window.cpp

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#include <vtkSmartPointer.h>
#include <vtkCallbackCommand.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderWindow.h>
#include <vtkRendererCollection.h>
#include <pcl/visualization/interactor_style.h>

#include <pcl/visualization/window.h>
#include <pcl/visualization/keyboard_event.h>
#include <pcl/visualization/mouse_event.h>
#include <pcl/common/time.h>

pcl::visualization::Window::Window (const std::string& window_name)
  : stopped_ ()
  , timer_id_ ()
  , mouse_signal_ ()
  , keyboard_signal_ ()
  , win_ ()
  , interactor_ ()
  , mouse_command_ (vtkCallbackCommand::New ())
  , keyboard_command_ (vtkCallbackCommand::New ())
  , style_ (vtkSmartPointer<pcl::visualization::PCLVisualizerInteractorStyle>::New ())
  , rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
  , exit_main_loop_timer_callback_ ()
  , exit_callback_ ()

{
  mouse_command_->SetClientData (this);
  mouse_command_->SetCallback (Window::MouseCallback);

  keyboard_command_->SetClientData (this);
  keyboard_command_->SetCallback (Window::KeyboardCallback);

  // Create a RendererWindow
  win_ = vtkSmartPointer<vtkRenderWindow>::New ();
  win_->SetWindowName (window_name.c_str ());
  win_->AlphaBitPlanesOff ();
  win_->PointSmoothingOff ();
  win_->LineSmoothingOff ();
  win_->PolygonSmoothingOff ();
  win_->SwapBuffersOn ();
  win_->SetStereoTypeToAnaglyph ();

  // Get screen size
  int *scr_size = win_->GetScreenSize ();
  // Set the window size as 1/2 of the screen size
  win_->SetSize (scr_size[0] / 2, scr_size[1] / 2);

  // Create the interactor style
  style_->Initialize ();
  style_->setRendererCollection (rens_);
  style_->UseTimersOn ();

  // Create the interactor
  interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New ();
  //interactor_ = vtkSmartPointer<PCLVisualizerInteractor>::New ();

  interactor_->SetRenderWindow (win_);
  interactor_->SetInteractorStyle (style_);
  interactor_->SetDesiredUpdateRate (30.0);
  // Initialize and create timer
  interactor_->Initialize ();
  //interactor_->CreateRepeatingTimer (5000L);
  timer_id_ = interactor_->CreateRepeatingTimer (5000L);
  //  interactor_->timer_id_ = interactor_->CreateRepeatingTimer (5000L);
  //interactor_->timer_id_ = interactor_->CreateRepeatingTimer (30L);

  exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New ();
  exit_main_loop_timer_callback_->window = this;
  exit_main_loop_timer_callback_->right_timer_id = -1;
  interactor_->AddObserver (vtkCommand::TimerEvent, exit_main_loop_timer_callback_);

  exit_callback_ = vtkSmartPointer<ExitCallback>::New ();
  exit_callback_->window = this;
  interactor_->AddObserver (vtkCommand::ExitEvent, exit_callback_);

  resetStoppedFlag ();
}

pcl::visualization::Window::Window (const pcl::visualization::Window &src)
  : stopped_ (src.stopped_)
  , timer_id_ (src.timer_id_)
  //, mouse_signal_ (src.mouse_signal_)
  //, keyboard_signal_ (src.keyboard_signal_)
  , win_ (src.win_)
  , interactor_ (src.interactor_)
  , mouse_command_ (src.mouse_command_)
  , keyboard_command_ (src.keyboard_command_)
  , style_ (src.style_)
  , rens_ (src.rens_)
  , exit_main_loop_timer_callback_ (src.exit_main_loop_timer_callback_)
  , exit_callback_ (src.exit_callback_)
{
}

pcl::visualization::Window&
pcl::visualization::Window::operator = (const pcl::visualization::Window &src)
{
  stopped_ = src.stopped_;
  timer_id_ = src.timer_id_;
  //mouse_signal_ = src.mouse_signal_;
  //keyboard_signal_ = src.keyboard_signal_;
  win_ = src.win_;
  interactor_ = src.interactor_;
  mouse_command_ = src.mouse_command_;
  keyboard_command_ = src.keyboard_command_;
  style_ = src.style_;
  rens_ = src.rens_;
  exit_main_loop_timer_callback_ = src.exit_main_loop_timer_callback_;
  exit_callback_ = src.exit_callback_;
  return (*this);
}

pcl::visualization::Window::~Window ()
{
  interactor_->DestroyTimer (timer_id_);
  //  interactor_->DestroyTimer (interactor_->timer_id_);
}

void 
pcl::visualization::Window::spin ()
{
  resetStoppedFlag ();
  // Render the window before we start the interactor
  win_->Render ();
  interactor_->Start ();
}

void
pcl::visualization::Window::spinOnce (int time, bool force_redraw)
{
  resetStoppedFlag ();

  if (time <= 0)
    time = 1;

  if (force_redraw)
  {
    interactor_->Render ();
    exit_main_loop_timer_callback_->right_timer_id = interactor_->CreateRepeatingTimer (time);
    interactor_->Start ();
    interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
    return;
  }

  DO_EVERY(1.0/interactor_->GetDesiredUpdateRate (),
    interactor_->Render ();
    exit_main_loop_timer_callback_->right_timer_id = interactor_->CreateRepeatingTimer (time);
    interactor_->Start ();
    interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
  );
}

boost::signals2::connection 
pcl::visualization::Window::registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> callback)
{
  // just add observer at first time when a callback is registered
  if (mouse_signal_.empty ())
  {
    interactor_->AddObserver (vtkCommand::MouseMoveEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::MiddleButtonPressEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::MiddleButtonReleaseEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::MouseWheelBackwardEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::MouseWheelForwardEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::LeftButtonPressEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::LeftButtonReleaseEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::RightButtonPressEvent, mouse_command_);
    interactor_->AddObserver (vtkCommand::RightButtonReleaseEvent, mouse_command_);
  }
  return (mouse_signal_.connect (callback));
}

boost::signals2::connection 
pcl::visualization::Window::registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> callback)
{
  // just add observer at first time when a callback is registered
  if (keyboard_signal_.empty ())
  {
    interactor_->AddObserver (vtkCommand::KeyPressEvent, keyboard_command_);
    interactor_->AddObserver (vtkCommand::KeyReleaseEvent, keyboard_command_);
  }

  return (keyboard_signal_.connect (callback));
}

void 
pcl::visualization::Window::emitMouseEvent (unsigned long event_id)
{
  int x,y;
  interactor_->GetMousePosition (&x, &y);
  MouseEvent event (MouseEvent::MouseMove, MouseEvent::NoButton, x, y, interactor_->GetAltKey (), interactor_->GetControlKey (), interactor_->GetShiftKey ());
  bool repeat = false;
  switch (event_id)
  {
    case vtkCommand::MouseMoveEvent :
      event.setType(MouseEvent::MouseMove);
      break;
    
    case vtkCommand::LeftButtonPressEvent :
      event.setButton(MouseEvent::LeftButton);
      if (interactor_->GetRepeatCount () == 0)
        event.setType(MouseEvent::MouseButtonPress);
      else
        event.setType(MouseEvent::MouseDblClick);
      break;
      
    case vtkCommand::LeftButtonReleaseEvent :
      event.setButton(MouseEvent::LeftButton);
      event.setType(MouseEvent::MouseButtonRelease);
      break;
      
    case vtkCommand::RightButtonPressEvent :
      event.setButton(MouseEvent::RightButton);
      if (interactor_->GetRepeatCount () == 0)
        event.setType(MouseEvent::MouseButtonPress);
      else
        event.setType(MouseEvent::MouseDblClick);
      break;
      
    case vtkCommand::RightButtonReleaseEvent :
      event.setButton(MouseEvent::RightButton);
      event.setType(MouseEvent::MouseButtonRelease);
      break;
      
    case vtkCommand::MiddleButtonPressEvent :
      event.setButton(MouseEvent::MiddleButton);
      if (interactor_->GetRepeatCount () == 0)
        event.setType(MouseEvent::MouseButtonPress);
      else
        event.setType(MouseEvent::MouseDblClick);
      break;
      
    case vtkCommand::MiddleButtonReleaseEvent :
      event.setButton(MouseEvent::MiddleButton);
      event.setType(MouseEvent::MouseButtonRelease);
      break;
      
      case vtkCommand::MouseWheelBackwardEvent :
      event.setButton(MouseEvent::VScroll);
      event.setType(MouseEvent::MouseScrollDown);
      if (interactor_->GetRepeatCount () != 0)
        repeat = true;
      break;
      
    case vtkCommand::MouseWheelForwardEvent :
      event.setButton(MouseEvent::VScroll);
      event.setType(MouseEvent::MouseScrollUp);
      if (interactor_->GetRepeatCount () != 0)
        repeat = true;
      break;
    default:
      return;
  }

  mouse_signal_ (event);
  if (repeat)
    mouse_signal_ (event);
}

void 
pcl::visualization::Window::emitKeyboardEvent (unsigned long event_id)
{
  KeyboardEvent event (bool(event_id == vtkCommand::KeyPressEvent), interactor_->GetKeySym (), interactor_->GetKeyCode (), interactor_->GetAltKey (), interactor_->GetControlKey (), interactor_->GetShiftKey ());
  keyboard_signal_ (event);
}

void 
pcl::visualization::Window::MouseCallback(vtkObject*, unsigned long eid, void* clientdata, void*)
{
  Window* window = reinterpret_cast<Window*> (clientdata);
  window->emitMouseEvent (eid);
}

void 
pcl::visualization::Window::KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void*)
{
  Window* window = reinterpret_cast<Window*> (clientdata);
  window->emitKeyboardEvent (eid);
}

pcl::visualization::Window::ExitMainLoopTimerCallback::ExitMainLoopTimerCallback () 
  : right_timer_id (), window () 
{
}

pcl::visualization::Window::ExitMainLoopTimerCallback::ExitMainLoopTimerCallback (
    const pcl::visualization::Window::ExitMainLoopTimerCallback& src) 
  : vtkCommand (), right_timer_id (src.right_timer_id), window (src.window) 
{
}

pcl::visualization::Window::ExitMainLoopTimerCallback&
pcl::visualization::Window::ExitMainLoopTimerCallback::operator = (
    const pcl::visualization::Window::ExitMainLoopTimerCallback& src) 
{ 
  right_timer_id = src.right_timer_id; 
  window = src.window; 
  return (*this); 
}

void
pcl::visualization::Window::ExitMainLoopTimerCallback::Execute (
    vtkObject*, 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;
  window->interactor_->TerminateApp ();
//            window->interactor_->stopLoop ();
}

pcl::visualization::Window::ExitCallback::ExitCallback () 
  : window () 
{
}

pcl::visualization::Window::ExitCallback::ExitCallback (
    const pcl::visualization::Window::ExitCallback &src) 
  : vtkCommand (), window (src.window)
{
}

pcl::visualization::Window::ExitCallback&
pcl::visualization::Window::ExitCallback::operator = (
    const pcl::visualization::Window::ExitCallback &src) 
{
  window = src.window; 
  return (*this);
}

void
pcl::visualization::Window::ExitCallback::Execute (
    vtkObject*, unsigned long event_id, void*)
{
  if (event_id != vtkCommand::ExitEvent)
    return;
  window->interactor_->TerminateApp ();
  window->stopped_ = true;
}