pcl_visualization: pcl_visualizer.h Source File

00001 /*
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00034  * $Id: pcl_visualizer.h 36093 2011-02-19 21:54:55Z rusu $
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00036  */
00037 #ifndef PCL_PCL_VISUALIZER_H_
00038 #define PCL_PCL_VISUALIZER_H_
00039 
00040 // PCL includes
00041 #include <pcl/point_types.h>
00042 #include <pcl/point_cloud.h>
00043 // 
00044 #include <terminal_tools/print.h>
00045 #include <pcl_visualization/interactor.h>
00046 #include <pcl_visualization/interactor_style.h>
00047 #include <pcl_visualization/common/common.h>
00048 #include <pcl_visualization/common/shapes.h>
00049 #include <boost/make_shared.hpp>
00050 #include <boost/algorithm/string/split.hpp>
00051 #include <boost/algorithm/string/classification.hpp>
00052 // VTK includes
00053 #include <vtkAxes.h>
00054 #include <vtkFloatArray.h>
00055 #include <vtkAppendPolyData.h>
00056 #include <vtkPointData.h>
00057 #include <vtkTubeFilter.h>
00058 #include <vtkPolyDataMapper.h>
00059 #include <vtkDataSetMapper.h>
00060 #include <vtkCellArray.h>
00061 #include <vtkCommand.h>
00062 #include <vtkPLYReader.h>
00063 #include <vtkTransformFilter.h>
00064 
00065 namespace pcl_visualization
00066 {
00070   class PCLVisualizer
00071   {
00072     public:
00073       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler;
00074       typedef GeometryHandler::Ptr GeometryHandlerPtr;
00075       typedef GeometryHandler::ConstPtr GeometryHandlerConstPtr;
00076 
00077       typedef PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler;
00078       typedef ColorHandler::Ptr ColorHandlerPtr;
00079       typedef ColorHandler::ConstPtr ColorHandlerConstPtr;
00080 
00084       PCLVisualizer (const std::string &name = "");
00091       PCLVisualizer (int &argc, char **argv, const std::string &name = "", PCLVisualizerInteractorStyle* style = PCLVisualizerInteractorStyle::New ());
00092 
00094       virtual ~PCLVisualizer ();
00095 
00097       void spin ();
00098       
00104       void spinOnce (int time = 1, bool force_redraw = false);
00105 
00110       void addCoordinateSystem (double scale = 1.0, int viewport = 0);
00118       void addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0);
00119 
00123       void removeCoordinateSystem (int viewport = 0);
00124 
00129       bool removePointCloud (const std::string &id = "cloud", int viewport = 0);
00130 
00135       bool removeShape (const std::string &id = "cloud", int viewport = 0);
00136 
00143       void setBackgroundColor (const double &r, const double &g, const double &b, int viewport = 0);
00144 
00152       bool addText (const std::string &text, int xpos, int ypos, const std::string &id = "", int viewport = 0);
00153 
00164       bool addText (const std::string &text, int xpos, int ypos, int r, int g, int b, const std::string &id = "", int viewport = 0);
00165 
00173       template <typename PointNT>
00174       bool addPointCloudNormals (const pcl::PointCloud<PointNT> &cloud,
00175                                  int level = 100, double scale = 0.02,
00176                                  const std::string &id = "cloud", int viewport = 0);
00185       template <typename PointT, typename PointNT>
00186       bool addPointCloudNormals (const pcl::PointCloud<PointT> &cloud,
00187                                  const pcl::PointCloud<PointNT> &normals,
00188                                  int level = 100, double scale = 0.02,
00189                                  const std::string &id = "cloud", int viewport = 0);
00199       bool addPointCloudPrincipalCurvatures (const pcl::PointCloud<pcl::PointXYZ> &cloud, 
00200                                              const pcl::PointCloud<pcl::Normal> &normals,
00201                                              const pcl::PointCloud<pcl::PrincipalCurvatures> &pcs,
00202                                              int level = 100, double scale = 1.0,
00203                                              const std::string &id = "cloud", int viewport = 0);
00204 
00210       bool addPointCloud (const pcl::PointCloud<pcl::PointXYZ> &cloud, 
00211                           const std::string &id = "cloud", int viewport = 0);
00212 
00218       template <typename PointT> bool 
00219         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00220                        const std::string &id = "cloud", int viewport = 0);
00221 
00228       template <typename PointT> bool 
00229         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00230                        const PointCloudGeometryHandler<PointT> &geometry_handler,
00231                        const std::string &id = "cloud", int viewport = 0);
00232 
00239       template <typename PointT> bool 
00240         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00241                        const GeometryHandlerConstPtr &geometry_handler,
00242                        const std::string &id = "cloud", int viewport = 0);
00243 
00250       template <typename PointT> bool 
00251         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00252                        const PointCloudColorHandler<PointT> &color_handler,
00253                        const std::string &id = "cloud", int viewport = 0);
00254 
00261       template <typename PointT> bool 
00262         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00263                        const ColorHandlerConstPtr &color_handler,
00264                        const std::string &id = "cloud", int viewport = 0);
00265 
00273       template <typename PointT> bool 
00274         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00275                        const GeometryHandlerConstPtr &geometry_handler,
00276                        const ColorHandlerConstPtr &color_handler,
00277                        const std::string &id = "cloud", int viewport = 0);
00278 
00286       template <typename PointT> bool 
00287         addPointCloud (const pcl::PointCloud<PointT> &cloud, 
00288                        const PointCloudColorHandler<PointT> &color_handler,
00289                        const PointCloudGeometryHandler<PointT> &geometry_handler,
00290                        const std::string &id = "cloud", int viewport = 0);
00291 
00295       inline int getColorHandlerIndex (const std::string &id)
00296       {
00297         CloudActorMap::iterator am_it = style_->getCloudActorMap ()->find (id);
00298         if (am_it == cloud_actor_map_.end ())
00299           return (-1);
00300 
00301         return (am_it->second.color_handler_index_);
00302       }
00306       inline int getGeometryHandlerIndex (const std::string &id)
00307       {
00308         CloudActorMap::iterator am_it = style_->getCloudActorMap ()->find (id);
00309         if (am_it != cloud_actor_map_.end ())
00310           return (-1);
00311 
00312         return (am_it->second.geometry_handler_index_);
00313       }
00314 
00319       bool updateColorHandlerIndex (const std::string &id, int index);
00320 
00329       bool setPointCloudRenderingProperties (int property, double val1, double val2, double val3, const std::string &id = "cloud", int viewport = 0);
00330 
00337       bool setPointCloudRenderingProperties (int property, double value, const std::string &id = "cloud", int viewport = 0);
00338 
00344       bool getPointCloudRenderingProperties (int property, double &value, const std::string &id = "cloud");
00345       
00352       bool setShapeRenderingProperties (int property, double value, const std::string &id, int viewport = 0);
00353 
00355       bool wasStopped () const { return (interactor_->stopped); }
00357       void resetStoppedFlag () { interactor_->stopped = false; }
00358 
00366       void createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport);
00367 
00377       template <typename PointT> bool
00378         addPolygon (const pcl::PointCloud<PointT> &cloud, double r, double g, double b, const std::string &id = "polygon", int viewport = 0);
00379 
00386       template <typename PointT> bool
00387         addPolygon (const pcl::PointCloud<PointT> &cloud, const std::string &id = "polygon", int viewport = 0);
00388 
00395       template <typename P1, typename P2> bool addLine (const P1 &pt1, const P2 &pt2, const std::string &id = "line", int viewport = 0);
00396 
00406       template <typename P1, typename P2> bool addLine (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id = "line", int viewport = 0);
00407 
00414 /*      template <typename P1, typename P2> inline bool addLineToGroup (const P1 &pt1, const P2 &pt2, const std::string &group_id = "line_group", int viewport = 0);*/
00415       
00422       template <typename PointT> bool addSphere (const PointT &center, double radius, const std::string &id = "sphere", int viewport = 0);
00423 
00433       template <typename PointT> bool addSphere (const PointT &center, double radius, double r, double g, double b, const std::string &id = "sphere", int viewport = 0);
00434 
00440       bool addModelFromPLYFile (const std::string & filename, const std::string & id = "PLYModel", int viewport = 0);
00441 
00449       bool addModelFromPLYFile (const std::string & filename, vtkSmartPointer<vtkTransform> transform, const std::string & id =
00450           "PLYModel", int viewport = 0);
00456       bool addCylinder (const pcl::ModelCoefficients &coefficients, const std::string &id = "cylinder", int viewport = 0);
00462       bool addSphere (const pcl::ModelCoefficients &coefficients, const std::string &id = "sphere", int viewport = 0);
00468       bool addLine (const pcl::ModelCoefficients &coefficients, const std::string &id = "line", int viewport = 0);
00474       bool addPlane (const pcl::ModelCoefficients &coefficients, const std::string &id = "plane", int viewport = 0);
00480       bool addCircle (const pcl::ModelCoefficients &coefficients, const std::string &id = "circle", int viewport = 0);
00486       bool addCone (const pcl::ModelCoefficients &coefficients, const std::string &id = "cone", int viewport = 0);
00487 
00489       Camera camera_;
00490 
00492       void initCameraParameters ();
00493 
00498       bool getCameraParameters (int argc, char **argv);
00499 
00501       void updateCamera ();
00502 
00504       void resetCamera ();
00505 
00506     protected:
00508       vtkSmartPointer<PCLVisualizerInteractor> interactor_;
00509 
00510     private:
00511       struct ExitMainLoopTimerCallback : public vtkCommand
00512       {
00513         static ExitMainLoopTimerCallback* New()
00514         {
00515           return new ExitMainLoopTimerCallback;
00516         }
00517         virtual void Execute(vtkObject* vtkNotUsed(caller), unsigned long event_id, void* call_data)
00518         {
00519           if (event_id != vtkCommand::TimerEvent)
00520             return;
00521           int timer_id = *(int*)call_data;
00522           //cout << "Timer "<<timer_id<<" called.\n";
00523           if (timer_id != right_timer_id)
00524             return;
00525           // Stop vtk loop and send notification to app to wake it up
00526           pcl_visualizer->interactor_->stopLoop ();
00527         }
00528         int right_timer_id;
00529         PCLVisualizer* pcl_visualizer;
00530       };
00531       struct ExitCallback : public vtkCommand
00532       {
00533         static ExitCallback* New ()
00534         {
00535           return new ExitCallback;
00536         }
00537         virtual void Execute (vtkObject* caller, unsigned long event_id, void* call_data)
00538         {
00539           if (event_id != vtkCommand::ExitEvent)
00540             return;
00541           //cout << "Exit event called.\n";
00542           pcl_visualizer->interactor_->stopped = true;
00543         }
00544         PCLVisualizer* pcl_visualizer;
00545       };
00546 
00547       
00549       vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
00550       vtkSmartPointer<ExitCallback> exit_callback_;
00551 
00553       vtkSmartPointer<vtkRendererCollection> rens_;
00555       vtkSmartPointer<vtkRenderWindow> win_;
00556 
00558       vtkSmartPointer<PCLVisualizerInteractorStyle> style_;
00559 
00561       CloudActorMap cloud_actor_map_;
00562 
00564       ShapeActorMap shape_actor_map_;
00565 
00566     
00571       void removeActorFromRenderer (const vtkSmartPointer<vtkLODActor> &actor, int viewport = 0);
00572 
00577       void addActorToRenderer (const vtkSmartPointer<vtkProp> &actor, int viewport = 0);
00578 
00583       void removeActorFromRenderer (const vtkSmartPointer<vtkProp> &actor, int viewport = 0);
00584 
00589       void createActorFromVTKDataSet (const vtkSmartPointer<vtkDataSet> &data, vtkSmartPointer<vtkLODActor> &actor);
00590 
00595       void convertPointCloudToVTKPolyData (const pcl::PointCloud<pcl::PointXYZ> &cloud, vtkSmartPointer<vtkPolyData> &polydata);
00596 
00601       template <typename PointT> void 
00602       convertPointCloudToVTKPolyData (const pcl::PointCloud<PointT> &cloud, vtkSmartPointer<vtkPolyData> &polydata);
00603 
00608       template <typename PointT> void 
00609         convertPointCloudToVTKPolyData (const PointCloudGeometryHandler<PointT> &geometry_handler, vtkSmartPointer<vtkPolyData> &polydata);
00610 
00615       void convertPointCloudToVTKPolyData (const GeometryHandlerConstPtr &geometry_handler, vtkSmartPointer<vtkPolyData> &polydata);
00616   };
00617 }
00618 
00619 #include "libpcl_visualization/pcl_visualizer.hpp"
00620 
00621 #endif