40 #ifndef PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
41 #define PCL_PCL_VISUALIZER_INTERACTOR_STYLE_H_
43 #include <pcl/console/print.h>
44 #include <pcl/visualization/common/actor_map.h>
45 #include <pcl/visualization/common/ren_win_interact_map.h>
46 #include <pcl/visualization/keyboard_event.h>
47 #include <pcl/visualization/mouse_event.h>
48 #include <pcl/visualization/point_picking_event.h>
49 #include <pcl/visualization/area_picking_event.h>
50 #include <boost/signals2/signal.hpp>
52 #include <vtkInteractorStyleRubberBandPick.h>
54 class vtkRendererCollection;
55 class vtkLegendScaleActor;
56 class vtkScalarBarActor;
58 class vtkWindowToImageFilter;
63 namespace visualization
116 init_ (), rens_ (), actors_ (), win_height_ (), win_width_ (), win_pos_x_ (), win_pos_y_ (),
117 max_win_height_ (), max_win_width_ (), grid_enabled_ (), grid_actor_ (), lut_enabled_ (),
118 lut_actor_ (), snapshot_writer_ (), wif_ (), mouse_signal_ (), keyboard_signal_ (),
119 point_picking_signal_ (), area_picking_signal_ (), stereo_anaglyph_mask_default_ (),
120 mouse_callback_ (), modifier_ (), camera_file_ (), camera_ (), camera_saved_ (), win_ ()
140 inline CloudActorMapPtr
159 boost::signals2::connection
166 boost::signals2::connection
173 boost::signals2::connection
180 boost::signals2::connection
187 saveScreenshot (
const std::string &file);
193 saveCameraParameters (
const std::string &file);
199 getCameraParameters (
Camera &camera);
205 loadCameraParameters (
const std::string &file);
214 setCameraParameters (
const Eigen::Matrix3f &intrinsics,
const Eigen::Matrix4f &extrinsics,
int viewport = 0);
221 setCameraParameters (
const Camera &camera,
int viewport = 0);
236 return (camera_file_);
249 modifier_ = modifier;
291 boost::signals2::signal<void (const pcl::visualization::MouseEvent&)>
mouse_signal_;
314 OnMiddleButtonDown ();
318 OnRightButtonDown ();
322 OnMouseWheelForward ();
324 OnMouseWheelBackward ();
345 getCameraParameters (
const std::vector<std::string> &camera);
vtkSmartPointer< vtkWindowToImageFilter > wif_
Internal window to image filter.
virtual ~PCLVisualizerInteractorStyle()
Empty destructor.
vtkSmartPointer< vtkRendererCollection > rens_
Collection of vtkRenderers stored internally.
std::map< std::string, RenWinInteract > RenWinInteractMap
void setKeyboardModifier(const InteractorKeyboardModifier &modifier)
Change the default keyboard modified from ALT to a different special key.
void Initialize()
Initialization routine.
Camera class holds a set of camera parameters together with the window pos/size.
PCL histogram visualizer interactory style class.
InteractorKeyboardModifier modifier_
The keyboard modifier to use.
vtkSmartPointer< vtkPNGWriter > snapshot_writer_
A PNG writer for screenshot captures.
void setCloudActorMap(const CloudActorMapPtr &actors)
Pass a pointer to the actor map.
/brief Class representing 3D point picking events.
InteractorKeyboardModifier
A list of potential keyboard modifiers for pcl::visualization::PCLVisualizerInteractorStyle::PCLVisua...
void setCameraFile(const std::string file)
Set camera file for camera parameter saving/restoring.
PCLVisualizerInteractorStyle()
Empty constructor.
boost::shared_ptr< CloudActorMap > CloudActorMapPtr
bool stereo_anaglyph_mask_default_
True if we're using red-blue colors for anaglyphic stereo, false if magenta-green.
boost::signals2::signal< void(const pcl::visualization::KeyboardEvent &)> keyboard_signal_
CloudActorMapPtr actors_
Actor map stored internally.
PCL Visualizer main class.
void setUseVbos(const bool use_vbos)
Pass a pointer to the actor map.
boost::signals2::signal< void(const pcl::visualization::AreaPickingEvent &)> area_picking_signal_
static PCLHistogramVisualizerInteractorStyle * New()
vtkSmartPointer< vtkRenderWindow > win_
The render window.
std::string camera_file_
Camera file for camera parameter saving/restoring.
bool lut_enabled_
Set to true if the LUT actor is enabled.
void setRendererCollection(vtkSmartPointer< vtkRendererCollection > &rens)
Pass a set of renderers to the interactor style.
bool init_
Set to true after initialization is complete.
Camera camera_
A pcl::visualization::Camera for camera parameter saving/restoring.
PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer...
vtkSmartPointer< PointPickingCallback > mouse_callback_
A VTK Mouse Callback object, used for point picking.
bool camera_saved_
A pcl::visualization::Camera is saved or not.
bool grid_enabled_
Set to true if the grid actor is enabled.
boost::signals2::signal< void(const pcl::visualization::PointPickingEvent &)> point_picking_signal_
void setRenderWindow(const vtkSmartPointer< vtkRenderWindow > &win)
Set render window.
/brief Class representing 3D area picking events.
std::string getCameraFile() const
Get camera file for camera parameter saving/restoring.
/brief Class representing key hit/release events
bool use_vbos_
The maximum resizeable window width/height.
vtkSmartPointer< vtkScalarBarActor > lut_actor_
Actor for 2D lookup table on screen.
boost::signals2::signal< void(const pcl::visualization::MouseEvent &)> mouse_signal_
void setRenWinInteractMap(const RenWinInteractMap &wins)
Pass a map of render/window/interactors to the interactor style.
vtkSmartPointer< vtkPointPicker > point_picker_
Stores the point picker when switching to an area picker.
vtkSmartPointer< vtkLegendScaleActor > grid_actor_
Actor for 2D grid on screen.
PCLHistogramVisualizerInteractorStyle()
Empty constructor.
CloudActorMapPtr getCloudActorMap()
Get the cloud actor map pointer.