Point Cloud Library (PCL)  1.12.1-dev
interactor_style.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #pragma once
42 
43 #include <pcl/visualization/common/actor_map.h>
44 #include <pcl/visualization/common/ren_win_interact_map.h>
45 #include <pcl/visualization/keyboard_event.h>
46 #include <pcl/visualization/mouse_event.h>
47 #include <pcl/visualization/point_picking_event.h>
48 #include <pcl/visualization/area_picking_event.h>
49 #include <boost/signals2/signal.hpp>
50 #include <vtkInteractorStyleRubberBandPick.h>
51 #include <vtkRendererCollection.h>
52 #include <vtkRenderWindow.h>
53 
54 class vtkRendererCollection;
55 class vtkLegendScaleActor;
56 class vtkScalarBarActor;
57 class vtkPNGWriter;
58 class vtkWindowToImageFilter;
59 class vtkPointPicker;
60 
61 namespace pcl
62 {
63  namespace visualization
64  {
65 
66  /** \brief A list of potential keyboard modifiers for \ref pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle()
67  * Defaults to Alt.
68  */
70  {
74  };
75 
76  /** \brief PCLVisualizerInteractorStyle defines an unique, custom VTK
77  * based interactory style for PCL Visualizer applications. Besides
78  * defining the rendering style, we also create a list of custom actions
79  * that are triggered on different keys being pressed:
80  *
81  * - p, P : switch to a point-based representation
82  * - w, W : switch to a wireframe-based representation (where available)
83  * - s, S : switch to a surface-based representation (where available)
84  * - j, J : take a .PNG snapshot of the current window view
85  * - c, C : display current camera/window parameters
86  * - f, F : fly to point mode
87  * - e, E : exit the interactor\
88  * - q, Q : stop and call VTK's TerminateApp
89  * - + / - : increment/decrement overall point size
90  * - g, G : display scale grid (on/off)
91  * - u, U : display lookup table (on/off)
92  * - r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
93  * - CTRL + s, S : save camera parameters
94  * - CTRL + r, R : restore camera parameters
95  * - ALT + s, S : turn stereo mode on/off
96  * - ALT + f, F : switch between maximized window mode and original size
97  * - l, L : list all available geometric and color handlers for the current actor map
98  * - ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)
99  * - 0..9 [+ CTRL] : switch between different color handlers (where available)
100  * -
101  * - SHIFT + left click : select a point
102  * - x, X : toggle rubber band selection mode for left mouse button
103  *
104  * \author Radu B. Rusu
105  * \ingroup visualization
106  */
107  class PCL_EXPORTS PCLVisualizerInteractorStyle : public vtkInteractorStyleRubberBandPick
108  {
109  public:
111 
113 
114  /** \brief Empty constructor. */
116  init_ (), win_height_ (), win_width_ (), win_pos_x_ (), win_pos_y_ (),
117  max_win_height_ (), max_win_width_ (), use_vbos_ (false), grid_enabled_ (), lut_enabled_ (),
118  stereo_anaglyph_mask_default_ (),
119  modifier_ (), camera_saved_ (), lut_actor_id_ ("")
120  {}
121 
122  /** \brief Empty destructor */
123  ~PCLVisualizerInteractorStyle () override = default;
124 
125  // this macro defines Superclass, the isA functionality and the safe downcast method
126  vtkTypeMacro (PCLVisualizerInteractorStyle, vtkInteractorStyleRubberBandPick);
127 
128  /** \brief Initialization routine. Must be called before anything else. */
129  virtual void
131 
132  /** \brief Pass a pointer to the cloud actor map
133  * \param[in] actors the actor map that will be used with this style
134  */
135  inline void
136  setCloudActorMap (const CloudActorMapPtr &actors) { cloud_actors_ = actors; }
137 
138  /** \brief Pass a pointer to the shape actor map
139  * \param[in] actors the actor map that will be used with this style
140  */
141  inline void
142  setShapeActorMap (const ShapeActorMapPtr &actors) { shape_actors_ = actors; }
143 
144  /** \brief Get the cloud actor map pointer. */
145  inline CloudActorMapPtr
146  getCloudActorMap () { return (cloud_actors_); }
147 
148  /** \brief Get the cloud actor map pointer. */
149  inline ShapeActorMapPtr
150  getShapeActorMap () { return (shape_actors_); }
151 
152  /** \brief Pass a set of renderers to the interactor style.
153  * \param[in] rens the vtkRendererCollection to use
154  */
155  void
157 
158  /** \brief Use Vertex Buffer Objects renderers.
159  * This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex
160  * buffer objects by default, transparently for the user.
161  * \param[in] use_vbos set to true to use VBOs
162  */
163  inline void
164  setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; }
165 
166  /** \brief Register a callback function for mouse events
167  * \param[in] cb a std function that will be registered as a callback for a mouse event
168  * \return a connection object that allows to disconnect the callback function.
169  */
170  boost::signals2::connection
171  registerMouseCallback (std::function<void (const pcl::visualization::MouseEvent&)> cb);
172 
173  /** \brief Register a callback std::function for keyboard events
174  * \param[in] cb a std function that will be registered as a callback for a keyboard event
175  * \return a connection object that allows to disconnect the callback function.
176  */
177  boost::signals2::connection
179 
180  /** \brief Register a callback function for point picking events
181  * \param[in] cb a std function that will be registered as a callback for a point picking event
182  * \return a connection object that allows to disconnect the callback function.
183  */
184  boost::signals2::connection
186 
187  /** \brief Register a callback function for area picking events
188  * \param[in] cb a std function that will be registered as a callback for a area picking event
189  * \return a connection object that allows to disconnect the callback function.
190  */
191  boost::signals2::connection
193 
194  /** \brief Save the current rendered image to disk, as a PNG screenshot.
195  * \param[in] file the name of the PNG file
196  */
197  void
198  saveScreenshot (const std::string &file);
199 
200  /** \brief Save the camera parameters to disk, as a .cam file.
201  * \param[in] file the name of the .cam file
202  */
203  bool
204  saveCameraParameters (const std::string &file);
205 
206  /** \brief Get camera parameters of a given viewport (0 means default viewport). */
207  void
208  getCameraParameters (Camera &camera, int viewport = 0) const;
209 
210  /** \brief Load camera parameters from a camera parameter file.
211  * \param[in] file the name of the camera parameter file
212  */
213  bool
214  loadCameraParameters (const std::string &file);
215 
216  /** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
217  * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
218  * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
219  * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
220  * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
221  */
222  void
223  setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport = 0);
224 
225  /** \brief Set the camera parameters by given a full camera data structure.
226  * \param[in] camera camera structure containing all the camera parameters.
227  * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
228  */
229  void
230  setCameraParameters (const Camera &camera, int viewport = 0);
231 
232  /** \brief Set camera file for camera parameter saving/restoring.
233  * \param[in] file the name of the camera parameter file
234  */
235  void
236  setCameraFile (const std::string file)
237  {
238  camera_file_ = file;
239  }
240 
241  /** \brief Get camera file for camera parameter saving/restoring. */
242  std::string
243  getCameraFile () const
244  {
245  return (camera_file_);
246  }
247 
248  /** \brief Change the default keyboard modified from ALT to a different special key.
249  * Allowed values are:
250  * - INTERACTOR_KB_MOD_ALT
251  * - INTERACTOR_KB_MOD_CTRL
252  * - INTERACTOR_KB_MOD_SHIFT
253  * \param[in] modifier the new keyboard modifier
254  */
255  inline void
257  {
258  modifier_ = modifier;
259  }
260 
261  protected:
262  /** \brief Set to true after initialization is complete. */
263  bool init_;
264 
265  /** \brief Collection of vtkRenderers stored internally. */
267 
268  /** \brief Cloud actor map stored internally. */
270 
271  /** \brief Shape map stored internally. */
273 
274  /** \brief The current window width/height. */
275  int win_height_, win_width_;
276 
277  /** \brief The current window position x/y. */
278  int win_pos_x_, win_pos_y_;
279 
280  /** \brief The maximum resizeable window width/height. */
281  int max_win_height_, max_win_width_;
282 
283  /** \brief Boolean that holds whether or not to use the vtkVertexBufferObjectMapper*/
284  bool use_vbos_;
285 
286  /** \brief Set to true if the grid actor is enabled. */
288  /** \brief Actor for 2D grid on screen. */
290 
291  /** \brief Set to true if the LUT actor is enabled. */
293  /** \brief Actor for 2D lookup table on screen. */
295 
296  /** \brief A PNG writer for screenshot captures. */
298  /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */
300  /** \brief Stores the point picker when switching to an area picker. */
302 
303  boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
304  boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
305  boost::signals2::signal<void (const pcl::visualization::PointPickingEvent&)> point_picking_signal_;
306  boost::signals2::signal<void (const pcl::visualization::AreaPickingEvent&)> area_picking_signal_;
307 
308  /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
309  void
310  OnChar () override;
311 
312  // Keyboard events
313  void
314  OnKeyDown () override;
315  void
316  OnKeyUp () override;
317 
318  // mouse button events
319  void
320  OnMouseMove () override;
321  void
322  OnLeftButtonDown () override;
323  void
324  OnLeftButtonUp () override;
325  void
326  OnMiddleButtonDown () override;
327  void
328  OnMiddleButtonUp () override;
329  void
330  OnRightButtonDown () override;
331  void
332  OnRightButtonUp () override;
333  void
334  OnMouseWheelForward () override;
335  void
336  OnMouseWheelBackward () override;
337 
338  // mouse move event
339  /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
340  void
341  OnTimer () override;
342 
343  /** \brief Interactor style internal method. Zoom in. */
344  void
345  zoomIn ();
346 
347  /** \brief Interactor style internal method. Zoom out. */
348  void
350 
351  /** \brief Get camera parameters from a string vector.
352  * \param[in] camera A string vector:
353  * Clipping Range, Focal Point, Position, ViewUp, Distance, Field of View Y, Window Size, Window Pos.
354  * Values in each string are separated by a ','
355  */
356  bool
357  getCameraParameters (const std::vector<std::string> &camera);
358 
359  /** \brief Set render window. */
360  void
362  {
363  win_ = win;
364  }
365 
366  /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
368 
369  /** \brief A VTK Mouse Callback object, used for point picking. */
371 
372  /** \brief The keyboard modifier to use. Default: Alt. */
374 
375  /** \brief Camera file for camera parameter saving/restoring. */
376  std::string camera_file_;
377  /** \brief A \ref pcl::visualization::Camera for camera parameter saving/restoring. */
379  /** \brief A \ref pcl::visualization::Camera is saved or not. */
381  /** \brief The render window.
382  * Only used when interactor maybe not available
383  */
385 
386  friend class PointPickingCallback;
387  friend class PCLVisualizer;
388 
389  private:
390  /** \brief ID used to fetch/display the look up table on the visualizer
391  * It should be set by PCLVisualizer \ref setLookUpTableID
392  * @note If empty, a random actor added to the interactor will be used */
393  std::string lut_actor_id_;
394 
395  /** \brief Add/remove the look up table displayed when 'u' is pressed, can also be used to update the current LUT displayed
396  * \ref lut_actor_id_ is used (if not empty) to chose which cloud/shape actor LUT will be updated (depending on what is available)
397  * If \ref lut_actor_id_ is empty the first actor with LUT support found will be used. */
398  void
399  updateLookUpTableDisplay (bool add_lut = false);
400  };
401 
402  /** \brief PCL histogram visualizer interactory style class.
403  * \author Radu B. Rusu
404  */
405  class PCLHistogramVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera
406  {
407  public:
409 
410  /** \brief Empty constructor. */
412 
413  /** \brief Initialization routine. Must be called before anything else. */
414  void
416 
417  /** \brief Pass a map of render/window/interactors to the interactor style.
418  * \param[in] wins the RenWinInteract map to use
419  */
420  void
421  setRenWinInteractMap (const RenWinInteractMap &wins) { wins_ = wins; }
422 
423  private:
424  /** \brief A map of all windows on screen (with their renderers and interactors). */
425  RenWinInteractMap wins_;
426 
427  /** \brief Set to true after initialization is complete. */
428  bool init_;
429 
430  /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
431  void OnKeyDown () override;
432 
433  /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
434  void OnTimer () override;
435  };
436  }
437 }
/brief Class representing 3D area picking events.
Camera class holds a set of camera parameters together with the window pos/size.
Definition: common.h:153
/brief Class representing key hit/release events
PCL histogram visualizer interactory style class.
void setRenWinInteractMap(const RenWinInteractMap &wins)
Pass a map of render/window/interactors to the interactor style.
static PCLHistogramVisualizerInteractorStyle * New()
PCL Visualizer main class.
PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer...
vtkSmartPointer< vtkWindowToImageFilter > wif_
Internal window to image filter.
void setCloudActorMap(const CloudActorMapPtr &actors)
Pass a pointer to the cloud actor map.
~PCLVisualizerInteractorStyle() override=default
Empty destructor.
void setCameraParameters(const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport=0)
Set the camera parameters via an intrinsics and and extrinsics matrix.
void setRendererCollection(vtkSmartPointer< vtkRendererCollection > &rens)
Pass a set of renderers to the interactor style.
void getCameraParameters(Camera &camera, int viewport=0) const
Get camera parameters of a given viewport (0 means default viewport).
vtkTypeMacro(PCLVisualizerInteractorStyle, vtkInteractorStyleRubberBandPick)
vtkSmartPointer< vtkPointPicker > point_picker_
Stores the point picker when switching to an area picker.
void setCameraFile(const std::string file)
Set camera file for camera parameter saving/restoring.
CloudActorMapPtr getCloudActorMap()
Get the cloud actor map pointer.
virtual void Initialize()
Initialization routine.
ShapeActorMapPtr getShapeActorMap()
Get the cloud actor map pointer.
ShapeActorMapPtr shape_actors_
Shape map stored internally.
void saveScreenshot(const std::string &file)
Save the current rendered image to disk, as a PNG screenshot.
void setShapeActorMap(const ShapeActorMapPtr &actors)
Pass a pointer to the shape actor map.
CloudActorMapPtr cloud_actors_
Cloud actor map stored internally.
pcl::visualization::CloudActorMapPtr CloudActorMapPtr
boost::signals2::connection registerMouseCallback(std::function< void(const pcl::visualization::MouseEvent &)> cb)
Register a callback function for mouse events.
bool loadCameraParameters(const std::string &file)
Load camera parameters from a camera parameter file.
void setRenderWindow(const vtkSmartPointer< vtkRenderWindow > &win)
Set render window.
vtkSmartPointer< vtkPNGWriter > snapshot_writer_
A PNG writer for screenshot captures.
Camera camera_
A pcl::visualization::Camera for camera parameter saving/restoring.
vtkSmartPointer< vtkRenderWindow > win_
The render window.
int win_height_
The current window width/height.
bool getCameraParameters(const std::vector< std::string > &camera)
Get camera parameters from a string vector.
bool camera_saved_
A pcl::visualization::Camera is saved or not.
boost::signals2::connection registerPointPickingCallback(std::function< void(const pcl::visualization::PointPickingEvent &)> cb)
Register a callback function for point picking events.
void zoomOut()
Interactor style internal method.
boost::signals2::signal< void(const pcl::visualization::AreaPickingEvent &)> area_picking_signal_
std::string getCameraFile() const
Get camera file for camera parameter saving/restoring.
void setKeyboardModifier(const InteractorKeyboardModifier &modifier)
Change the default keyboard modified from ALT to a different special key.
boost::signals2::signal< void(const pcl::visualization::MouseEvent &)> mouse_signal_
void setCameraParameters(const Camera &camera, int viewport=0)
Set the camera parameters by given a full camera data structure.
vtkSmartPointer< vtkLegendScaleActor > grid_actor_
Actor for 2D grid on screen.
bool use_vbos_
Boolean that holds whether or not to use the vtkVertexBufferObjectMapper.
bool init_
Set to true after initialization is complete.
vtkSmartPointer< vtkRendererCollection > rens_
Collection of vtkRenderers stored internally.
bool grid_enabled_
Set to true if the grid actor is enabled.
boost::signals2::connection registerKeyboardCallback(std::function< void(const pcl::visualization::KeyboardEvent &)> cb)
Register a callback std::function for keyboard events.
void OnTimer() override
Interactor style internal method.
boost::signals2::connection registerAreaPickingCallback(std::function< void(const pcl::visualization::AreaPickingEvent &)> cb)
Register a callback function for area picking events.
boost::signals2::signal< void(const pcl::visualization::KeyboardEvent &)> keyboard_signal_
int win_pos_x_
The current window position x/y.
InteractorKeyboardModifier modifier_
The keyboard modifier to use.
void OnChar() override
Interactor style internal method.
void setUseVbos(const bool use_vbos)
Use Vertex Buffer Objects renderers.
vtkSmartPointer< PointPickingCallback > mouse_callback_
A VTK Mouse Callback object, used for point picking.
int max_win_height_
The maximum resizeable window width/height.
boost::signals2::signal< void(const pcl::visualization::PointPickingEvent &)> point_picking_signal_
bool saveCameraParameters(const std::string &file)
Save the camera parameters to disk, as a .cam file.
void zoomIn()
Interactor style internal method.
static PCLVisualizerInteractorStyle * New()
bool stereo_anaglyph_mask_default_
True if we're using red-blue colors for anaglyphic stereo, false if magenta-green.
vtkSmartPointer< vtkScalarBarActor > lut_actor_
Actor for 2D lookup table on screen.
std::string camera_file_
Camera file for camera parameter saving/restoring.
bool lut_enabled_
Set to true if the LUT actor is enabled.
/brief Class representing 3D point picking events.
InteractorKeyboardModifier
A list of potential keyboard modifiers for pcl::visualization::PCLVisualizerInteractorStyle::PCLVisua...
shared_ptr< CloudActorMap > CloudActorMapPtr
Definition: actor_map.h:101
std::map< std::string, RenWinInteract > RenWinInteractMap
shared_ptr< ShapeActorMap > ShapeActorMapPtr
Definition: actor_map.h:104
#define PCL_EXPORTS
Definition: pcl_macros.h:323