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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: pcl_visualizer.h 6220 2012-07-06 22:34:56Z rusu $ 00037 * 00038 */ 00039 #ifndef PCL_PCL_VISUALIZER_H_ 00040 #define PCL_PCL_VISUALIZER_H_ 00041 00042 // PCL includes 00043 #include <pcl/point_types.h> 00044 #include <pcl/correspondence.h> 00045 #include <pcl/point_cloud.h> 00046 #include <pcl/PolygonMesh.h> 00047 // 00048 #include <pcl/console/print.h> 00049 #include <pcl/visualization/common/common.h> 00050 #include <pcl/visualization/common/shapes.h> 00051 #include <pcl/visualization/window.h> 00052 #include <boost/algorithm/string/split.hpp> 00053 #include <boost/algorithm/string/classification.hpp> 00054 // VTK includes 00055 #include <vtkAxes.h> 00056 #include <vtkFloatArray.h> 00057 #include <vtkAppendPolyData.h> 00058 #include <vtkPointData.h> 00059 #include <vtkPolyData.h> 00060 #include <vtkUnstructuredGrid.h> 00061 #include <vtkTubeFilter.h> 00062 #include <vtkPolyDataMapper.h> 00063 #include <vtkDataSetMapper.h> 00064 #include <vtkCellArray.h> 00065 #include <vtkCommand.h> 00066 #include <vtkPLYReader.h> 00067 #include <vtkTransformFilter.h> 00068 #include <vtkPolyLine.h> 00069 #include <vtkVectorText.h> 00070 #include <vtkFollower.h> 00071 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00072 #include <pcl/visualization/interactor.h> 00073 #else 00074 #include <vtkRenderWindowInteractor.h> 00075 #endif 00076 00077 namespace pcl 00078 { 00079 namespace visualization 00080 { 00085 class PCL_EXPORTS PCLVisualizer 00086 { 00087 public: 00088 typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler; 00089 typedef GeometryHandler::Ptr GeometryHandlerPtr; 00090 typedef GeometryHandler::ConstPtr GeometryHandlerConstPtr; 00091 00092 typedef PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler; 00093 typedef ColorHandler::Ptr ColorHandlerPtr; 00094 typedef ColorHandler::ConstPtr ColorHandlerConstPtr; 00095 00100 PCLVisualizer (const std::string &name = "", const bool create_interactor = true); 00108 PCLVisualizer (int &argc, char **argv, const std::string &name = "", 00109 PCLVisualizerInteractorStyle* style = PCLVisualizerInteractorStyle::New (), const bool create_interactor = true); 00110 00112 virtual ~PCLVisualizer (); 00113 00119 inline void 00120 setFullScreen (bool mode) 00121 { 00122 if (win_) 00123 win_->SetFullScreen (mode); 00124 } 00125 00131 inline void 00132 setWindowBorders (bool mode) 00133 { 00134 if (win_) 00135 win_->SetBorders (mode); 00136 } 00137 00142 boost::signals2::connection 00143 registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> cb); 00144 00150 inline boost::signals2::connection 00151 registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), void* cookie = NULL) 00152 { 00153 return (registerKeyboardCallback (boost::bind (callback, _1, cookie))); 00154 } 00155 00162 template<typename T> inline boost::signals2::connection 00163 registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), T& instance, void* cookie = NULL) 00164 { 00165 return (registerKeyboardCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00166 } 00167 00172 boost::signals2::connection 00173 registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> cb); 00174 00180 inline boost::signals2::connection 00181 registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), void* cookie = NULL) 00182 { 00183 return (registerMouseCallback (boost::bind (callback, _1, cookie))); 00184 } 00185 00192 template<typename T> inline boost::signals2::connection 00193 registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), T& instance, void* cookie = NULL) 00194 { 00195 return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00196 } 00197 00202 boost::signals2::connection 00203 registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)> cb); 00204 00210 inline boost::signals2::connection 00211 registerPointPickingCallback (void (*callback) (const pcl::visualization::PointPickingEvent&, void*), void* cookie = NULL) 00212 { 00213 return (registerPointPickingCallback (boost::bind (callback, _1, cookie))); 00214 } 00215 00222 template<typename T> inline boost::signals2::connection 00223 registerPointPickingCallback (void (T::*callback) (const pcl::visualization::PointPickingEvent&, void*), T& instance, void* cookie = NULL) 00224 { 00225 return (registerPointPickingCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00226 } 00227 00229 void 00230 spin (); 00231 00237 void 00238 spinOnce (int time = 1, bool force_redraw = false); 00239 00244 void 00245 addCoordinateSystem (double scale = 1.0, int viewport = 0); 00246 00254 void 00255 addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0); 00256 00288 void 00289 addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport = 0); 00290 00294 bool 00295 removeCoordinateSystem (int viewport = 0); 00296 00303 bool 00304 removePointCloud (const std::string &id = "cloud", int viewport = 0); 00305 00310 inline bool 00311 removePolygonMesh (const std::string &id = "polygon", int viewport = 0) 00312 { 00313 // Polygon Meshes are represented internally as point clouds with special cell array structures since 1.4 00314 return (removePointCloud (id, viewport)); 00315 } 00316 00322 bool 00323 removeShape (const std::string &id = "cloud", int viewport = 0); 00324 00329 bool 00330 removeText3D (const std::string &id = "cloud", int viewport = 0); 00331 00335 bool 00336 removeAllPointClouds (int viewport = 0); 00337 00341 bool 00342 removeAllShapes (int viewport = 0); 00343 00350 void 00351 setBackgroundColor (const double &r, const double &g, const double &b, int viewport = 0); 00352 00360 bool 00361 addText (const std::string &text, 00362 int xpos, int ypos, 00363 const std::string &id = "", int viewport = 0); 00364 00375 bool 00376 addText (const std::string &text, int xpos, int ypos, double r, double g, double b, 00377 const std::string &id = "", int viewport = 0); 00378 00390 bool 00391 addText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b, 00392 const std::string &id = "", int viewport = 0); 00393 00394 00401 bool 00402 updateText (const std::string &text, 00403 int xpos, int ypos, 00404 const std::string &id = ""); 00405 00415 bool 00416 updateText (const std::string &text, 00417 int xpos, int ypos, double r, double g, double b, 00418 const std::string &id = ""); 00419 00430 bool 00431 updateText (const std::string &text, 00432 int xpos, int ypos, int fontsize, double r, double g, double b, 00433 const std::string &id = ""); 00434 00444 bool 00445 updateShapePose (const std::string &id, const Eigen::Affine3f& pose); 00446 00457 template <typename PointT> bool 00458 addText3D (const std::string &text, 00459 const PointT &position, 00460 double textScale = 1.0, 00461 double r = 1.0, double g = 1.0, double b = 1.0, 00462 const std::string &id = "", int viewport = 0); 00463 00471 template <typename PointNT> bool 00472 addPointCloudNormals (const typename pcl::PointCloud<PointNT>::ConstPtr &cloud, 00473 int level = 100, double scale = 0.02, 00474 const std::string &id = "cloud", int viewport = 0); 00475 00484 template <typename PointT, typename PointNT> bool 00485 addPointCloudNormals (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00486 const typename pcl::PointCloud<PointNT>::ConstPtr &normals, 00487 int level = 100, double scale = 0.02, 00488 const std::string &id = "cloud", int viewport = 0); 00489 00499 bool 00500 addPointCloudPrincipalCurvatures ( 00501 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud, 00502 const pcl::PointCloud<pcl::Normal>::ConstPtr &normals, 00503 const pcl::PointCloud<pcl::PrincipalCurvatures>::ConstPtr &pcs, 00504 int level = 100, double scale = 1.0, 00505 const std::string &id = "cloud", int viewport = 0); 00506 00512 template <typename PointT> bool 00513 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00514 const std::string &id = "cloud", int viewport = 0); 00515 00521 template <typename PointT> bool 00522 updatePointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00523 const std::string &id = "cloud"); 00524 00531 template <typename PointT> bool 00532 updatePointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00533 const PointCloudGeometryHandler<PointT> &geometry_handler, 00534 const std::string &id = "cloud"); 00535 00542 template <typename PointT> bool 00543 updatePointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00544 const PointCloudColorHandler<PointT> &color_handler, 00545 const std::string &id = "cloud"); 00546 00547 // bool 00548 // updatePointCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, 00549 // const PointCloudColorHandlerRGBField<pcl::PointXYZRGB> &color_handler, 00550 // const std::string &id = "cloud"); 00551 00558 template <typename PointT> bool 00559 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00560 const PointCloudGeometryHandler<PointT> &geometry_handler, 00561 const std::string &id = "cloud", int viewport = 0); 00562 00575 template <typename PointT> bool 00576 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00577 const GeometryHandlerConstPtr &geometry_handler, 00578 const std::string &id = "cloud", int viewport = 0); 00579 00586 template <typename PointT> bool 00587 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00588 const PointCloudColorHandler<PointT> &color_handler, 00589 const std::string &id = "cloud", int viewport = 0); 00590 00603 template <typename PointT> bool 00604 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00605 const ColorHandlerConstPtr &color_handler, 00606 const std::string &id = "cloud", int viewport = 0); 00607 00621 template <typename PointT> bool 00622 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00623 const GeometryHandlerConstPtr &geometry_handler, 00624 const ColorHandlerConstPtr &color_handler, 00625 const std::string &id = "cloud", int viewport = 0); 00626 00642 bool 00643 addPointCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud, 00644 const GeometryHandlerConstPtr &geometry_handler, 00645 const ColorHandlerConstPtr &color_handler, 00646 const Eigen::Vector4f& sensor_origin, 00647 const Eigen::Quaternion<float>& sensor_orientation, 00648 const std::string &id = "cloud", int viewport = 0); 00649 00664 bool 00665 addPointCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud, 00666 const GeometryHandlerConstPtr &geometry_handler, 00667 const Eigen::Vector4f& sensor_origin, 00668 const Eigen::Quaternion<float>& sensor_orientation, 00669 const std::string &id = "cloud", int viewport = 0); 00670 00685 bool 00686 addPointCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud, 00687 const ColorHandlerConstPtr &color_handler, 00688 const Eigen::Vector4f& sensor_origin, 00689 const Eigen::Quaternion<float>& sensor_orientation, 00690 const std::string &id = "cloud", int viewport = 0); 00691 00699 template <typename PointT> bool 00700 addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00701 const PointCloudColorHandler<PointT> &color_handler, 00702 const PointCloudGeometryHandler<PointT> &geometry_handler, 00703 const std::string &id = "cloud", int viewport = 0); 00704 00710 inline bool 00711 addPointCloud (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud, 00712 const std::string &id = "cloud", int viewport = 0) 00713 { 00714 return (addPointCloud<pcl::PointXYZ> (cloud, id, viewport)); 00715 } 00716 00717 00723 inline bool 00724 addPointCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, 00725 const std::string &id = "cloud", int viewport = 0) 00726 { 00727 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> color_handler (cloud); 00728 return (addPointCloud<pcl::PointXYZRGB> (cloud, color_handler, id, viewport)); 00729 } 00730 00736 inline bool 00737 addPointCloud (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud, 00738 const std::string &id = "cloud", int viewport = 0) 00739 { 00740 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> color_handler (cloud); 00741 return (addPointCloud<pcl::PointXYZRGBA> (cloud, color_handler, id, viewport)); 00742 } 00743 00749 inline bool 00750 updatePointCloud (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud, 00751 const std::string &id = "cloud") 00752 { 00753 return (updatePointCloud<pcl::PointXYZ> (cloud, id)); 00754 } 00755 00761 inline bool 00762 updatePointCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, 00763 const std::string &id = "cloud") 00764 { 00765 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> color_handler (cloud); 00766 return (updatePointCloud<pcl::PointXYZRGB> (cloud, color_handler, id)); 00767 } 00768 00774 inline bool 00775 updatePointCloud (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud, 00776 const std::string &id = "cloud") 00777 { 00778 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> color_handler (cloud); 00779 return (updatePointCloud<pcl::PointXYZRGBA> (cloud, color_handler, id)); 00780 } 00781 00787 bool 00788 addPolygonMesh (const pcl::PolygonMesh &polymesh, 00789 const std::string &id = "polygon", 00790 int viewport = 0); 00791 00798 template <typename PointT> bool 00799 addPolygonMesh (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00800 const std::vector<pcl::Vertices> &vertices, 00801 const std::string &id = "polygon", 00802 int viewport = 0); 00803 00810 template <typename PointT> bool 00811 updatePolygonMesh (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 00812 const std::vector<pcl::Vertices> &vertices, 00813 const std::string &id = "polygon"); 00814 00820 bool 00821 addPolylineFromPolygonMesh (const pcl::PolygonMesh &polymesh, 00822 const std::string &id = "polyline", 00823 int viewport = 0); 00824 00832 template <typename PointT> bool 00833 addCorrespondences (const typename pcl::PointCloud<PointT>::ConstPtr &source_points, 00834 const typename pcl::PointCloud<PointT>::ConstPtr &target_points, 00835 const std::vector<int> & correspondences, 00836 const std::string &id = "correspondences", 00837 int viewport = 0); 00838 00846 template <typename PointT> bool 00847 addCorrespondences (const typename pcl::PointCloud<PointT>::ConstPtr &source_points, 00848 const typename pcl::PointCloud<PointT>::ConstPtr &target_points, 00849 const pcl::Correspondences &correspondences, 00850 const std::string &id = "correspondences", 00851 int viewport = 0); 00852 00857 inline void 00858 removeCorrespondences (const std::string &id = "correspondences", int viewport = 0) 00859 { 00860 removeShape (id, viewport); 00861 } 00862 00866 inline int 00867 getColorHandlerIndex (const std::string &id) 00868 { 00869 CloudActorMap::iterator am_it = style_->getCloudActorMap ()->find (id); 00870 if (am_it == cloud_actor_map_->end ()) 00871 return (-1); 00872 00873 return (am_it->second.color_handler_index_); 00874 } 00875 00879 inline int 00880 getGeometryHandlerIndex (const std::string &id) 00881 { 00882 CloudActorMap::iterator am_it = style_->getCloudActorMap ()->find (id); 00883 if (am_it != cloud_actor_map_->end ()) 00884 return (-1); 00885 00886 return (am_it->second.geometry_handler_index_); 00887 } 00888 00893 bool 00894 updateColorHandlerIndex (const std::string &id, int index); 00895 00904 bool 00905 setPointCloudRenderingProperties (int property, double val1, double val2, double val3, 00906 const std::string &id = "cloud", int viewport = 0); 00907 00914 bool 00915 setPointCloudRenderingProperties (int property, double value, 00916 const std::string &id = "cloud", int viewport = 0); 00917 00923 bool 00924 getPointCloudRenderingProperties (int property, double &value, 00925 const std::string &id = "cloud"); 00926 00933 bool 00934 setShapeRenderingProperties (int property, double value, 00935 const std::string &id, int viewport = 0); 00936 00945 bool 00946 setShapeRenderingProperties (int property, double val1, double val2, double val3, 00947 const std::string &id, int viewport = 0); 00948 00949 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00950 00951 bool 00952 wasStopped () const { if (interactor_ != NULL) return (interactor_->stopped); else return true; } 00953 00955 void 00956 resetStoppedFlag () { if (interactor_ != NULL) interactor_->stopped = false; } 00957 #else 00958 00959 bool 00960 wasStopped () const { if (interactor_ != NULL) return (stopped_); else return (true); } 00961 00963 void 00964 resetStoppedFlag () { if (interactor_ != NULL) stopped_ = false; } 00965 #endif 00966 00968 void 00969 close () 00970 { 00971 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00972 interactor_->stopped = true; 00973 // This tends to close the window... 00974 interactor_->stopLoop (); 00975 #else 00976 stopped_ = true; 00977 // This tends to close the window... 00978 interactor_->TerminateApp (); 00979 #endif 00980 } 00981 00993 void 00994 createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport); 00995 01005 template <typename PointT> bool 01006 addPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 01007 double r, double g, double b, 01008 const std::string &id = "polygon", int viewport = 0); 01009 01016 template <typename PointT> bool 01017 addPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 01018 const std::string &id = "polygon", 01019 int viewport = 0); 01020 01027 template <typename P1, typename P2> bool 01028 addLine (const P1 &pt1, const P2 &pt2, const std::string &id = "line", 01029 int viewport = 0); 01030 01040 template <typename P1, typename P2> bool 01041 addLine (const P1 &pt1, const P2 &pt2, double r, double g, double b, 01042 const std::string &id = "line", int viewport = 0); 01043 01053 template <typename P1, typename P2> bool 01054 addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, 01055 const std::string &id = "arrow", int viewport = 0); 01056 01067 template <typename P1, typename P2> bool 01068 addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, bool display_length, 01069 const std::string &id = "arrow", int viewport = 0); 01070 01077 template <typename PointT> bool 01078 addSphere (const PointT ¢er, double radius, const std::string &id = "sphere", 01079 int viewport = 0); 01080 01090 template <typename PointT> bool 01091 addSphere (const PointT ¢er, double radius, double r, double g, double b, 01092 const std::string &id = "sphere", int viewport = 0); 01093 01102 template <typename PointT> bool 01103 updateSphere (const PointT ¢er, double radius, double r, double g, double b, 01104 const std::string &id = "sphere"); 01105 01111 bool 01112 addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, 01113 const std::string & id = "PolyData", 01114 int viewport = 0); 01115 01122 bool 01123 addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, 01124 vtkSmartPointer<vtkTransform> transform, 01125 const std::string &id = "PolyData", 01126 int viewport = 0); 01127 01133 bool 01134 addModelFromPLYFile (const std::string &filename, 01135 const std::string &id = "PLYModel", 01136 int viewport = 0); 01137 01144 bool 01145 addModelFromPLYFile (const std::string &filename, 01146 vtkSmartPointer<vtkTransform> transform, 01147 const std::string &id = "PLYModel", 01148 int viewport = 0); 01149 01176 bool 01177 addCylinder (const pcl::ModelCoefficients &coefficients, 01178 const std::string &id = "cylinder", 01179 int viewport = 0); 01180 01203 bool 01204 addSphere (const pcl::ModelCoefficients &coefficients, 01205 const std::string &id = "sphere", 01206 int viewport = 0); 01207 01231 bool 01232 addLine (const pcl::ModelCoefficients &coefficients, 01233 const std::string &id = "line", 01234 int viewport = 0); 01235 01256 bool 01257 addPlane (const pcl::ModelCoefficients &coefficients, 01258 const std::string &id = "plane", 01259 int viewport = 0); 01260 01280 bool 01281 addCircle (const pcl::ModelCoefficients &coefficients, 01282 const std::string &id = "circle", 01283 int viewport = 0); 01284 01290 bool 01291 addCone (const pcl::ModelCoefficients &coefficients, 01292 const std::string &id = "cone", 01293 int viewport = 0); 01294 01300 bool 01301 addCube (const pcl::ModelCoefficients &coefficients, 01302 const std::string &id = "cube", 01303 int viewport = 0); 01304 01314 bool 01315 addCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, 01316 double width, double height, double depth, 01317 const std::string &id = "cube", 01318 int viewport = 0); 01319 01333 bool 01334 addCube (double x_min, double x_max, 01335 double y_min, double y_max, 01336 double z_min, double z_max, 01337 double r = 1.0, double g = 1.0, double b = 1.0, 01338 const std::string &id = "cube", 01339 int viewport = 0); 01340 01342 void 01343 setRepresentationToSurfaceForAllActors (); 01344 01346 void 01347 setRepresentationToPointsForAllActors (); 01348 01350 void 01351 setRepresentationToWireframeForAllActors (); 01352 01360 void 01361 renderView (int xres, int yres, pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud); 01362 01380 void 01381 renderViewTesselatedSphere ( 01382 int xres, int yres, 01383 std::vector<pcl::PointCloud<pcl::PointXYZ>,Eigen::aligned_allocator< pcl::PointCloud<pcl::PointXYZ> > > & cloud, 01384 std::vector<Eigen::Matrix4f,Eigen::aligned_allocator< Eigen::Matrix4f > > & poses, std::vector<float> & enthropies, int tesselation_level, 01385 float view_angle = 45, float radius_sphere = 1, bool use_vertices = true); 01386 01388 Camera camera_; 01389 01391 void 01392 initCameraParameters (); 01393 01398 bool 01399 getCameraParameters (int argc, char **argv); 01400 01402 bool 01403 cameraParamsSet () const; 01404 01406 void 01407 updateCamera (); 01408 01410 void 01411 resetCamera (); 01412 01416 void 01417 resetCameraViewpoint (const std::string &id = "cloud"); 01418 01431 void 01432 setCameraPose (double posX, double posY, double posZ, 01433 double viewX, double viewY, double viewZ, 01434 double upX, double upY, double upZ, int viewport = 0); 01435 01445 void 01446 setCameraPosition (double posX,double posY, double posZ, 01447 double viewX, double viewY, double viewZ, int viewport = 0); 01448 01450 void 01451 getCameras (std::vector<Camera>& cameras); 01452 01454 Eigen::Affine3f 01455 getViewerPose (); 01456 01460 void 01461 saveScreenshot (const std::string &file); 01462 01464 vtkSmartPointer<vtkRenderWindow> 01465 getRenderWindow () 01466 { 01467 return (win_); 01468 } 01469 01471 void 01472 createInteractor (); 01473 01479 void 01480 setupInteractor (vtkRenderWindowInteractor *iren, 01481 vtkRenderWindow *win); 01482 01484 inline vtkSmartPointer<PCLVisualizerInteractorStyle> 01485 getInteractorStyle () 01486 { 01487 return (style_); 01488 } 01489 protected: 01491 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01492 vtkSmartPointer<PCLVisualizerInteractor> interactor_; 01493 #else 01494 vtkSmartPointer<vtkRenderWindowInteractor> interactor_; 01495 #endif 01496 private: 01497 struct ExitMainLoopTimerCallback : public vtkCommand 01498 { 01499 static ExitMainLoopTimerCallback* New() 01500 { 01501 return new ExitMainLoopTimerCallback; 01502 } 01503 virtual void Execute(vtkObject* vtkNotUsed(caller), unsigned long event_id, void* call_data) 01504 { 01505 if (event_id != vtkCommand::TimerEvent) 01506 return; 01507 int timer_id = *(int*)call_data; 01508 //PCL_WARN ("[pcl::visualization::PCLVisualizer::ExitMainLoopTimerCallback] Timer %d called.\n", timer_id); 01509 if (timer_id != right_timer_id) 01510 return; 01511 // Stop vtk loop and send notification to app to wake it up 01512 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01513 pcl_visualizer->interactor_->stopLoop (); 01514 #else 01515 pcl_visualizer->interactor_->TerminateApp (); 01516 #endif 01517 } 01518 int right_timer_id; 01519 PCLVisualizer* pcl_visualizer; 01520 }; 01521 struct ExitCallback : public vtkCommand 01522 { 01523 static ExitCallback* New () 01524 { 01525 return new ExitCallback; 01526 } 01527 virtual void Execute (vtkObject* caller, unsigned long event_id, void* call_data) 01528 { 01529 if (event_id != vtkCommand::ExitEvent) 01530 return; 01531 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01532 pcl_visualizer->interactor_->stopped = true; 01533 // This tends to close the window... 01534 pcl_visualizer->interactor_->stopLoop (); 01535 #else 01536 pcl_visualizer->stopped_ = true; 01537 // This tends to close the window... 01538 pcl_visualizer->interactor_->TerminateApp (); 01539 #endif 01540 } 01541 PCLVisualizer* pcl_visualizer; 01542 }; 01543 01544 #if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 01545 01546 bool stopped_; 01547 01549 int timer_id_; 01550 #endif 01551 01552 vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_; 01553 vtkSmartPointer<ExitCallback> exit_callback_; 01554 01556 vtkSmartPointer<vtkRendererCollection> rens_; 01557 01559 vtkSmartPointer<vtkRenderWindow> win_; 01560 01562 vtkSmartPointer<PCLVisualizerInteractorStyle> style_; 01563 01565 CloudActorMapPtr cloud_actor_map_; 01566 01568 ShapeActorMapPtr shape_actor_map_; 01569 01571 CoordinateActorMap coordinate_actor_map_; 01572 01574 bool camera_set_; 01575 01580 bool 01581 removeActorFromRenderer (const vtkSmartPointer<vtkLODActor> &actor, 01582 int viewport = 0); 01583 01588 void 01589 addActorToRenderer (const vtkSmartPointer<vtkProp> &actor, 01590 int viewport = 0); 01591 01596 bool 01597 removeActorFromRenderer (const vtkSmartPointer<vtkProp> &actor, 01598 int viewport = 0); 01599 01605 void 01606 createActorFromVTKDataSet (const vtkSmartPointer<vtkDataSet> &data, 01607 vtkSmartPointer<vtkLODActor> &actor, 01608 bool use_scalars = true); 01609 01616 template <typename PointT> void 01617 convertPointCloudToVTKPolyData (const typename pcl::PointCloud<PointT>::ConstPtr &cloud, 01618 vtkSmartPointer<vtkPolyData> &polydata, 01619 vtkSmartPointer<vtkIdTypeArray> &initcells); 01620 01627 template <typename PointT> void 01628 convertPointCloudToVTKPolyData (const PointCloudGeometryHandler<PointT> &geometry_handler, 01629 vtkSmartPointer<vtkPolyData> &polydata, 01630 vtkSmartPointer<vtkIdTypeArray> &initcells); 01631 01638 void 01639 convertPointCloudToVTKPolyData (const GeometryHandlerConstPtr &geometry_handler, 01640 vtkSmartPointer<vtkPolyData> &polydata, 01641 vtkSmartPointer<vtkIdTypeArray> &initcells); 01642 01651 void 01652 updateCells (vtkSmartPointer<vtkIdTypeArray> &cells, 01653 vtkSmartPointer<vtkIdTypeArray> &initcells, 01654 vtkIdType nr_points); 01655 01666 template <typename PointT> bool 01667 fromHandlersToScreen (const PointCloudGeometryHandler<PointT> &geometry_handler, 01668 const PointCloudColorHandler<PointT> &color_handler, 01669 const std::string &id, 01670 int viewport, 01671 const Eigen::Vector4f& sensor_origin = Eigen::Vector4f (0, 0, 0, 0), 01672 const Eigen::Quaternion<float>& sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)); 01673 01684 template <typename PointT> bool 01685 fromHandlersToScreen (const PointCloudGeometryHandler<PointT> &geometry_handler, 01686 const ColorHandlerConstPtr &color_handler, 01687 const std::string &id, 01688 int viewport, 01689 const Eigen::Vector4f& sensor_origin = Eigen::Vector4f (0, 0, 0, 0), 01690 const Eigen::Quaternion<float>& sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)); 01691 01702 bool 01703 fromHandlersToScreen (const GeometryHandlerConstPtr &geometry_handler, 01704 const ColorHandlerConstPtr &color_handler, 01705 const std::string &id, 01706 int viewport, 01707 const Eigen::Vector4f& sensor_origin = Eigen::Vector4f (0, 0, 0, 0), 01708 const Eigen::Quaternion<float>& sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)); 01709 01720 template <typename PointT> bool 01721 fromHandlersToScreen (const GeometryHandlerConstPtr &geometry_handler, 01722 const PointCloudColorHandler<PointT> &color_handler, 01723 const std::string &id, 01724 int viewport, 01725 const Eigen::Vector4f& sensor_origin = Eigen::Vector4f (0, 0, 0, 0), 01726 const Eigen::Quaternion<float>& sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)); 01727 01731 void 01732 allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata); 01733 01737 void 01738 allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata); 01739 01743 void 01744 allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata); 01745 01751 void 01752 getTransformationMatrix (const Eigen::Vector4f &origin, 01753 const Eigen::Quaternion<float> &orientation, 01754 Eigen::Matrix4f &transformation); 01755 01760 void 01761 convertToVtkMatrix (const Eigen::Matrix4f &m, 01762 vtkSmartPointer<vtkMatrix4x4> &vtk_matrix); 01763 01769 void 01770 convertToVtkMatrix (const Eigen::Vector4f &origin, 01771 const Eigen::Quaternion<float> &orientation, 01772 vtkSmartPointer<vtkMatrix4x4> &vtk_matrix); 01773 01774 }; 01775 } 01776 } 01777 01778 #include <pcl/visualization/impl/pcl_visualizer.hpp> 01779 01780 #endif 01781
1.7.6.1
