PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. Besides defining the rendering style, we also create a list of custom actions that are triggered on different keys being pressed: More...

#include <interactor_style.h>

Public Member Functions
CloudActorMapPtr	getCloudActorMap ()
	Get the cloud actor map pointer.
virtual void	Initialize ()
	Initialization routine. Must be called before anything else.
	PCLVisualizerInteractorStyle ()
	Empty constructor.
boost::signals2::connection	registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback boost::function for keyboard events.
boost::signals2::connection	registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register a callback function for mouse events.
boost::signals2::connection	registerPointPickingCallback (boost::function< void(const pcl::visualization::PointPickingEvent &)> cb)
	Register a callback function for point picking events.
void	saveScreenshot (const std::string &file)
	Save the current rendered image to disk, as a PNG screenshot.
void	setCloudActorMap (const CloudActorMapPtr &actors)
	Pass a pointer to the actor map.
void	setKeyboardModifier (const InteractorKeyboardModifier &modifier)
	Change the default keyboard modified from ALT to a different special key. Allowed values are:
void	setRendererCollection (vtkSmartPointer< vtkRendererCollection > &rens)
	Pass a set of renderers to the interactor style.
	vtkTypeMacro (PCLVisualizerInteractorStyle, vtkInteractorStyleTrackballCamera)
Static Public Member Functions
static PCLVisualizerInteractorStyle *	New ()
Protected Member Functions
virtual void	OnChar ()
	Interactor style internal method. Gets called whenever a key is pressed.
virtual void	OnKeyDown ()
virtual void	OnKeyUp ()
virtual void	OnLeftButtonDown ()
virtual void	OnLeftButtonUp ()
virtual void	OnMiddleButtonDown ()
virtual void	OnMiddleButtonUp ()
virtual void	OnMouseMove ()
virtual void	OnMouseWheelBackward ()
virtual void	OnMouseWheelForward ()
virtual void	OnRightButtonDown ()
virtual void	OnRightButtonUp ()
virtual void	OnTimer ()
	Interactor style internal method. Gets called periodically if a timer is set.
void	zoomIn ()
	Interactor style internal method. Zoom in.
void	zoomOut ()
	Interactor style internal method. Zoom out.
Protected Attributes
CloudActorMapPtr	actors_
	Actor map stored internally.
vtkSmartPointer< vtkPolyData >	full_data_
vtkSmartPointer < vtkLegendScaleActor >	grid_actor_
	Actor for 2D grid on screen.
bool	grid_enabled_
	Set to true if the grid actor is enabled.
bool	init_
	Set to true after initialization is complete.
boost::signals2::signal< void(const pcl::visualization::KeyboardEvent &)>	keyboard_signal_
vtkSmartPointer < vtkScalarBarActor >	lut_actor_
	Actor for 2D lookup table on screen.
bool	lut_enabled_
	Set to true if the LUT actor is enabled.
int	max_win_height_
	The maximum resizeable window width/height.
int	max_win_width_
InteractorKeyboardModifier	modifier_
	The keyboard modifier to use. Default: Alt.
vtkSmartPointer < PointPickingCallback >	mouse_callback_
	A VTK Mouse Callback object, used for point picking.
boost::signals2::signal< void(const pcl::visualization::MouseEvent &)>	mouse_signal_
boost::signals2::signal< void(const pcl::visualization::PointPickingEvent &)>	point_picking_signal_
vtkSmartPointer < vtkRendererCollection >	rens_
	Collection of vtkRenderers stored internally.
vtkSmartPointer< vtkPNGWriter >	snapshot_writer_
	A PNG writer for screenshot captures.
bool	stereo_anaglyph_mask_default_
	True if we're using red-blue colors for anaglyphic stereo, false if magenta-green.
vtkSmartPointer < vtkWindowToImageFilter >	wif_
	Internal window to image filter. Needed by snapshot_writer_.
int	win_height_
	The current window width/height.
int	win_pos_x_
	The current window position x/y.
int	win_pos_y_
int	win_width_
Private Types
typedef boost::shared_ptr < CloudActorMap >	CloudActorMapPtr
Friends
class	PointPickingCallback

Detailed Description

PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. Besides defining the rendering style, we also create a list of custom actions that are triggered on different keys being pressed:

p, P : switch to a point-based representation
w, W : switch to a wireframe-based representation (where available)
s, S : switch to a surface-based representation (where available)
j, J : take a .PNG snapshot of the current window view
c, C : display current camera/window parameters
f, F : fly to point mode
e, E : exit the interactor\
q, Q : stop and call VTK's TerminateApp
+ / - : increment/decrement overall point size
g, G : display scale grid (on/off)
u, U : display lookup table (on/off)
r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
ALT + s, S : turn stereo mode on/off
ALT + f, F : switch between maximized window mode and original size
l, L : list all available geometric and color handlers for the current actor map
ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)
0..9 [+ CTRL] : switch between different color handlers (where available)
SHIFT + left click : select a point

Author:: Radu B. Rusu

Definition at line 96 of file interactor_style.h.

Member Typedef Documentation

typedef boost::shared_ptr<CloudActorMap> pcl::visualization::PCLVisualizerInteractorStyle::CloudActorMapPtr [private]

Definition at line 98 of file interactor_style.h.

Constructor & Destructor Documentation

pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle ( ) [inline]

Empty constructor.

Definition at line 104 of file interactor_style.h.

Member Function Documentation

CloudActorMapPtr pcl::visualization::PCLVisualizerInteractorStyle::getCloudActorMap ( ) [inline]

Get the cloud actor map pointer.

Definition at line 126 of file interactor_style.h.

void pcl::visualization::PCLVisualizerInteractorStyle::Initialize ( ) [virtual]

Initialization routine. Must be called before anything else.

Definition at line 56 of file interactor_style.cpp.

static PCLVisualizerInteractorStyle* pcl::visualization::PCLVisualizerInteractorStyle::New ( ) [static]

void pcl::visualization::PCLVisualizerInteractorStyle::OnChar ( ) [protected, virtual]

Interactor style internal method. Gets called whenever a key is pressed.

Definition at line 134 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ( ) [protected, virtual]

Definition at line 223 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnKeyUp ( ) [protected, virtual]

Definition at line 752 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnLeftButtonDown ( ) [protected, virtual]

Definition at line 772 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnLeftButtonUp ( ) [protected, virtual]

Definition at line 793 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnMiddleButtonDown ( ) [protected, virtual]

Definition at line 804 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnMiddleButtonUp ( ) [protected, virtual]

Definition at line 823 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnMouseMove ( ) [protected, virtual]

Definition at line 761 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnMouseWheelBackward ( ) [protected, virtual]

Definition at line 877 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnMouseWheelForward ( ) [protected, virtual]

Definition at line 864 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnRightButtonDown ( ) [protected, virtual]

Definition at line 834 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnRightButtonUp ( ) [protected, virtual]

Definition at line 853 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::OnTimer ( ) [protected, virtual]

Interactor style internal method. Gets called periodically if a timer is set.

Definition at line 890 of file interactor_style.cpp.

boost::signals2::connection pcl::visualization::PCLVisualizerInteractorStyle::registerKeyboardCallback ( boost::function< void(const pcl::visualization::KeyboardEvent &)> cb )

Register a callback boost::function for keyboard events.

Parameters:

[in] cb a boost function that will be registered as a callback for a keyboard event

Returns:: a connection object that allows to disconnect the callback function.

Definition at line 209 of file interactor_style.cpp.

boost::signals2::connection pcl::visualization::PCLVisualizerInteractorStyle::registerMouseCallback ( boost::function< void(const pcl::visualization::MouseEvent &)> cb )

Register a callback function for mouse events.

Parameters:

[in] cb a boost function that will be registered as a callback for a mouse event

Returns:: a connection object that allows to disconnect the callback function.

Definition at line 202 of file interactor_style.cpp.

boost::signals2::connection pcl::visualization::PCLVisualizerInteractorStyle::registerPointPickingCallback ( boost::function< void(const pcl::visualization::PointPickingEvent &)> cb )

Register a callback function for point picking events.

Parameters:

[in] cb a boost function that will be registered as a callback for a point picking event

Returns:: a connection object that allows to disconnect the callback function.

Definition at line 216 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::saveScreenshot ( const std::string & file )

Save the current rendered image to disk, as a PNG screenshot.

Parameters:

[in] file the name of the PNG file

Definition at line 98 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::setCloudActorMap ( const CloudActorMapPtr & actors ) [inline]

Pass a pointer to the actor map.

Parameters:

[in] actors the actor map that will be used with this style

Definition at line 122 of file interactor_style.h.

void pcl::visualization::PCLVisualizerInteractorStyle::setKeyboardModifier ( const InteractorKeyboardModifier & modifier ) [inline]

Change the default keyboard modified from ALT to a different special key. Allowed values are:

INTERACTOR_KB_MOD_ALT
INTERACTOR_KB_MOD_CTRL
INTERACTOR_KB_MOD_SHIFT
Parameters:

[in] modifier the new keyboard modifier

Definition at line 169 of file interactor_style.h.

void pcl::visualization::PCLVisualizerInteractorStyle::setRendererCollection ( vtkSmartPointer< vtkRendererCollection > & rens ) [inline]

Pass a set of renderers to the interactor style.

Parameters:

[in] rens the vtkRendererCollection to use

Definition at line 132 of file interactor_style.h.

pcl::visualization::PCLVisualizerInteractorStyle::vtkTypeMacro	(	PCLVisualizerInteractorStyle	,
		vtkInteractorStyleTrackballCamera
	)

void pcl::visualization::PCLVisualizerInteractorStyle::zoomIn ( ) [protected]

Interactor style internal method. Zoom in.

Definition at line 110 of file interactor_style.cpp.

void pcl::visualization::PCLVisualizerInteractorStyle::zoomOut ( ) [protected]

Interactor style internal method. Zoom out.

Definition at line 122 of file interactor_style.cpp.

Friends And Related Function Documentation

friend class PointPickingCallback [friend]

Definition at line 264 of file interactor_style.h.

Member Data Documentation

CloudActorMapPtr pcl::visualization::PCLVisualizerInteractorStyle::actors_ [protected]

Actor map stored internally.

Definition at line 182 of file interactor_style.h.

vtkSmartPointer<vtkPolyData> pcl::visualization::PCLVisualizerInteractorStyle::full_data_ [protected]

Definition at line 265 of file interactor_style.h.

vtkSmartPointer<vtkLegendScaleActor> pcl::visualization::PCLVisualizerInteractorStyle::grid_actor_ [protected]

Actor for 2D grid on screen.

Definition at line 196 of file interactor_style.h.

bool pcl::visualization::PCLVisualizerInteractorStyle::grid_enabled_ [protected]

Set to true if the grid actor is enabled.

Definition at line 194 of file interactor_style.h.

bool pcl::visualization::PCLVisualizerInteractorStyle::init_ [protected]

Set to true after initialization is complete.

Definition at line 176 of file interactor_style.h.

boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> pcl::visualization::PCLVisualizerInteractorStyle::keyboard_signal_ [protected]

Definition at line 209 of file interactor_style.h.

vtkSmartPointer<vtkScalarBarActor> pcl::visualization::PCLVisualizerInteractorStyle::lut_actor_ [protected]

Actor for 2D lookup table on screen.

Definition at line 201 of file interactor_style.h.

bool pcl::visualization::PCLVisualizerInteractorStyle::lut_enabled_ [protected]

Set to true if the LUT actor is enabled.

Definition at line 199 of file interactor_style.h.

int pcl::visualization::PCLVisualizerInteractorStyle::max_win_height_ [protected]

The maximum resizeable window width/height.

Definition at line 191 of file interactor_style.h.

int pcl::visualization::PCLVisualizerInteractorStyle::max_win_width_ [protected]

Definition at line 191 of file interactor_style.h.

InteractorKeyboardModifier pcl::visualization::PCLVisualizerInteractorStyle::modifier_ [protected]

The keyboard modifier to use. Default: Alt.

Definition at line 262 of file interactor_style.h.

vtkSmartPointer<PointPickingCallback> pcl::visualization::PCLVisualizerInteractorStyle::mouse_callback_ [protected]

A VTK Mouse Callback object, used for point picking.

Definition at line 259 of file interactor_style.h.

boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> pcl::visualization::PCLVisualizerInteractorStyle::mouse_signal_ [protected]

Definition at line 208 of file interactor_style.h.

boost::signals2::signal<void (const pcl::visualization::PointPickingEvent&)> pcl::visualization::PCLVisualizerInteractorStyle::point_picking_signal_ [protected]

Definition at line 210 of file interactor_style.h.

vtkSmartPointer<vtkRendererCollection> pcl::visualization::PCLVisualizerInteractorStyle::rens_ [protected]

Collection of vtkRenderers stored internally.

Definition at line 179 of file interactor_style.h.

vtkSmartPointer<vtkPNGWriter> pcl::visualization::PCLVisualizerInteractorStyle::snapshot_writer_ [protected]

A PNG writer for screenshot captures.

Definition at line 204 of file interactor_style.h.

bool pcl::visualization::PCLVisualizerInteractorStyle::stereo_anaglyph_mask_default_ [protected]

True if we're using red-blue colors for anaglyphic stereo, false if magenta-green.

Definition at line 256 of file interactor_style.h.

vtkSmartPointer<vtkWindowToImageFilter> pcl::visualization::PCLVisualizerInteractorStyle::wif_ [protected]

Internal window to image filter. Needed by snapshot_writer_.

Definition at line 206 of file interactor_style.h.

int pcl::visualization::PCLVisualizerInteractorStyle::win_height_ [protected]

The current window width/height.

Definition at line 185 of file interactor_style.h.

int pcl::visualization::PCLVisualizerInteractorStyle::win_pos_x_ [protected]

The current window position x/y.

Definition at line 188 of file interactor_style.h.

int pcl::visualization::PCLVisualizerInteractorStyle::win_pos_y_ [protected]

Definition at line 188 of file interactor_style.h.

int pcl::visualization::PCLVisualizerInteractorStyle::win_width_ [protected]

Definition at line 185 of file interactor_style.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation