Point Cloud Library (PCL)  1.11.1-dev
histogram_visualizer.h
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39 
40 #pragma once
41 
42 #include <pcl/visualization/interactor_style.h>
43 #include <pcl/visualization/common/common.h>
44 #include <pcl/visualization/common/ren_win_interact_map.h>
45 
46 class vtkRenderWindowInteractor;
47 
48 namespace pcl
49 {
50  namespace visualization
51  {
52  /** \brief PCL histogram visualizer main class.
53  * \author Radu Bogdan Rusu
54  * \ingroup visualization
55  */
57  {
58  public:
59  using Ptr = shared_ptr<PCLHistogramVisualizer>;
60  using ConstPtr = shared_ptr<const PCLHistogramVisualizer>;
61 
62  /** \brief PCL histogram visualizer constructor. */
64 
66  /** \brief Spin once method. Calls the interactor and updates the screen once.
67  * \param[in] time - How long (in ms) should the visualization loop be allowed to run.
68  */
69  void
70  spinOnce (int time = 1);
71 
72  /** \brief Spin method. Calls the interactor and runs an internal loop. */
73  void
74  spin ();
75 
76  /** \brief Set the viewport's background color.
77  * \param[in] r the red component of the RGB color
78  * \param[in] g the green component of the RGB color
79  * \param[in] b the blue component of the RGB color
80  */
81  void
82  setBackgroundColor (const double &r, const double &g, const double &b);
83 
84  /** \brief Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
85  * \param[in] cloud the PointCloud dataset containing the histogram
86  * \param[in] hsize the length of the histogram
87  * \param[in] id the point cloud object id (default: cloud)
88  * \param[in] win_width the width of the window
89  * \param[in] win_height the height of the window
90  */
91  template <typename PointT> bool
92  addFeatureHistogram (const pcl::PointCloud<PointT> &cloud,
93  int hsize,
94  const std::string &id = "cloud", int win_width = 640, int win_height = 200);
95 
96  /** \brief Add a histogram feature to screen as a separate window from a cloud containing a single histogram.
97  * \param[in] cloud the PointCloud dataset containing the histogram
98  * \param[in] field_name the field name containing the histogram
99  * \param[in] id the point cloud object id (default: cloud)
100  * \param[in] win_width the width of the window
101  * \param[in] win_height the height of the window
102  */
103  bool
104  addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
105  const std::string &field_name,
106  const std::string &id = "cloud", int win_width = 640, int win_height = 200);
107 
108  /** \brief Add a histogram feature to screen as a separate window.
109  * \param[in] cloud the PointCloud dataset containing the histogram
110  * \param[in] field_name the field name containing the histogram
111  * \param[in] index the point index to extract the histogram from
112  * \param[in] id the point cloud object id (default: cloud)
113  * \param[in] win_width the width of the window
114  * \param[in] win_height the height of the window
115  */
116  template <typename PointT> bool
117  addFeatureHistogram (const pcl::PointCloud<PointT> &cloud,
118  const std::string &field_name,
119  const int index,
120  const std::string &id = "cloud", int win_width = 640, int win_height = 200);
121 
122  /** \brief Add a histogram feature to screen as a separate window.
123  * \param[in] cloud the PointCloud dataset containing the histogram
124  * \param[in] field_name the field name containing the histogram
125  * \param[in] index the point index to extract the histogram from
126  * \param[in] id the point cloud object id (default: cloud)
127  * \param[in] win_width the width of the window
128  * \param[in] win_height the height of the window
129  */
130  bool
131  addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
132  const std::string &field_name,
133  const int index,
134  const std::string &id = "cloud", int win_width = 640, int win_height = 200);
135 
136  /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
137  * \param[in] cloud the PointCloud dataset containing the histogram
138  * \param[in] hsize the length of the histogram
139  * \param[in] id the point cloud object id (default: cloud)
140  */
141  template <typename PointT> bool
142  updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, int hsize, const std::string &id = "cloud");
143 
144 
145  /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
146  * \param[in] cloud the PointCloud dataset containing the histogram
147  * \param[in] field_name the field name containing the histogram
148  * \param[in] id the point cloud object id (default: cloud)
149  */
150  bool
151  updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
152  const std::string &field_name,
153  const std::string &id = "cloud");
154 
155 
156  /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
157  * \param[in] cloud the PointCloud dataset containing the histogram
158  * \param[in] field_name the field name containing the histogram
159  * \param[in] index the point index to extract the histogram from
160  * \param[in] id the point cloud object id (default: cloud)
161  */
162  template <typename PointT> bool
163  updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, const std::string &field_name,
164  const int index, const std::string &id = "cloud");
165 
166 
167  /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
168  * \param[in] cloud the PointCloud dataset containing the histogram
169  * \param[in] field_name the field name containing the histogram
170  * \param[in] index the point index to extract the histogram from
171  * \param[in] id the point cloud object id (default: cloud)
172  */
173  bool
174  updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
175  const std::string &field_name, const int index,
176  const std::string &id = "cloud");
177 
178 
179  /** \brief Set the Y range to minp-maxp for all histograms.
180  * \param[in] minp the minimum Y range
181  * \param[in] maxp the maximum Y range
182  */
183  void
184  setGlobalYRange (float minp, float maxp);
185 
186  /** \brief Update all window positions on screen so that they fit. */
187  void
188  updateWindowPositions ();
189 
190  protected:
191 
192  /** \brief Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.
193  * \param[in] xy_array the input vtkDoubleArray holding the histogram data
194  * \param[out] renwinint the resultant render window interactor holding the rendered object
195  * \param[in] id the point cloud object id
196  * \param[in] win_width the width of the window
197  * \param[in] win_height the height of the window
198  */
199  void
200  createActor (const vtkSmartPointer<vtkDoubleArray> &xy_array,
201  RenWinInteract &renwinint,
202  const std::string &id, const int win_width, const int win_height);
203 
204  /** \brief Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.
205  * \param[in] xy_array the input vtkDoubleArray holding the histogram data
206  * \param[out] renwinupd the resultant render window interactor holding the rendered object
207  * \param[in] hsize Histogram size
208  */
209  void
210  reCreateActor (const vtkSmartPointer<vtkDoubleArray> &xy_array,
211  RenWinInteract* renwinupd, const int hsize);
212 
213  private:
214  /** \brief A map of all windows on screen (with their renderers and interactors). */
215  RenWinInteractMap wins_;
216 
217  struct ExitMainLoopTimerCallback : public vtkCommand
218  {
219  static ExitMainLoopTimerCallback* New ()
220  {
221  return (new ExitMainLoopTimerCallback);
222  }
223  void
224  Execute (vtkObject*, unsigned long event_id, void* call_data) override;
225 
226  int right_timer_id;
227  vtkRenderWindowInteractor *interact;
228  };
229 
230  struct ExitCallback : public vtkCommand
231  {
232  ExitCallback () : his () {}
233 
234  static ExitCallback* New ()
235  {
236  return (new ExitCallback);
237  }
238 
239  void
240  Execute (vtkObject*, unsigned long event_id, void*) override;
241 
242  PCLHistogramVisualizer *his;
243  };
244 
245  /** \brief Callback object enabling us to leave the main loop, when a timer fires. */
246  vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
247  vtkSmartPointer<ExitCallback> exit_callback_;
248  /** \brief Set to true when the histogram visualizer is ready to be terminated. */
249  bool stopped_;
250  };
251  }
252 }
253 
254 #include <pcl/visualization/impl/histogram_visualizer.hpp>
pcl::visualization::PCLHistogramVisualizer
PCL histogram visualizer main class.
Definition: histogram_visualizer.h:56
pcl
Definition: convolution.h:46
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::visualization::PCLHistogramVisualizer::Ptr
shared_ptr< PCLHistogramVisualizer > Ptr
Definition: histogram_visualizer.h:59
pcl::visualization::RenWinInteract
Definition: ren_win_interact_map.h:55
pcl::visualization::RenWinInteractMap
std::map< std::string, RenWinInteract > RenWinInteractMap
Definition: ren_win_interact_map.h:77
pcl::PCLPointCloud2
Definition: PCLPointCloud2.h:16
pcl::visualization::PCLHistogramVisualizer::~PCLHistogramVisualizer
virtual ~PCLHistogramVisualizer()
Definition: histogram_visualizer.h:65
pcl::visualization::PCLHistogramVisualizer::ConstPtr
shared_ptr< const PCLHistogramVisualizer > ConstPtr
Definition: histogram_visualizer.h:60
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:337
vtkSmartPointer
Definition: actor_map.h:49