image_viewer.h

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#ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_H__
#define PCL_VISUALIZATION_IMAGE_VISUALIZER_H__

#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/console/print.h>
#include <pcl/visualization/interactor.h>
#include <pcl/visualization/interactor_style.h>
#include <pcl/visualization/vtk/pcl_image_canvas_source_2d.h>
#include <pcl/visualization/vtk/pcl_context_item.h>
#include <pcl/geometry/planar_polygon.h>
#include <pcl/correspondence.h>

#include <boost/shared_array.hpp>

#include <vtkInteractorStyleImage.h>

class vtkImageSlice;
class vtkContextActor;
class vtkImageViewer;
class vtkImageFlip;

namespace pcl
{
  namespace visualization
  {
    typedef Eigen::Array<unsigned char, 3, 1> Vector3ub;
    static const Vector3ub green_color (0, 255, 0);
    static const Vector3ub red_color (255, 0, 0);
    static const Vector3ub blue_color (0, 0, 255);

    class PCL_EXPORTS ImageViewerInteractorStyle : public vtkInteractorStyleImage
    {
      public:
        static ImageViewerInteractorStyle *New ();
        ImageViewerInteractorStyle ();

        virtual void OnMouseWheelForward () {}
        virtual void OnMouseWheelBackward () {}
        virtual void OnMiddleButtonDown () {}
        virtual void OnRightButtonDown () {}
        virtual void OnLeftButtonDown ();

        virtual void
        OnChar ();

        void
        adjustCamera (vtkImageData *image, vtkRenderer *ren);

        void
        adjustCamera (vtkRenderer *ren);
    };

    class PCL_EXPORTS ImageViewer
    {
      public:
        typedef boost::shared_ptr<ImageViewer> Ptr;

        ImageViewer (const std::string& window_title = "");

        virtual ~ImageViewer ();
       
        void 
        showMonoImage (const unsigned char* data, unsigned width, unsigned height,
                       const std::string &layer_id = "mono_image", double opacity = 1.0);

        void 
        addMonoImage (const unsigned char* data, unsigned width, unsigned height,
                      const std::string &layer_id = "mono_image", double opacity = 1.0);

        inline void
        showMonoImage (const pcl::PointCloud<pcl::Intensity>::ConstPtr &cloud,
                      const std::string &layer_id = "mono_image", double opacity = 1.0)
        {
          return (showMonoImage (*cloud, layer_id, opacity));
        }

        inline void
        addMonoImage (const pcl::PointCloud<pcl::Intensity>::ConstPtr &cloud,
                     const std::string &layer_id = "mono_image", double opacity = 1.0)
        {
          return (addMonoImage (*cloud, layer_id, opacity));
        }

        void
        showMonoImage (const pcl::PointCloud<pcl::Intensity> &cloud,
                      const std::string &layer_id = "mono_image", double opacity = 1.0);

        void
        addMonoImage (const pcl::PointCloud<pcl::Intensity> &cloud,
                     const std::string &layer_id = "mono_image", double opacity = 1.0);

        inline void
        showMonoImage (const pcl::PointCloud<pcl::Intensity8u>::ConstPtr &cloud,
                      const std::string &layer_id = "mono_image", double opacity = 1.0)
        {
          return (showMonoImage (*cloud, layer_id, opacity));
        }

        inline void
        addMonoImage (const pcl::PointCloud<pcl::Intensity8u>::ConstPtr &cloud,
                     const std::string &layer_id = "mono_image", double opacity = 1.0)
        {
          return (addMonoImage (*cloud, layer_id, opacity));
        }

        void
        showMonoImage (const pcl::PointCloud<pcl::Intensity8u> &cloud,
                      const std::string &layer_id = "mono_image", double opacity = 1.0);

        void
        addMonoImage (const pcl::PointCloud<pcl::Intensity8u> &cloud,
                     const std::string &layer_id = "mono_image", double opacity = 1.0);

        void 
        showRGBImage (const unsigned char* data, unsigned width, unsigned height, 
                      const std::string &layer_id = "rgb_image", double opacity = 1.0);

        void 
        addRGBImage (const unsigned char* data, unsigned width, unsigned height, 
                     const std::string &layer_id = "rgb_image", double opacity = 1.0);

        template <typename T> inline void 
        showRGBImage (const typename pcl::PointCloud<T>::ConstPtr &cloud,
                      const std::string &layer_id = "rgb_image", double opacity = 1.0)
        {
          return (showRGBImage<T> (*cloud, layer_id, opacity));
        }

        template <typename T> inline void 
        addRGBImage (const typename pcl::PointCloud<T>::ConstPtr &cloud,
                     const std::string &layer_id = "rgb_image", double opacity = 1.0)
        {
          return (addRGBImage<T> (*cloud, layer_id, opacity));
        }

        template <typename T> void 
        showRGBImage (const pcl::PointCloud<T> &cloud,
                      const std::string &layer_id = "rgb_image", double opacity = 1.0);

        template <typename T> void 
        addRGBImage (const pcl::PointCloud<T> &cloud,
                     const std::string &layer_id = "rgb_image", double opacity = 1.0);

        void 
        showFloatImage (const float* data, unsigned int width, unsigned int height, 
                        float min_value = std::numeric_limits<float>::min (), 
                        float max_value = std::numeric_limits<float>::max (), bool grayscale = false,
                        const std::string &layer_id = "float_image", double opacity = 1.0);

        void 
        addFloatImage (const float* data, unsigned int width, unsigned int height, 
                       float min_value = std::numeric_limits<float>::min (), 
                       float max_value = std::numeric_limits<float>::max (), bool grayscale = false,
                       const std::string &layer_id = "float_image", double opacity = 1.0);
        
        void
        showShortImage (const unsigned short* short_image, unsigned int width, unsigned int height, 
                        unsigned short min_value = std::numeric_limits<unsigned short>::min (), 
                        unsigned short max_value = std::numeric_limits<unsigned short>::max (), bool grayscale = false,
                        const std::string &layer_id = "short_image", double opacity = 1.0);

        void
        addShortImage (const unsigned short* short_image, unsigned int width, unsigned int height, 
                       unsigned short min_value = std::numeric_limits<unsigned short>::min (), 
                       unsigned short max_value = std::numeric_limits<unsigned short>::max (), bool grayscale = false,
                       const std::string &layer_id = "short_image", double opacity = 1.0);

        void 
        showAngleImage (const float* data, unsigned width, unsigned height,
                        const std::string &layer_id = "angle_image", double opacity = 1.0);

        void 
        addAngleImage (const float* data, unsigned width, unsigned height,
                       const std::string &layer_id = "angle_image", double opacity = 1.0);

        void 
        showHalfAngleImage (const float* data, unsigned width, unsigned height,
                            const std::string &layer_id = "half_angle_image", double opacity = 1.0);

        void 
        addHalfAngleImage (const float* data, unsigned width, unsigned height,
                           const std::string &layer_id = "half_angle_image", double opacity = 1.0);

        void
        markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color = red_color, double radius = 3.0,
                   const std::string &layer_id = "points", double opacity = 1.0);

        void
        setWindowTitle (const std::string& name);

        void 
        spin ();
        
        void 
        spinOnce (int time = 1, bool force_redraw = true);
        
        boost::signals2::connection 
        registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), 
                                  void* cookie = NULL)
        {
          return (registerKeyboardCallback (boost::bind (callback, _1, cookie)));
        }
        
        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)));
        }
        
        boost::signals2::connection 
        registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> cb);

        boost::signals2::connection 
        registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), 
                               void* cookie = NULL)
        {
          return (registerMouseCallback (boost::bind (callback, _1, cookie)));
        }
        
        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)));
        }

        boost::signals2::connection 
        registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> cb);
        
        void
        setPosition (int x, int y);

        void
        setSize (int xw, int yw);

        int*
        getSize ();

        bool
        wasStopped () const { return (stopped_); }

        void
        close ()
        {
          stopped_ = true;
          // This tends to close the window...
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
          interactor_->stopLoop ();
#else
          interactor_->TerminateApp ();
#endif
        }

        bool
        addCircle (unsigned int x, unsigned int y, double radius, 
                   const std::string &layer_id = "circles", double opacity = 1.0);

        bool
        addCircle (unsigned int x, unsigned int y, double radius, 
                   double r, double g, double b,
                   const std::string &layer_id = "circles", double opacity = 1.0);

        bool
        addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt,
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        bool
        addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt,
                      double r, double g, double b,
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        bool
        addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,  
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        bool
        addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,  
                      double r, double g, double b,
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        template <typename T> bool
        addRectangle (const typename pcl::PointCloud<T>::ConstPtr &image, 
                      const T &min_pt, const T &max_pt,
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        template <typename T> bool
        addRectangle (const typename pcl::PointCloud<T>::ConstPtr &image, 
                      const T &min_pt, const T &max_pt,
                      double r, double g, double b,
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        template <typename T> bool
        addRectangle (const typename pcl::PointCloud<T>::ConstPtr &image, const pcl::PointCloud<T> &mask, 
                      double r, double g, double b, 
                      const std::string &layer_id = "rectangles", double opacity = 1.0);

        template <typename T> bool
        addRectangle (const typename pcl::PointCloud<T>::ConstPtr &image, const pcl::PointCloud<T> &mask, 
                      const std::string &layer_id = "image_mask", double opacity = 1.0);

        bool
        addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,  
                            const std::string &layer_id = "boxes", double opacity = 0.5);

        bool
        addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,  
                            double r, double g, double b,
                            const std::string &layer_id = "boxes", double opacity = 0.5);

        bool
        addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max,
                 double r, double g, double b, 
                 const std::string &layer_id = "line", double opacity = 1.0);

        bool
        addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max,
                 const std::string &layer_id = "line", double opacity = 1.0);


        template <typename T> bool
        addMask (const typename pcl::PointCloud<T>::ConstPtr &image, const pcl::PointCloud<T> &mask, 
                 double r, double g, double b, 
                 const std::string &layer_id = "image_mask", double opacity = 0.5);

        template <typename T> bool
        addMask (const typename pcl::PointCloud<T>::ConstPtr &image, const pcl::PointCloud<T> &mask, 
                 const std::string &layer_id = "image_mask", double opacity = 0.5);

        template <typename T> bool
        addPlanarPolygon (const typename pcl::PointCloud<T>::ConstPtr &image, const pcl::PlanarPolygon<T> &polygon, 
                          double r, double g, double b, 
                          const std::string &layer_id = "planar_polygon", double opacity = 1.0);

        template <typename T> bool
        addPlanarPolygon (const typename pcl::PointCloud<T>::ConstPtr &image, const pcl::PlanarPolygon<T> &polygon, 
                          const std::string &layer_id = "planar_polygon", double opacity = 1.0);

        bool
        addLayer (const std::string &layer_id, int width, int height, double opacity = 0.5);

        void
        removeLayer (const std::string &layer_id);

        template <typename PointT> bool
        showCorrespondences (const pcl::PointCloud<PointT> &source_img,
                             const pcl::PointCloud<PointT> &target_img,
                             const pcl::Correspondences &correspondences,
                             int nth = 1,
                             const std::string &layer_id = "correspondences");

      protected:
        void
        render ();

        void
        convertIntensityCloudToUChar (const pcl::PointCloud<pcl::Intensity> &cloud,
                                boost::shared_array<unsigned char> data);

        void
        convertIntensityCloud8uToUChar (const pcl::PointCloud<pcl::Intensity8u> &cloud,
                                boost::shared_array<unsigned char> data);

        template <typename T> void
        convertRGBCloudToUChar (const pcl::PointCloud<T> &cloud,
                                boost::shared_array<unsigned char> &data);

        void
        resetStoppedFlag () { stopped_ = false; }

        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
        {
          ExitMainLoopTimerCallback () : right_timer_id (), window () {}

          static ExitMainLoopTimerCallback* New ()
          {
            return (new ExitMainLoopTimerCallback);
          }
          virtual void 
          Execute (vtkObject* vtkNotUsed (caller), unsigned long event_id, void* call_data)
          {
            if (event_id != vtkCommand::TimerEvent)
              return;
            int timer_id = *static_cast<int*> (call_data);
            if (timer_id != right_timer_id)
              return;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
            window->interactor_->stopLoop ();
#else
            window->interactor_->TerminateApp ();
#endif
          }
          int right_timer_id;
          ImageViewer* window;
        };
        struct ExitCallback : public vtkCommand
        {
          ExitCallback () : window () {}

          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }
          virtual void 
          Execute (vtkObject*, unsigned long event_id, void*)
          {
            if (event_id != vtkCommand::ExitEvent)
              return;
            window->stopped_ = true;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
            window->interactor_->stopLoop ();
#else
            window->interactor_->TerminateApp ();
#endif
          }
          ImageViewer* window;
        };

    private:
        struct Layer
        {
          Layer () : actor (), layer_name () {}
          vtkSmartPointer<vtkContextActor> actor;
          std::string layer_name;
        };

        typedef std::vector<Layer> LayerMap;

        LayerMap::iterator
        createLayer (const std::string &layer_id, int width, int height, double opacity = 0.5, bool fill_box = true);

        boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
        boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;
        
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
        vtkSmartPointer<PCLVisualizerInteractor> interactor_;
#else
        vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
#endif
        vtkSmartPointer<vtkCallbackCommand> mouse_command_;
        vtkSmartPointer<vtkCallbackCommand> keyboard_command_;

        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;

        vtkSmartPointer<vtkImageViewer> image_viewer_;

        vtkSmartPointer<vtkRenderWindow> win_;

        vtkSmartPointer<vtkRenderer> ren_;

#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))

        vtkSmartPointer<vtkImageSlice> slice_;
#endif

        vtkSmartPointer<ImageViewerInteractorStyle> interactor_style_;

        boost::shared_array<unsigned char> data_;
  
        size_t data_size_;

        bool stopped_;

        int timer_id_;

        // /** \brief Internal blender used to overlay 2D geometry over the image. */
        // vtkSmartPointer<vtkImageBlend> blend_;
 
        LayerMap layer_map_;

        vtkSmartPointer<vtkImageFlip> algo_;

        std::vector<unsigned char*> image_data_;

        struct LayerComparator
        {
          LayerComparator (const std::string &str) : str_ (str) {}
          const std::string &str_;

          bool
          operator () (const Layer &layer)
          {
            return (layer.layer_name == str_);
          }
        };        
        
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/visualization/impl/image_viewer.hpp>

#endif  /* __IMAGE_VISUALIZER_H__ */