppedFlag () { stopped_ = false; } 00146 00147 /** 00148 * @brief registering a callback function for mouse events 00149 * @param the boost function that will be registered as a callback for a mouse event 00150 * @return connection object that allows to disconnect the callback function. 00151 */ 00152 boost::signals2::connection 00153 registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> ); 00154 00155 /** 00156 * @brief registering a callback boost::function for keyboard events 00157 * @param the boost function that will be registered as a callback for a keyboard event 00158 * @return connection object that allows to disconnect the callback function. 00159 */ 00160 boost::signals2::connection 00161 registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> ); 00162 00163 void 00164 emitMouseEvent (unsigned long event_id); 00165 00166 void 00167 emitKeyboardEvent (unsigned long event_id); 00168 00169 // Callbacks used to register for vtk command 00170 static void 00171 MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata); 00172 static void 00173 KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata); 00174 00175 protected: // types 00176 struct ExitMainLoopTimerCallback : public vtkCommand 00177 { 00178 static ExitMainLoopTimerCallback* New () 00179 { 00180 return (new ExitMainLoopTimerCallback); 00181 } 00182 00183 ExitMainLoopTimerCallback (); 00184 ExitMainLoopTimerCallback (const ExitMainLoopTimerCallback& src); 00185 ExitMainLoopTimerCallback& operator = (const ExitMainLoopTimerCallback& src); 00186 00187 virtual void 00188 Execute (vtkObject*, unsigned long event_id, void* call_data); 00189 00190 int right_timer_id; 00191 Window* window; 00192 }; 00193 00194 struct ExitCallback : public vtkCommand 00195 { 00196 static ExitCallback* New () 00197 { 00198 return (new ExitCallback); 00199 } 00200 00201 ExitCallback (); 00202 ExitCallback (const ExitCallback &src); 00203 ExitCallback& operator = (const ExitCallback &src); 00204 00205 virtual void 00206 Execute (vtkObject*, unsigned long event_id, void*); 00207 00208 Window* window; 00209 }; 00210 00211 bool stopped_; 00212 int timer_id_; 00213 00214 protected: // member fields 00215 boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_; 00216 boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_; 00217 00218 vtkSmartPointer<vtkRenderWindow> win_; 00219 vtkSmartPointer<vtkRenderWindowInteractor> interactor_; 00220 vtkCallbackCommand* mouse_command_; 00221 vtkCallbackCommand* keyboard_command_; 00222 /** \brief The render window interactor style. */ 00223 vtkSmartPointer<PCLVisualizerInteractorStyle> style_; 00224 /** \brief The collection of renderers used. */ 00225 vtkSmartPointer<vtkRendererCollection> rens_; 00226 vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_; 00227 vtkSmartPointer<ExitCallback> exit_callback_; 00228 }; 00229 } 00230 } 00231 00232 #endif /* __WINDOW_H__ */ 00233