window.h

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#ifndef PCL_VISUALIZER_WINDOW_H__
#define PCL_VISUALIZER_WINDOW_H__

#include <pcl/pcl_macros.h>
#include <boost/signals2/signal.hpp>

#include <vtkCommand.h>

template <typename T> class vtkSmartPointer;
class vtkObject;
class vtkRenderWindow;
class vtkRenderWindowInteractor;
class vtkCallbackCommand;
class vtkRendererCollection;
class PCLVisualizerInteractorStyle;

namespace pcl
{
  namespace visualization
  {
    class MouseEvent;
    class KeyboardEvent;

    class PCL_EXPORTS Window
    {
      public:
        Window (const std::string& window_name = "");
        Window (const Window &src);
        Window& operator = (const Window &src);

        virtual ~Window ();

        void
        spin ();

        void
        spinOnce (int time = 1, bool force_redraw = false);

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

        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
        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));
        }

      protected: // methods

        void
        resetStoppedFlag () { stopped_ = false; }

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

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

        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
        {
          static ExitMainLoopTimerCallback* New ()
          {
            return (new ExitMainLoopTimerCallback);
          }

          ExitMainLoopTimerCallback ();
          ExitMainLoopTimerCallback (const ExitMainLoopTimerCallback& src);
          ExitMainLoopTimerCallback& operator = (const ExitMainLoopTimerCallback& src);

          virtual void 
          Execute (vtkObject*, unsigned long event_id, void* call_data);

          int right_timer_id;
          Window* window;
        };

        struct ExitCallback : public vtkCommand
        {
          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }

          ExitCallback ();
          ExitCallback (const ExitCallback &src);
          ExitCallback& operator = (const ExitCallback &src);
 
          virtual void 
          Execute (vtkObject*, unsigned long event_id, void*);

          Window* window;
        };

        bool stopped_;
        int timer_id_;

    protected: // member fields
        boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
        boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;

        vtkSmartPointer<vtkRenderWindow> win_;
        vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
        vtkCallbackCommand* mouse_command_;
        vtkCallbackCommand* keyboard_command_;
        vtkSmartPointer<PCLVisualizerInteractorStyle> style_;
        vtkSmartPointer<vtkRendererCollection> rens_;
        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;
    };
  }
}

#endif  /* __WINDOW_H__ */