255 lines
11 KiB
C++
255 lines
11 KiB
C++
/*
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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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*
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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 Willow Garage, Inc. 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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* $Id$
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*
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*/
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#pragma once
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#include <pcl/visualization/interactor_style.h>
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#include <pcl/visualization/common/common.h>
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#include <pcl/visualization/common/ren_win_interact_map.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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/** \brief PCL histogram visualizer main class.
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* \author Radu Bogdan Rusu
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* \ingroup visualization
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*/
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class PCL_EXPORTS PCLHistogramVisualizer
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{
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public:
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using Ptr = shared_ptr<PCLHistogramVisualizer>;
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using ConstPtr = shared_ptr<const PCLHistogramVisualizer>;
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/** \brief PCL histogram visualizer constructor. */
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PCLHistogramVisualizer ();
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virtual ~PCLHistogramVisualizer () {}
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/** \brief Spin once method. Calls the interactor and updates the screen once.
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* \param[in] time - How long (in ms) should the visualization loop be allowed to run.
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*/
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void
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spinOnce (int time = 1);
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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 Set the viewport's background color.
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* \param[in] r the red component of the RGB color
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* \param[in] g the green component of the RGB color
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* \param[in] b the blue component of the RGB color
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*/
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void
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setBackgroundColor (const double &r, const double &g, const double &b);
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/** \brief Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] hsize the length of the histogram
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* \param[in] id the point cloud object id (default: cloud)
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* \param[in] win_width the width of the window
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* \param[in] win_height the height of the window
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*/
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template <typename PointT> bool
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addFeatureHistogram (const pcl::PointCloud<PointT> &cloud,
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int hsize,
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const std::string &id = "cloud", int win_width = 640, int win_height = 200);
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/** \brief Add a histogram feature to screen as a separate window from a cloud containing a single histogram.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] field_name the field name containing the histogram
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* \param[in] id the point cloud object id (default: cloud)
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* \param[in] win_width the width of the window
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* \param[in] win_height the height of the window
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*/
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bool
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addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
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const std::string &field_name,
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const std::string &id = "cloud", int win_width = 640, int win_height = 200);
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/** \brief Add a histogram feature to screen as a separate window.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] field_name the field name containing the histogram
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* \param[in] index the point index to extract the histogram from
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* \param[in] id the point cloud object id (default: cloud)
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* \param[in] win_width the width of the window
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* \param[in] win_height the height of the window
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*/
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template <typename PointT> bool
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addFeatureHistogram (const pcl::PointCloud<PointT> &cloud,
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const std::string &field_name,
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const pcl::index_t index,
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const std::string &id = "cloud", int win_width = 640, int win_height = 200);
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/** \brief Add a histogram feature to screen as a separate window.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] field_name the field name containing the histogram
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* \param[in] index the point index to extract the histogram from
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* \param[in] id the point cloud object id (default: cloud)
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* \param[in] win_width the width of the window
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* \param[in] win_height the height of the window
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*/
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bool
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addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
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const std::string &field_name,
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const pcl::index_t index,
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const std::string &id = "cloud", int win_width = 640, int win_height = 200);
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/** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] hsize the length of the histogram
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* \param[in] id the point cloud object id (default: cloud)
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*/
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template <typename PointT> bool
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updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, int hsize, const std::string &id = "cloud");
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/** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] field_name the field name containing the histogram
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* \param[in] id the point cloud object id (default: cloud)
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*/
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bool
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updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
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const std::string &field_name,
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const std::string &id = "cloud");
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/** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] field_name the field name containing the histogram
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* \param[in] index the point index to extract the histogram from
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* \param[in] id the point cloud object id (default: cloud)
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*/
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template <typename PointT> bool
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updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, const std::string &field_name,
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const pcl::index_t index, const std::string &id = "cloud");
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/** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
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* \param[in] cloud the PointCloud dataset containing the histogram
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* \param[in] field_name the field name containing the histogram
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* \param[in] index the point index to extract the histogram from
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* \param[in] id the point cloud object id (default: cloud)
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*/
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bool
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updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
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const std::string &field_name, const pcl::index_t index,
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const std::string &id = "cloud");
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/** \brief Set the Y range to minp-maxp for all histograms.
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* \param[in] minp the minimum Y range
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* \param[in] maxp the maximum Y range
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*/
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void
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setGlobalYRange (float minp, float maxp);
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/** \brief Update all window positions on screen so that they fit. */
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void
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updateWindowPositions ();
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protected:
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/** \brief Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.
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* \param[in] xy_array the input vtkDoubleArray holding the histogram data
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* \param[out] renwinint the resultant render window interactor holding the rendered object
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* \param[in] id the point cloud object id
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* \param[in] win_width the width of the window
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* \param[in] win_height the height of the window
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*/
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void
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createActor (const vtkSmartPointer<vtkDoubleArray> &xy_array,
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RenWinInteract &renwinint,
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const std::string &id, const int win_width, const int win_height);
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/** \brief Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.
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* \param[in] xy_array the input vtkDoubleArray holding the histogram data
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* \param[out] renwinupd the resultant render window interactor holding the rendered object
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* \param[in] hsize Histogram size
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*/
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void
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reCreateActor (const vtkSmartPointer<vtkDoubleArray> &xy_array,
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RenWinInteract* renwinupd, const int hsize);
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private:
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/** \brief A map of all windows on screen (with their renderers and interactors). */
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RenWinInteractMap wins_;
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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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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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vtkRenderWindowInteractor *interact;
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};
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struct ExitCallback : public vtkCommand
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{
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ExitCallback () : his () {}
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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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void
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Execute (vtkObject*, unsigned long event_id, void*) override;
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PCLHistogramVisualizer *his;
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};
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/** \brief Callback object enabling us to leave the main loop, when a timer fires. */
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vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
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vtkSmartPointer<ExitCallback> exit_callback_;
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/** \brief Set to true when the histogram visualizer is ready to be terminated. */
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bool stopped_;
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};
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}
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}
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#include <pcl/visualization/impl/histogram_visualizer.hpp>
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