Program Listing for File window.h¶
↰ Return to documentation for file (pcl\visualization\include\pcl\visualization\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.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef PCL_VISUALIZER_WINDOW_H__
#define PCL_VISUALIZER_WINDOW_H__
#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 = NULL)
{
return registerKeyboardCallback (boost::bind (callback, _1, 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 = NULL)
{
return registerKeyboardCallback (boost::bind (callback, boost::ref (instance), _1, 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 = NULL)
{
return registerMouseCallback (boost::bind (callback, _1, 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 = NULL)
{
return registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, 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 boost function that will be registered as a callback for a mouse event
boost::signals2::connection
registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> );
/**
* @brief registering a callback boost::function for keyboard events
* @return connection object that allows to disconnect the callback function.
*/
// param the boost function that will be registered as a callback for a keyboard event
boost::signals2::connection
registerKeyboardCallback (boost::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 ();
ExitMainLoopTimerCallback (const ExitMainLoopTimerCallback& src);
ExitMainLoopTimerCallback& operator = (const ExitMainLoopTimerCallback& src);
virtual void
Execute (vtkObject*, unsigned long event_id, void* call_data);
int right_timer_id;
Window* window;
};
struct ExitCallback : public vtkCommand
{
static ExitCallback* New ()
{
return (new ExitCallback);
}
ExitCallback ();
ExitCallback (const ExitCallback &src);
ExitCallback& operator = (const ExitCallback &src);
virtual void
Execute (vtkObject*, unsigned long event_id, void*);
Window* window;
};
bool stopped_;
int timer_id_;
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_;
};
}
}
#endif /* __WINDOW_H__ */