Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/visualization/include/pcl/visualization/interactor_style.h
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  *  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  * $Id$
00038  *
00039  */
00040 #ifndef PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
00041 #define PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
00042 
00043 #include <pcl/console/print.h>
00044 #include <pcl/visualization/common/actor_map.h>
00045 #include <pcl/visualization/common/ren_win_interact_map.h>
00046 #include <pcl/visualization/keyboard_event.h>
00047 #include <pcl/visualization/mouse_event.h>
00048 #include <pcl/visualization/point_picking_event.h>
00049 #include <pcl/visualization/area_picking_event.h>
00050 #include <boost/signals2/signal.hpp>
00051 
00052 #include <vtkInteractorStyleRubberBandPick.h>
00053 
00054 class vtkRendererCollection;
00055 class vtkLegendScaleActor;
00056 class vtkScalarBarActor;
00057 class vtkPNGWriter;
00058 class vtkWindowToImageFilter;
00059 class vtkPointPicker;
00060 
00061 namespace pcl
00062 {
00063   namespace visualization
00064   {
00065 
00066     /** \brief A list of potential keyboard modifiers for \ref PCLVisualizerInteractorStyle.
00067       * Defaults to Alt. 
00068       */ 
00069     enum InteractorKeyboardModifier
00070     {
00071       INTERACTOR_KB_MOD_ALT,
00072       INTERACTOR_KB_MOD_CTRL,
00073       INTERACTOR_KB_MOD_SHIFT
00074     };
00075 
00076     /** \brief PCLVisualizerInteractorStyle defines an unique, custom VTK
00077       * based interactory style for PCL Visualizer applications. Besides
00078       * defining the rendering style, we also create a list of custom actions
00079       * that are triggered on different keys being pressed:
00080       *
00081       * -        p, P   : switch to a point-based representation
00082       * -        w, W   : switch to a wireframe-based representation (where available)
00083       * -        s, S   : switch to a surface-based representation (where available)
00084       * -        j, J   : take a .PNG snapshot of the current window view
00085       * -        c, C   : display current camera/window parameters
00086       * -        f, F   : fly to point mode
00087       * -        e, E   : exit the interactor\
00088       * -        q, Q   : stop and call VTK's TerminateApp
00089       * -       + / -   : increment/decrement overall point size
00090       * -        g, G   : display scale grid (on/off)
00091       * -        u, U   : display lookup table (on/off)
00092       * -  r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
00093       * -  ALT + s, S   : turn stereo mode on/off
00094       * -  ALT + f, F   : switch between maximized window mode and original size
00095       * -        l, L           : list all available geometric and color handlers for the current actor map
00096       * -  ALT + 0..9 [+ CTRL]  : switch between different geometric handlers (where available)
00097       * -        0..9 [+ CTRL]  : switch between different color handlers (where available)
00098       * - 
00099       * -  SHIFT + left click   : select a point
00100       * -        x, X   : toggle rubber band selection mode for left mouse button
00101       *
00102       * \author Radu B. Rusu
00103       * \ingroup visualization
00104       */
00105     class PCL_EXPORTS PCLVisualizerInteractorStyle : public vtkInteractorStyleRubberBandPick
00106     {
00107       typedef boost::shared_ptr<CloudActorMap> CloudActorMapPtr;
00108 
00109       public:
00110         static PCLVisualizerInteractorStyle *New ();
00111 
00112         /** \brief Empty constructor. */
00113         PCLVisualizerInteractorStyle () : 
00114           init_ (), rens_ (), actors_ (), win_height_ (), win_width_ (), win_pos_x_ (), win_pos_y_ (),
00115           max_win_height_ (), max_win_width_ (), grid_enabled_ (), grid_actor_ (), lut_enabled_ (),
00116           lut_actor_ (), snapshot_writer_ (), wif_ (), mouse_signal_ (), keyboard_signal_ (),
00117           point_picking_signal_ (), area_picking_signal_ (), stereo_anaglyph_mask_default_ (),
00118           mouse_callback_ (), modifier_ ()
00119         {}
00120       
00121         /** \brief Empty destructor */
00122         virtual ~PCLVisualizerInteractorStyle () {}
00123 
00124         // this macro defines Superclass, the isA functionality and the safe downcast method
00125         vtkTypeMacro (PCLVisualizerInteractorStyle, vtkInteractorStyleRubberBandPick);
00126         
00127         /** \brief Initialization routine. Must be called before anything else. */
00128         virtual void 
00129         Initialize ();
00130         
00131         /** \brief Pass a pointer to the actor map
00132           * \param[in] actors the actor map that will be used with this style
00133           */
00134         inline void 
00135         setCloudActorMap (const CloudActorMapPtr &actors) { actors_ = actors; }
00136 
00137         /** \brief Get the cloud actor map pointer. */
00138         inline CloudActorMapPtr 
00139         getCloudActorMap () { return (actors_); }
00140 
00141         /** \brief Pass a set of renderers to the interactor style. 
00142           * \param[in] rens the vtkRendererCollection to use
00143           */
00144         void 
00145         setRendererCollection (vtkSmartPointer<vtkRendererCollection> &rens) { rens_ = rens; }
00146 
00147         /** \brief Pass a pointer to the actor map
00148           * \param[in] actors the actor map that will be used with this style
00149           */
00150         inline void
00151         setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; }
00152 
00153         /** \brief Register a callback function for mouse events
00154           * \param[in] cb a boost function that will be registered as a callback for a mouse event
00155           * \return a connection object that allows to disconnect the callback function.
00156           */
00157         boost::signals2::connection 
00158         registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> cb);
00159 
00160         /** \brief Register a callback boost::function for keyboard events
00161           * \param[in] cb a boost function that will be registered as a callback for a keyboard event
00162           * \return a connection object that allows to disconnect the callback function.
00163           */
00164         boost::signals2::connection 
00165         registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> cb);
00166 
00167         /** \brief Register a callback function for point picking events
00168           * \param[in] cb a boost function that will be registered as a callback for a point picking event
00169           * \return a connection object that allows to disconnect the callback function.
00170           */
00171         boost::signals2::connection 
00172         registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)> cb);
00173 
00174         /** \brief Register a callback function for area picking events
00175           * \param[in] cb a boost function that will be registered as a callback for a area picking event
00176           * \return a connection object that allows to disconnect the callback function.
00177           */
00178         boost::signals2::connection
00179         registerAreaPickingCallback (boost::function<void (const pcl::visualization::AreaPickingEvent&)> cb);
00180 
00181         /** \brief Save the current rendered image to disk, as a PNG screenshot.
00182           * \param[in] file the name of the PNG file
00183           */
00184         void
00185         saveScreenshot (const std::string &file);
00186 
00187         /** \brief Change the default keyboard modified from ALT to a different special key.
00188           * Allowed values are:
00189           * - INTERACTOR_KB_MOD_ALT
00190           * - INTERACTOR_KB_MOD_CTRL
00191           * - INTERACTOR_KB_MOD_SHIFT
00192           * \param[in] modifier the new keyboard modifier
00193           */
00194         inline void
00195         setKeyboardModifier (const InteractorKeyboardModifier &modifier)
00196         {
00197           modifier_ = modifier;
00198         }
00199 
00200        protected:
00201         /** \brief Set to true after initialization is complete. */
00202         bool init_;
00203 
00204         /** \brief Collection of vtkRenderers stored internally. */
00205         vtkSmartPointer<vtkRendererCollection> rens_;
00206 
00207         /** \brief Actor map stored internally. */
00208         CloudActorMapPtr actors_;
00209 
00210         /** \brief The current window width/height. */
00211         int win_height_, win_width_;
00212 
00213         /** \brief The current window position x/y. */
00214         int win_pos_x_, win_pos_y_;
00215 
00216         /** \brief The maximum resizeable window width/height. */
00217         int max_win_height_, max_win_width_;
00218 
00219         /** \brief The maximum resizeable window width/height. */
00220         bool use_vbos_;
00221 
00222         /** \brief Set to true if the grid actor is enabled. */
00223         bool grid_enabled_;
00224         /** \brief Actor for 2D grid on screen. */
00225         vtkSmartPointer<vtkLegendScaleActor> grid_actor_;
00226 
00227         /** \brief Set to true if the LUT actor is enabled. */
00228         bool lut_enabled_;
00229         /** \brief Actor for 2D lookup table on screen. */
00230         vtkSmartPointer<vtkScalarBarActor> lut_actor_;
00231 
00232         /** \brief A PNG writer for screenshot captures. */
00233         vtkSmartPointer<vtkPNGWriter> snapshot_writer_;
00234         /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */
00235         vtkSmartPointer<vtkWindowToImageFilter> wif_;
00236         /** \brief Stores the point picker when switching to an area picker. */
00237         vtkSmartPointer<vtkPointPicker> point_picker_;
00238 
00239         boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
00240         boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
00241         boost::signals2::signal<void (const pcl::visualization::PointPickingEvent&)> point_picking_signal_;
00242         boost::signals2::signal<void (const pcl::visualization::AreaPickingEvent&)> area_picking_signal_;
00243 
00244         /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
00245         virtual void 
00246         OnChar ();
00247 
00248         // Keyboard events
00249         virtual void 
00250         OnKeyDown ();
00251         virtual void 
00252         OnKeyUp ();
00253         
00254         // mouse button events
00255         virtual void  
00256         OnMouseMove ();
00257         virtual void  
00258         OnLeftButtonDown ();
00259         virtual void  
00260         OnLeftButtonUp ();
00261         virtual void  
00262         OnMiddleButtonDown ();
00263         virtual void  
00264         OnMiddleButtonUp ();
00265         virtual void  
00266         OnRightButtonDown ();
00267         virtual void  
00268         OnRightButtonUp ();
00269         virtual void  
00270         OnMouseWheelForward ();
00271         virtual void  
00272         OnMouseWheelBackward ();
00273         
00274         // mouse move event
00275         /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
00276         virtual void 
00277         OnTimer ();
00278 
00279         /** \brief Interactor style internal method. Zoom in. */
00280         void 
00281         zoomIn ();
00282 
00283         /** \brief Interactor style internal method. Zoom out. */
00284         void 
00285         zoomOut ();
00286 
00287         /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
00288         bool stereo_anaglyph_mask_default_;
00289 
00290         /** \brief A VTK Mouse Callback object, used for point picking. */
00291         vtkSmartPointer<PointPickingCallback> mouse_callback_;
00292 
00293         /** \brief The keyboard modifier to use. Default: Alt. */
00294         InteractorKeyboardModifier modifier_;
00295 
00296         friend class PointPickingCallback;
00297     };
00298 
00299     /** \brief PCL histogram visualizer interactory style class.
00300       * \author Radu B. Rusu
00301       */
00302     class PCLHistogramVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera
00303     {
00304       public:
00305         static PCLHistogramVisualizerInteractorStyle *New ();
00306 
00307         /** \brief Empty constructor. */
00308         PCLHistogramVisualizerInteractorStyle () : wins_ (), init_ (false) {}
00309 
00310         /** \brief Initialization routine. Must be called before anything else. */
00311         void 
00312         Initialize ();
00313         
00314         /** \brief Pass a map of render/window/interactors to the interactor style. 
00315           * \param[in] wins the RenWinInteract map to use
00316           */
00317         void 
00318         setRenWinInteractMap (const RenWinInteractMap &wins) { wins_ = wins; }
00319 
00320       private:
00321         /** \brief A map of all windows on screen (with their renderers and interactors). */
00322         RenWinInteractMap wins_;
00323 
00324         /** \brief Set to true after initialization is complete. */
00325         bool init_;
00326 
00327         /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
00328         void OnKeyDown ();
00329 
00330         /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
00331         void OnTimer ();
00332     };
00333   }
00334 }
00335 
00336 #endif