Point Cloud Library (PCL)  1.12.1-dev
point_picking_event.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_base.h>
42 #include <pcl/pcl_macros.h>
43 #include <pcl/types.h> // for pcl::Indices
44 #include <pcl/visualization/common/actor_map.h>
45 
46 #include <vtkCommand.h>
47 #include <vtkActor.h>
48 
49 #include <map>
50 #include <vector>
51 
52 
53 class vtkRenderWindowInteractor;
54 
55 namespace pcl
56 {
57  namespace visualization
58  {
59  class PCL_EXPORTS PointPickingCallback : public vtkCommand
60  {
61  public:
63  {
64  return (new PointPickingCallback);
65  }
66 
67  /** \brief Empty destructor */
68  ~PointPickingCallback () override = default;
69 
70  void
71  Execute (vtkObject *caller, unsigned long eventid, void*) override;
72 
74  performSinglePick (vtkRenderWindowInteractor *iren);
75 
77  performSinglePick (vtkRenderWindowInteractor *iren, float &x, float &y, float &z);
78 
80  performAreaPick (vtkRenderWindowInteractor *iren,
81  CloudActorMapPtr cam_ptr,
82  std::map<std::string, pcl::Indices>& cloud_indices) const;
83 
84 
85  private:
86  float x_{0}, y_{0}, z_{0};
88  bool pick_first_{false};
89  const vtkActor* actor_{nullptr};
90  };
91 
92  /** /brief Class representing 3D point picking events. */
94  {
95  public:
96  PointPickingEvent (pcl::index_t idx) : PointPickingEvent ( idx, -1,-1, -1) {}
97  PointPickingEvent (pcl::index_t idx, float x, float y, float z, const std::string& name = "") : idx_ (idx), idx2_ (-1), x_ (x), y_ (y), z_ (z), x2_ (), y2_ (), z2_ (), name_ (name) {}
98  PointPickingEvent (pcl::index_t idx1, pcl::index_t idx2, float x1, float y1, float z1, float x2, float y2, float z2) :
99  idx_ (idx1), idx2_ (idx2), x_ (x1), y_ (y1), z_ (z1), x2_ (x2), y2_ (y2), z2_ (z2)
100  {}
101 
102  /** \brief Obtain the ID of a point that the user just clicked on.
103  * \warning If the cloud contains NaNs the index returned by this function will not correspond to the
104  * original indices. To get the correct index either sanitize the input cloud to remove NaNs or use the
105  * PointPickingEvent::getPoint function to get the x,y,z of the picked point and then search the original
106  * cloud for the correct index. An example of how to do this can be found in the pp_callback function in
107  * visualization/tools/pcd_viewer.cpp
108  */
109  inline pcl::index_t
110  getPointIndex () const
111  {
112  return (idx_);
113  }
114 
115  /** \brief Obtain the XYZ point coordinates of a point that the user just clicked on.
116  * \param[out] x the x coordinate of the point that got selected by the user
117  * \param[out] y the y coordinate of the point that got selected by the user
118  * \param[out] z the z coordinate of the point that got selected by the user
119  */
120  inline void
121  getPoint (float &x, float &y, float &z) const
122  {
123  x = x_; y = y_; z = z_;
124  }
125 
126  /** \brief For situations when multiple points are selected in a sequence, return the point coordinates.
127  * \param[out] x1 the x coordinate of the first point that got selected by the user
128  * \param[out] y1 the y coordinate of the first point that got selected by the user
129  * \param[out] z1 the z coordinate of the first point that got selected by the user
130  * \param[out] x2 the x coordinate of the second point that got selected by the user
131  * \param[out] y2 the y coordinate of the second point that got selected by the user
132  * \param[out] z2 the z coordinate of the second point that got selected by the user
133  * \return true, if two points are available and have been clicked by the user, false otherwise
134  */
135  inline bool
136  getPoints (float &x1, float &y1, float &z1, float &x2, float &y2, float &z2) const
137  {
138  if (idx2_ == pcl::UNAVAILABLE)
139  return (false);
140  x1 = x_; y1 = y_; z1 = z_;
141  x2 = x2_; y2 = y2_; z2 = z2_;
142  return (true);
143  }
144 
145  /** \brief For situations where multiple points are selected in a sequence, return the points indices.
146  * \param[out] index_1 index of the first point selected by user
147  * \param[out] index_2 index of the second point selected by user
148  * \return true, if two points are available and have been clicked by the user, false otherwise
149  * \warning If the cloud contains NaNs the index returned by this function will not correspond to the
150  * original indices. To get the correct index either sanitize the input cloud to remove NaNs or use the
151  * PointPickingEvent::getPoint function to get the x,y,z of the picked point and then search the original
152  * cloud for the correct index. An example of how to do this can be found in the pp_callback function in
153  * visualization/tools/pcd_viewer.cpp
154  */
155  inline bool
156  getPointIndices(pcl::index_t& index_1, pcl::index_t& index_2) const
157  {
158  if (idx2_ == pcl::UNAVAILABLE)
159  return (false);
160  index_1 = idx_;
161  index_2 = idx2_;
162  return (true);
163  }
164 
165  /** \brief Get name of selected cloud.
166  * \return name of the cloud selected by the user
167  */
168  inline const std::string&
169  getCloudName () const { return name_; }
170 
171  private:
172  pcl::index_t idx_, idx2_;
173 
174  float x_, y_, z_;
175  float x2_, y2_, z2_;
176  std::string name_;
177  };
178  } //namespace visualization
179 } //namespace pcl
pcl::index_t performAreaPick(vtkRenderWindowInteractor *iren, CloudActorMapPtr cam_ptr, std::map< std::string, pcl::Indices > &cloud_indices) const
pcl::index_t performSinglePick(vtkRenderWindowInteractor *iren, float &x, float &y, float &z)
pcl::index_t performSinglePick(vtkRenderWindowInteractor *iren)
void Execute(vtkObject *caller, unsigned long eventid, void *) override
~PointPickingCallback() override=default
Empty destructor.
static PointPickingCallback * New()
/brief Class representing 3D point picking events.
PointPickingEvent(pcl::index_t idx, float x, float y, float z, const std::string &name="")
const std::string & getCloudName() const
Get name of selected cloud.
bool getPoints(float &x1, float &y1, float &z1, float &x2, float &y2, float &z2) const
For situations when multiple points are selected in a sequence, return the point coordinates.
void getPoint(float &x, float &y, float &z) const
Obtain the XYZ point coordinates of a point that the user just clicked on.
PointPickingEvent(pcl::index_t idx1, pcl::index_t idx2, float x1, float y1, float z1, float x2, float y2, float z2)
bool getPointIndices(pcl::index_t &index_1, pcl::index_t &index_2) const
For situations where multiple points are selected in a sequence, return the points indices.
pcl::index_t getPointIndex() const
Obtain the ID of a point that the user just clicked on.
shared_ptr< CloudActorMap > CloudActorMapPtr
Definition: actor_map.h:97
static constexpr index_t UNAVAILABLE
Definition: pcl_base.h:62
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:112
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
Defines basic non-point types used by PCL.