point_picking_event.cpp

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 * $Id: interactor.cpp 1829 2011-07-18 19:26:51Z mdixon $
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#include <pcl/visualization/point_picking_event.h>
#include <pcl/visualization/interactor_style.h>
#include <vtkPointPicker.h>
#include <vtkRendererCollection.h>

void
pcl::visualization::PointPickingCallback::Execute (vtkObject *caller, unsigned long eventid, void*)
{
  vtkRenderWindowInteractor* iren = reinterpret_cast<pcl::visualization::PCLVisualizerInteractorStyle*>(caller)->GetInteractor ();

  if ((eventid == vtkCommand::LeftButtonPressEvent) && (iren->GetShiftKey () > 0)) 
  {
    float x = 0, y = 0, z = 0;
    int idx = performSinglePick (iren, x, y, z);
    // Create a PointPickingEvent
    PointPickingEvent event (idx, x, y, z);
    reinterpret_cast<pcl::visualization::PCLVisualizerInteractorStyle*>(caller)->point_picking_signal_ (event);
  }
  else if ((eventid == vtkCommand::LeftButtonPressEvent) && (iren->GetAltKey () == 1))
  {
    pick_first_ = !pick_first_;
    float x = 0, y = 0, z = 0;
    int idx = -1;
    if (pick_first_)
      idx_ = performSinglePick (iren, x_, y_, z_);
    else
      idx = performSinglePick (iren, x, y, z);
    // Create a PointPickingEvent
    PointPickingEvent event (idx_, idx, x_, y_, z_, x, y, z);
    reinterpret_cast<pcl::visualization::PCLVisualizerInteractorStyle*>(caller)->point_picking_signal_ (event);
  }
  // Call the parent's class mouse events
  reinterpret_cast<pcl::visualization::PCLVisualizerInteractorStyle*>(caller)->OnLeftButtonDown ();
}

int
pcl::visualization::PointPickingCallback::performSinglePick (vtkRenderWindowInteractor *iren)
{
  int mouse_x, mouse_y;
  vtkPointPicker *picker = (vtkPointPicker*)iren->GetPicker ();
  //iren->GetMousePosition (&mouse_x, &mouse_y);
  mouse_x = iren->GetEventPosition ()[0];
  mouse_y = iren->GetEventPosition ()[1];
  iren->StartPickCallback ();
  
  vtkRenderer *ren = iren->FindPokedRenderer (iren->GetEventPosition ()[0], iren->GetEventPosition ()[1]);
  picker->Pick (mouse_x, mouse_y, 0.0, ren);
  return ((int)picker->GetPointId ());
}

int
pcl::visualization::PointPickingCallback::performSinglePick (
    vtkRenderWindowInteractor *iren,
    float &x, float &y, float &z)
{
  int mouse_x, mouse_y;
  vtkPointPicker *picker = (vtkPointPicker*)iren->GetPicker ();
  //iren->GetMousePosition (&mouse_x, &mouse_y);
  mouse_x = iren->GetEventPosition ()[0];
  mouse_y = iren->GetEventPosition ()[1];
  iren->StartPickCallback ();
  
  vtkRenderer *ren = iren->FindPokedRenderer (iren->GetEventPosition ()[0], iren->GetEventPosition ()[1]);
  picker->Pick (mouse_x, mouse_y, 0.0, ren);

  int idx = picker->GetPointId ();
  if (picker->GetDataSet () != NULL)
  {
    double p[3];
    picker->GetDataSet ()->GetPoint (idx, p);
    x = p[0]; y = p[1]; z = p[2];
  }
  return (idx);
}