point_picking_event.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, 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_VISUALIZATION_POINT_PICKING_EVENT_H_
#define PCL_VISUALIZATION_POINT_PICKING_EVENT_H_

#include <pcl/pcl_macros.h>
#include <vector>

#include <vtkCommand.h>
class vtkRenderWindowInteractor;

namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS PointPickingCallback : public vtkCommand
    {
      public:
        static PointPickingCallback *New () 
        { 
          return (new PointPickingCallback); 
        }

        PointPickingCallback () : x_ (0), y_ (0), z_ (0), idx_ (-1), pick_first_ (false) {}
      
        virtual ~PointPickingCallback () {}

        virtual void
        Execute (vtkObject *caller, unsigned long eventid, void*);

        int
        performSinglePick (vtkRenderWindowInteractor *iren);

        int
        performSinglePick (vtkRenderWindowInteractor *iren, float &x, float &y, float &z);

        int
        performAreaPick (vtkRenderWindowInteractor *iren, std::vector<int> &indices);

      private:
        float x_, y_, z_;
        int idx_;
        bool pick_first_;
     };

    class PCL_EXPORTS PointPickingEvent
    {
      public:
        PointPickingEvent (int idx) : idx_ (idx), idx2_ (-1), x_ (), y_ (), z_ (), x2_ (), y2_ (), z2_ () {}
        PointPickingEvent (int idx, float x, float y, float z) : idx_ (idx), idx2_ (-1), x_ (x), y_ (y), z_ (z), x2_ (), y2_ (), z2_ () {}

        PointPickingEvent (int idx1, int idx2, float x1, float y1, float z1, float x2, float y2, float z2) :
          idx_ (idx1), idx2_ (idx2), x_ (x1), y_ (y1), z_ (z1), x2_ (x2), y2_ (y2), z2_ (z2) 
        {}

        inline int
        getPointIndex () const
        {
          return (idx_);
        }

        inline void
        getPoint (float &x, float &y, float &z) const
        {
          x = x_; y = y_; z = z_;
        }

        inline bool
        getPoints (float &x1, float &y1, float &z1, float &x2, float &y2, float &z2) const
        {
          if (idx2_ == -1)
            return (false);
          x1 = x_; y1 = y_; z1 = z_;
          x2 = x2_; y2 = y2_; z2 = z2_;
          return (true);
        }

        inline bool
        getPointIndices (int &index_1, int &index_2) const
        {
          if (idx2_ == -1)
            return (false);
          index_1 = idx_;
          index_2 = idx2_;
          return (true);
        }

      private:
        int idx_, idx2_;

        float x_, y_, z_;
        float x2_, y2_, z2_;
    };
  } //namespace visualization
} //namespace pcl

#endif  /* PCL_VISUALIZATION_POINT_PICKING_EVENT_H_ */