164 lines
6.8 KiB
C
164 lines
6.8 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) 2010-2011, 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 <pcl/types.h> // for pcl::Indices
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#include <vtkCommand.h>
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class vtkRenderWindowInteractor;
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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 PCL_EXPORTS PointPickingCallback : public vtkCommand
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{
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public:
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static PointPickingCallback *New ()
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{
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return (new PointPickingCallback);
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}
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PointPickingCallback () : x_ (0), y_ (0), z_ (0), idx_ (-1), pick_first_ (false) {}
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/** \brief Empty destructor */
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~PointPickingCallback () {}
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void
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Execute (vtkObject *caller, unsigned long eventid, void*) override;
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int
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performSinglePick (vtkRenderWindowInteractor *iren);
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int
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performSinglePick (vtkRenderWindowInteractor *iren, float &x, float &y, float &z);
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int
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performAreaPick (vtkRenderWindowInteractor *iren, pcl::Indices &indices) const;
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private:
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float x_, y_, z_;
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int idx_;
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bool pick_first_;
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};
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/** /brief Class representing 3D point picking events. */
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class PCL_EXPORTS PointPickingEvent
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{
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public:
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PointPickingEvent (int idx) : idx_ (idx), idx2_ (-1), x_ (), y_ (), z_ (), x2_ (), y2_ (), z2_ () {}
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PointPickingEvent (int idx, float x, float y, float z) : idx_ (idx), idx2_ (-1), x_ (x), y_ (y), z_ (z), x2_ (), y2_ (), z2_ () {}
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PointPickingEvent (int idx1, int idx2, float x1, float y1, float z1, float x2, float y2, float z2) :
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idx_ (idx1), idx2_ (idx2), x_ (x1), y_ (y1), z_ (z1), x2_ (x2), y2_ (y2), z2_ (z2)
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{}
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/** \brief Obtain the ID of a point that the user just clicked on.
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* \warning If the cloud contains NaNs the index returned by this function will not correspond to the
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* original indices. To get the correct index either sanitize the input cloud to remove NaNs or use the
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* PointPickingEvent::getPoint function to get the x,y,z of the picked point and then search the original
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* cloud for the correct index. An example of how to do this can be found in the pp_callback function in
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* visualization/tools/pcd_viewer.cpp
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*/
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inline int
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getPointIndex () const
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{
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return (idx_);
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}
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/** \brief Obtain the XYZ point coordinates of a point that the user just clicked on.
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* \param[out] x the x coordinate of the point that got selected by the user
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* \param[out] y the y coordinate of the point that got selected by the user
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* \param[out] z the z coordinate of the point that got selected by the user
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*/
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inline void
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getPoint (float &x, float &y, float &z) const
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{
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x = x_; y = y_; z = z_;
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}
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/** \brief For situations when multiple points are selected in a sequence, return the point coordinates.
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* \param[out] x1 the x coordinate of the first point that got selected by the user
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* \param[out] y1 the y coordinate of the first point that got selected by the user
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* \param[out] z1 the z coordinate of the first point that got selected by the user
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* \param[out] x2 the x coordinate of the second point that got selected by the user
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* \param[out] y2 the y coordinate of the second point that got selected by the user
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* \param[out] z2 the z coordinate of the second point that got selected by the user
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* \return true, if two points are available and have been clicked by the user, false otherwise
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*/
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inline bool
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getPoints (float &x1, float &y1, float &z1, float &x2, float &y2, float &z2) const
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{
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if (idx2_ == -1)
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return (false);
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x1 = x_; y1 = y_; z1 = z_;
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x2 = x2_; y2 = y2_; z2 = z2_;
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return (true);
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}
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/** \brief For situations where multiple points are selected in a sequence, return the points indices.
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* \param[out] index_1 index of the first point selected by user
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* \param[out] index_2 index of the second point selected by user
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* \return true, if two points are available and have been clicked by the user, false otherwise
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* \warning If the cloud contains NaNs the index returned by this function will not correspond to the
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* original indices. To get the correct index either sanitize the input cloud to remove NaNs or use the
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* PointPickingEvent::getPoint function to get the x,y,z of the picked point and then search the original
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* cloud for the correct index. An example of how to do this can be found in the pp_callback function in
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* visualization/tools/pcd_viewer.cpp
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*/
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inline bool
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getPointIndices (int &index_1, int &index_2) const
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{
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if (idx2_ == -1)
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return (false);
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index_1 = idx_;
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index_2 = idx2_;
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return (true);
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}
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private:
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int idx_, idx2_;
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float x_, y_, z_;
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float x2_, y2_, z2_;
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};
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} //namespace visualization
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} //namespace pcl
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