histogram_visualizer.h

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/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
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 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
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 *     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 Willow Garage, Inc. 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
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 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 *
 * $Id: histogram_visualizer.h 6161 2012-07-05 17:37:29Z rusu $
 *
 */
#ifndef PCL_PCL_HISTOGRAM_VISUALIZER_H_
#define PCL_PCL_HISTOGRAM_VISUALIZER_H_

#include <pcl/visualization/interactor_style.h>
#include <pcl/visualization/vtk.h>
#include <pcl/visualization/common/common.h>
#include <pcl/visualization/common/ren_win_interact_map.h>

namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS PCLHistogramVisualizer
    {
      public:
        PCLHistogramVisualizer ();

        virtual ~PCLHistogramVisualizer () {}
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
        void 
        spinOnce (int time = 1, bool force_redraw = false);
#else
        void 
        spinOnce (int time = 1);
#endif

        void 
        spin ();
        
        void 
        setBackgroundColor (const double &r, const double &g, const double &b, int viewport = 0);

        template <typename PointT> bool 
        addFeatureHistogram (const pcl::PointCloud<PointT> &cloud, 
                             int hsize, 
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);

        bool 
        addFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, 
                             const std::string &field_name, 
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);

        template <typename PointT> bool 
        addFeatureHistogram (const pcl::PointCloud<PointT> &cloud, 
                             const std::string &field_name, 
                             const int index,
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);

        bool 
        addFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, 
                             const std::string &field_name, 
                             const int index,
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);
        
        template <typename PointT> bool 
        updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, int hsize, const std::string &id = "cloud");
        
                             
        bool 
        updateFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, 
                                const std::string &field_name, 
                                const std::string &id = "cloud");
                             
        
        template <typename PointT> bool 
        updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, const std::string &field_name,
                                                   const int index, const std::string &id = "cloud");
        
                             
        bool 
        updateFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, 
                                const std::string &field_name, const int index,
                                const std::string &id = "cloud");         


        void 
        setGlobalYRange (float minp, float maxp);

        void 
        updateWindowPositions ();
#if ((VTK_MAJOR_VERSION) == 5 && (VTK_MINOR_VERSION <= 4))

        bool 
        wasStopped ();
        
        void 
        resetStoppedFlag ();
#endif
      protected:

        void
        createActor (const vtkSmartPointer<vtkDoubleArray> &xy_array, 
                     RenWinInteract &renwinint,
                     const std::string &id, const int win_width, const int win_height);
        
        void
        reCreateActor (const vtkSmartPointer<vtkDoubleArray> &xy_array, 
                       RenWinInteract* renwinupd, const int hsize);

      private:
        RenWinInteractMap wins_;

        struct ExitMainLoopTimerCallback : public vtkCommand
        {
          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 = *(reinterpret_cast<int*> (call_data));

            if (timer_id != right_timer_id)
              return;

            // Stop vtk loop and send notification to app to wake it up
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
            interact->stopLoop ();
#else
            interact->TerminateApp ();
#endif
          }
          int right_timer_id;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
          PCLVisualizerInteractor *interact;
#else
          vtkRenderWindowInteractor *interact;
#endif
        };
        
        struct ExitCallback : public vtkCommand
        {
          ExitCallback () : his () {}

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

          virtual void 
          Execute (vtkObject*, unsigned long event_id, void*)
          {
            if (event_id != vtkCommand::ExitEvent)
              return;
            his->stopped_ = true;
          }
          PCLHistogramVisualizer *his;
        };

        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;
        bool stopped_;
    };
  }
}

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

#endif