226 lines
8.9 KiB
C
226 lines
8.9 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009-2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/pcl_macros.h>
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#include <boost/signals2/signal.hpp>
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#include <vtkCommand.h>
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template <typename T> class vtkSmartPointer;
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class vtkObject;
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class vtkRenderWindow;
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class vtkRenderWindowInteractor;
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class vtkCallbackCommand;
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class vtkRendererCollection;
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class PCLVisualizerInteractorStyle;
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namespace pcl
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{
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namespace visualization
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{
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class MouseEvent;
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class KeyboardEvent;
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class PCL_EXPORTS Window
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{
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public:
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Window (const std::string& window_name = "");
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Window (const Window &src);
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Window& operator = (const Window &src);
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virtual ~Window ();
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/** \brief Spin method. Calls the interactor and runs an internal loop. */
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void
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spin ();
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/** \brief Spin once method. Calls the interactor and updates the screen once.
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* \param time - How long (in ms) should the visualization loop be allowed to run.
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* \param force_redraw - if false it might return without doing anything if the
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* interactor's framerate does not require a redraw yet.
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*/
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void
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spinOnce (int time = 1, bool force_redraw = false);
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/** \brief Returns true when the user tried to close the window */
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bool
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wasStopped () const { return (stopped_); }
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/**
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* @brief registering a callback function for keyboard events
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* @param callback the function that will be registered as a callback for a keyboard event
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* @param cookie user data that is passed to the callback
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* @return connection object that allows to disconnect the callback function.
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*/
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boost::signals2::connection
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registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*),
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void* cookie = nullptr)
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{
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return registerKeyboardCallback ([=] (const pcl::visualization::KeyboardEvent& e) { (*callback) (e, cookie); });
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}
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/**
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* @brief registering a callback function for keyboard events
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* @param callback the member function that will be registered as a callback for a keyboard event
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* @param instance instance to the class that implements the callback function
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* @param cookie user data that is passed to the callback
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* @return connection object that allows to disconnect the callback function.
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*/
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template<typename T> boost::signals2::connection
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registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*),
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T& instance, void* cookie = nullptr)
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{
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return registerKeyboardCallback ([=, &instance] (const pcl::visualization::KeyboardEvent& e) { (instance.*callback) (e, cookie); });
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}
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/**
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* @brief
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* @param callback the function that will be registered as a callback for a mouse event
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* @param cookie user data that is passed to the callback
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* @return connection object that allows to disconnect the callback function.
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*/
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boost::signals2::connection
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registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*),
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void* cookie = nullptr)
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{
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return registerMouseCallback ([=] (const pcl::visualization::MouseEvent& e) { (*callback) (e, cookie); });
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}
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/**
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* @brief registering a callback function for mouse events
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* @param callback the member function that will be registered as a callback for a mouse event
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* @param instance instance to the class that implements the callback function
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* @param cookie user data that is passed to the callback
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* @return connection object that allows to disconnect the callback function.
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*/
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template<typename T> boost::signals2::connection
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registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*),
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T& instance, void* cookie = nullptr)
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{
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return registerMouseCallback ([=, &instance] (const pcl::visualization::MouseEvent& e) { (instance.*callback) (e, cookie); });
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}
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protected: // methods
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/** \brief Set the stopped flag back to false */
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void
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resetStoppedFlag () { stopped_ = false; }
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/**
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* @brief registering a callback function for mouse events
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* @return connection object that allows to disconnect the callback function.
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*/
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// param the std function that will be registered as a callback for a mouse event
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boost::signals2::connection
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registerMouseCallback (std::function<void (const pcl::visualization::MouseEvent&)> );
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/**
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* @brief registering a callback std::function for keyboard events
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* @return connection object that allows to disconnect the callback function.
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*/
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// param the std function that will be registered as a callback for a keyboard event
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boost::signals2::connection
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registerKeyboardCallback (std::function<void (const pcl::visualization::KeyboardEvent&)> );
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void
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emitMouseEvent (unsigned long event_id);
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void
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emitKeyboardEvent (unsigned long event_id);
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// Callbacks used to register for vtk command
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static void
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MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
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static void
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KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
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protected: // types
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struct ExitMainLoopTimerCallback : public vtkCommand
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{
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static ExitMainLoopTimerCallback* New ()
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{
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return (new ExitMainLoopTimerCallback);
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}
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ExitMainLoopTimerCallback ();
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void
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Execute (vtkObject*, unsigned long event_id, void* call_data) override;
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int right_timer_id;
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Window* window;
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};
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struct ExitCallback : public vtkCommand
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{
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static ExitCallback* New ()
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{
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return (new ExitCallback);
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}
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ExitCallback ();
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void
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Execute (vtkObject*, unsigned long event_id, void*) override;
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Window* window;
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};
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bool stopped_;
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int timer_id_;
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protected: // member fields
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boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
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boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
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vtkSmartPointer<vtkRenderWindow> win_;
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vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
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vtkCallbackCommand* mouse_command_;
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vtkCallbackCommand* keyboard_command_;
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/** \brief The render window interactor style. */
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vtkSmartPointer<PCLVisualizerInteractorStyle> style_;
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/** \brief The collection of renderers used. */
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vtkSmartPointer<vtkRendererCollection> rens_;
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vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
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vtkSmartPointer<ExitCallback> exit_callback_;
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};
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}
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}
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