Point Cloud Library (PCL) 1.14.0
Loading...
Searching...
No Matches
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
54class vtkRendererCollection;
55class vtkLegendScaleActor;
56class vtkScalarBarActor;
57class vtkPNGWriter;
58class vtkWindowToImageFilter;
59class vtkPointPicker;
60
61namespace 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 */
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
117 /** \brief Empty destructor */
118 ~PCLVisualizerInteractorStyle () override = default;
119
120 // this macro defines Superclass, the isA functionality and the safe downcast method
121 vtkTypeMacro (PCLVisualizerInteractorStyle, vtkInteractorStyleRubberBandPick);
122
123 /** \brief Initialization routine. Must be called before anything else. */
124 virtual void
126
127 /** \brief Pass a pointer to the cloud actor map
128 * \param[in] actors the actor map that will be used with this style
129 */
130 inline void
131 setCloudActorMap (const CloudActorMapPtr &actors) { cloud_actors_ = actors; }
132
133 /** \brief Pass a pointer to the shape actor map
134 * \param[in] actors the actor map that will be used with this style
135 */
136 inline void
137 setShapeActorMap (const ShapeActorMapPtr &actors) { shape_actors_ = actors; }
138
139 /** \brief Get the cloud actor map pointer. */
140 inline CloudActorMapPtr
141 getCloudActorMap () { return (cloud_actors_); }
142
143 /** \brief Get the cloud actor map pointer. */
144 inline ShapeActorMapPtr
145 getShapeActorMap () { return (shape_actors_); }
146
147 /** \brief Pass a set of renderers to the interactor style.
148 * \param[in] rens the vtkRendererCollection to use
149 */
150 void
152
153 /** \brief Use Vertex Buffer Objects renderers.
154 * This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex
155 * buffer objects by default, transparently for the user.
156 * \param[in] use_vbos set to true to use VBOs
157 */
158 inline void
159 setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; }
160
161 /** \brief Register a callback function for mouse events
162 * \param[in] cb a std function that will be registered as a callback for a mouse event
163 * \return a connection object that allows to disconnect the callback function.
164 */
165 boost::signals2::connection
166 registerMouseCallback (std::function<void (const pcl::visualization::MouseEvent&)> cb);
167
168 /** \brief Register a callback std::function for keyboard events
169 * \param[in] cb a std function that will be registered as a callback for a keyboard event
170 * \return a connection object that allows to disconnect the callback function.
171 */
172 boost::signals2::connection
174
175 /** \brief Register a callback function for point picking events
176 * \param[in] cb a std function that will be registered as a callback for a point picking event
177 * \return a connection object that allows to disconnect the callback function.
178 */
179 boost::signals2::connection
181
182 /** \brief Register a callback function for area picking events
183 * \param[in] cb a std function that will be registered as a callback for a area picking event
184 * \return a connection object that allows to disconnect the callback function.
185 */
186 boost::signals2::connection
188
189 /** \brief Save the current rendered image to disk, as a PNG screenshot.
190 * \param[in] file the name of the PNG file
191 */
192 void
193 saveScreenshot (const std::string &file);
194
195 /** \brief Save the camera parameters to disk, as a .cam file.
196 * \param[in] file the name of the .cam file
197 */
198 bool
199 saveCameraParameters (const std::string &file);
200
201 /** \brief Get camera parameters of a given viewport (0 means default viewport). */
202 void
203 getCameraParameters (Camera &camera, int viewport = 0) const;
204
205 /** \brief Load camera parameters from a camera parameter file.
206 * \param[in] file the name of the camera parameter file
207 */
208 bool
209 loadCameraParameters (const std::string &file);
210
211 /** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
212 * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
213 * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
214 * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
215 * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
216 */
217 void
218 setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport = 0);
219
220 /** \brief Set the camera parameters by given a full camera data structure.
221 * \param[in] camera camera structure containing all the camera parameters.
222 * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
223 */
224 void
225 setCameraParameters (const Camera &camera, int viewport = 0);
226
227 /** \brief Set camera file for camera parameter saving/restoring.
228 * \param[in] file the name of the camera parameter file
229 */
230 void
231 setCameraFile (const std::string& file)
232 {
233 camera_file_ = file;
234 }
235
236 /** \brief Get camera file for camera parameter saving/restoring. */
237 std::string
239 {
240 return (camera_file_);
241 }
242
243 /** \brief Change the default keyboard modified from ALT to a different special key.
244 * Allowed values are:
245 * - INTERACTOR_KB_MOD_ALT
246 * - INTERACTOR_KB_MOD_CTRL
247 * - INTERACTOR_KB_MOD_SHIFT
248 * \param[in] modifier the new keyboard modifier
249 */
250 inline void
252 {
253 modifier_ = modifier;
254 }
255
256 protected:
257 /** \brief Set to true after initialization is complete. */
258 bool init_{false};
259
260 /** \brief Collection of vtkRenderers stored internally. */
262
263 /** \brief Cloud actor map stored internally. */
264 CloudActorMapPtr cloud_actors_{nullptr};
265
266 /** \brief Shape map stored internally. */
267 ShapeActorMapPtr shape_actors_{nullptr};
268
269 /** \brief The current window width/height. */
270 int win_height_{0}, win_width_{0};
271
272 /** \brief The current window position x/y. */
273 int win_pos_x_{0}, win_pos_y_{0};
274
275 /** \brief The maximum resizeable window width/height. */
276 int max_win_height_{0}, max_win_width_{0};
277
278 /** \brief Boolean that holds whether or not to use the vtkVertexBufferObjectMapper*/
279 bool use_vbos_{false};
280
281 /** \brief Set to true if the grid actor is enabled. */
282 bool grid_enabled_{false};
283 /** \brief Actor for 2D grid on screen. */
285
286 /** \brief Set to true if the LUT actor is enabled. */
287 bool lut_enabled_{false};
288 /** \brief Actor for 2D lookup table on screen. */
290
291 /** \brief A PNG writer for screenshot captures. */
293 /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */
295 /** \brief Stores the point picker when switching to an area picker. */
297
298 boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
299 boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
300 boost::signals2::signal<void (const pcl::visualization::PointPickingEvent&)> point_picking_signal_;
301 boost::signals2::signal<void (const pcl::visualization::AreaPickingEvent&)> area_picking_signal_;
302
303 /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
304 void
305 OnChar () override;
306
307 // Keyboard events
308 void
309 OnKeyDown () override;
310 void
311 OnKeyUp () override;
312
313 // mouse button events
314 void
315 OnMouseMove () override;
316 void
317 OnLeftButtonDown () override;
318 void
319 OnLeftButtonUp () override;
320 void
322 void
323 OnMiddleButtonUp () override;
324 void
325 OnRightButtonDown () override;
326 void
327 OnRightButtonUp () override;
328 void
330 void
332
333 // mouse move event
334 /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
335 void
336 OnTimer () override;
337
338 /** \brief Interactor style internal method. Zoom in. */
339 void
341
342 /** \brief Interactor style internal method. Zoom out. */
343 void
345
346 /** \brief Get camera parameters from a string vector.
347 * \param[in] camera A string vector:
348 * Clipping Range, Focal Point, Position, ViewUp, Distance, Field of View Y, Window Size, Window Pos.
349 * Values in each string are separated by a ','
350 */
351 bool
352 getCameraParameters (const std::vector<std::string> &camera);
353
354 /** \brief Set render window. */
355 void
357 {
358 win_ = win;
359 }
360
361 /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
362 bool stereo_anaglyph_mask_default_{false};
363
364 /** \brief A VTK Mouse Callback object, used for point picking. */
366
367 /** \brief The keyboard modifier to use. Default: Alt. */
369
370 /** \brief Camera file for camera parameter saving/restoring. */
371 std::string camera_file_;
372 /** \brief A \ref pcl::visualization::Camera for camera parameter saving/restoring. */
374 /** \brief A \ref pcl::visualization::Camera is saved or not. */
375 bool camera_saved_{false};
376 /** \brief The render window.
377 * Only used when interactor maybe not available
378 */
380
382 friend class PCLVisualizer;
383
384 private:
385 /** \brief ID used to fetch/display the look up table on the visualizer
386 * It should be set by PCLVisualizer \ref setLookUpTableID
387 * @note If empty, a random actor added to the interactor will be used */
388 std::string lut_actor_id_;
389
390 /** \brief Add/remove the look up table displayed when 'u' is pressed, can also be used to update the current LUT displayed
391 * \ref lut_actor_id_ is used (if not empty) to chose which cloud/shape actor LUT will be updated (depending on what is available)
392 * If \ref lut_actor_id_ is empty the first actor with LUT support found will be used. */
393 void
394 updateLookUpTableDisplay (bool add_lut = false);
395 };
396
397 /** \brief PCL histogram visualizer interactory style class.
398 * \author Radu B. Rusu
399 */
400 class PCLHistogramVisualizerInteractorStyle : public vtkInteractorStyleTrackballCamera
401 {
402 public:
404
405 /** \brief Empty constructor. */
407
408 /** \brief Initialization routine. Must be called before anything else. */
409 void
411
412 /** \brief Pass a map of render/window/interactors to the interactor style.
413 * \param[in] wins the RenWinInteract map to use
414 */
415 void
416 setRenWinInteractMap (const RenWinInteractMap &wins) { wins_ = wins; }
417
418 private:
419 /** \brief A map of all windows on screen (with their renderers and interactors). */
420 RenWinInteractMap wins_;
421
422 /** \brief Set to true after initialization is complete. */
423 bool init_{false};
424
425 /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
426 void OnKeyDown () override;
427
428 /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
429 void OnTimer () override;
430 };
431 }
432}
/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.
PCLHistogramVisualizerInteractorStyle()=default
Empty constructor.
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.
CloudActorMapPtr getCloudActorMap()
Get the cloud actor map pointer.
virtual void Initialize()
Initialization routine.
ShapeActorMapPtr getShapeActorMap()
Get the cloud actor map pointer.
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.
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.
bool getCameraParameters(const std::vector< std::string > &camera)
Get camera parameters from a string vector.
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.
vtkSmartPointer< vtkRendererCollection > rens_
Collection of vtkRenderers stored internally.
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_
void setCameraFile(const std::string &file)
Set camera file for camera parameter saving/restoring.
void OnChar() override
Interactor style internal method.
PCLVisualizerInteractorStyle()=default
Empty constructor.
void setUseVbos(const bool use_vbos)
Use Vertex Buffer Objects renderers.
vtkSmartPointer< PointPickingCallback > mouse_callback_
A VTK Mouse Callback object, used for point picking.
static PCLVisualizerInteractorStyle * New()
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.
vtkSmartPointer< vtkScalarBarActor > lut_actor_
Actor for 2D lookup table on screen.
std::string camera_file_
Camera file for camera parameter saving/restoring.
/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:97
std::map< std::string, RenWinInteract > RenWinInteractMap
shared_ptr< ShapeActorMap > ShapeActorMapPtr
Definition actor_map.h:100