window.h

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
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 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     from this software without specific prior written permission.
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#pragma once
 
#include <pcl/pcl_macros.h>
#include <boost/signals2/signal.hpp>
 
#include <vtkCommand.h>
 
template <typename T> class vtkSmartPointer;
class vtkObject;
class vtkRenderWindow;
class vtkRenderWindowInteractor;
class vtkCallbackCommand;
class vtkRendererCollection;
class PCLVisualizerInteractorStyle;
 
namespace pcl
{
  namespace visualization
  {
    class MouseEvent;
    class KeyboardEvent;
 
    class PCL_EXPORTS Window
    {
      public:
        Window (const std::string& window_name = "");
        Window (const Window &src);
        Window& operator = (const Window &src);
 
        virtual ~Window ();
 
        /** \brief Spin method. Calls the interactor and runs an internal loop. */
        void
        spin ();
 
        /** \brief Spin once method. Calls the interactor and updates the screen once.
          *  \param time - How long (in ms) should the visualization loop be allowed to run.
          *  \param force_redraw - if false it might return without doing anything if the
          *  interactor's framerate does not require a redraw yet.
          */
        void
        spinOnce (int time = 1, bool force_redraw = false);
 
        /** \brief Returns true when the user tried to close the window */
        bool
        wasStopped () const { return (stopped_); }
 
        /**
          * @brief registering a callback function for keyboard events
          * @param callback  the function that will be registered as a callback for a keyboard event
          * @param cookie    user data that is passed to the callback
          * @return          connection object that allows to disconnect the callback function.
          */
        boost::signals2::connection
        registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*),
                                  void* cookie = nullptr)
        {
          return registerKeyboardCallback ([=] (const pcl::visualization::KeyboardEvent& e) { (*callback) (e, cookie); });
        }
 
        /**
          * @brief registering a callback function for keyboard events
          * @param callback  the member function that will be registered as a callback for a keyboard event
          * @param instance  instance to the class that implements the callback function
          * @param cookie    user data that is passed to the callback
          * @return          connection object that allows to disconnect the callback function.
          */
        template<typename T> boost::signals2::connection
        registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*),
                                  T& instance, void* cookie = nullptr)
        {
          return registerKeyboardCallback ([=, &instance] (const pcl::visualization::KeyboardEvent& e) { (instance.*callback) (e, cookie); });
        }
 
        /**
          * @brief
          * @param callback  the function that will be registered as a callback for a mouse event
          * @param cookie    user data that is passed to the callback
          * @return          connection object that allows to disconnect the callback function.
          */
        boost::signals2::connection
        registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*),
                               void* cookie = nullptr)
        {
          return registerMouseCallback ([=] (const pcl::visualization::MouseEvent& e) { (*callback) (e, cookie); });
        }
 
        /**
          * @brief registering a callback function for mouse events
          * @param callback  the member function that will be registered as a callback for a mouse event
          * @param instance  instance to the class that implements the callback function
          * @param cookie    user data that is passed to the callback
          * @return          connection object that allows to disconnect the callback function.
          */
        template<typename T> boost::signals2::connection
        registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*),
                               T& instance, void* cookie = nullptr)
        {
          return registerMouseCallback ([=, &instance] (const pcl::visualization::MouseEvent& e) { (instance.*callback) (e, cookie); });
        }
 
      protected: // methods
 
        /** \brief Set the stopped flag back to false */
        void
        resetStoppedFlag () { stopped_ = false; }
 
        /**
          * @brief   registering a callback function for mouse events
          * @return  connection object that allows to disconnect the callback function.
          */
         // param   the std function that will be registered as a callback for a mouse event
        boost::signals2::connection
        registerMouseCallback (std::function<void (const pcl::visualization::MouseEvent&)> );
 
        /**
         * @brief   registering a callback std::function for keyboard events
         * @return  connection object that allows to disconnect the callback function.
         */
         // param   the std function that will be registered as a callback for a keyboard event
        boost::signals2::connection
        registerKeyboardCallback (std::function<void (const pcl::visualization::KeyboardEvent&)> );
 
        void
        emitMouseEvent (unsigned long event_id);
 
        void
        emitKeyboardEvent (unsigned long event_id);
 
        // Callbacks used to register for vtk command
        static void
        MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
        static void
        KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
 
      protected: // types
        struct ExitMainLoopTimerCallback : public vtkCommand
        {
          static ExitMainLoopTimerCallback* New ()
          {
            return (new ExitMainLoopTimerCallback);
          }
 
          ExitMainLoopTimerCallback ();
 
          void 
          Execute (vtkObject*, unsigned long event_id, void* call_data) override;
 
          int right_timer_id{-1};
          Window* window{nullptr};
        };
 
        struct ExitCallback : public vtkCommand
        {
          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }
 
          ExitCallback ();
 
          void 
          Execute (vtkObject*, unsigned long event_id, void*) override;
 
          Window* window{nullptr};
        };
 
        bool stopped_{false};
        int timer_id_{0};
 
    protected: // member fields
        boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
        boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
 
        vtkSmartPointer<vtkRenderWindow> win_;
        vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
        vtkCallbackCommand* mouse_command_;
        vtkCallbackCommand* keyboard_command_;
        /** \brief The render window interactor style. */
        vtkSmartPointer<PCLVisualizerInteractorStyle> style_;
        /** \brief The collection of renderers used. */
        vtkSmartPointer<vtkRendererCollection> rens_;
        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;
    };
  }
}