Add new constructors to PCLVisualizer (#2004)

Add new constructors to PCLVisualizer

New constructors allow to provide custom renderers and render windows.

Author: denix56

visualization/include/pcl/visualization/pcl_visualizer.h

@@ -112,6 +112,26 @@ namespace pcl
           */
         PCLVisualizer (int &argc, char **argv, const std::string &name = "",
             PCLVisualizerInteractorStyle* style = PCLVisualizerInteractorStyle::New (), const bool create_interactor = true);
+            
+        /** \brief PCL Visualizer constructor.
+          * \param[in] custom vtk renderer
+          * \param[in] custom vtk render window
+          * \param[in] create_interactor if true (default), create an interactor, false otherwise
+          */
+        PCLVisualizer (vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind, const std::string &name = "", const bool create_interactor = true);
+
+        /** \brief PCL Visualizer constructor.
+          * \param[in] argc
+          * \param[in] argv
+          * \param[in] custom vtk renderer
+          * \param[in] custom vtk render window
+          * \param[in] style interactor style (defaults to PCLVisualizerInteractorStyle)
+          * \param[in] create_interactor if true (default), create an interactor, false otherwise
+          */
+        PCLVisualizer (int &argc, char **argv, vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind, const std::string &name = "",
+                       PCLVisualizerInteractorStyle* style = PCLVisualizerInteractorStyle::New (),
+                       const bool create_interactor = true);
+
 
         /** \brief PCL Visualizer destructor. */
         virtual ~PCLVisualizer ();
@@ -1939,6 +1959,35 @@ namespace pcl
         vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
 #endif
       private:
+        /** \brief Internal function for renderer setup
+         * \param[in] vtk renderer
+         */
+        void setupRenderer (vtkSmartPointer<vtkRenderer> ren);
+
+        /** \brief Internal function for setting up FPS callback
+         * \param[in] vtk renderer
+         */
+        void setupFPSCallback (const vtkSmartPointer<vtkRenderer>& ren);
+
+        /** \brief Internal function for setting up render window
+         * \param[in] name the window name
+         */
+        void setupRenderWindow (const std::string& name);
+
+        /** \brief Internal function for setting up interactor style
+         */
+        void setupStyle ();
+
+        /** \brief Internal function for setting the default render window size and position on screen
+         */
+        void setDefaultWindowSizeAndPos ();
+
+        /** \brief Internal function for setting up camera parameters
+         * \param[in] argc
+         * \param[in] argv
+         */
+        void setupCamera (int &argc, char **argv);
+
         struct PCL_EXPORTS ExitMainLoopTimerCallback : public vtkCommand
         {
           static ExitMainLoopTimerCallback* New ()

visualization/src/pcl_visualizer.cpp

@@ -128,62 +128,23 @@ pcl::visualization::PCLVisualizer::PCLVisualizer (const std::string &name, const
   , exit_main_loop_timer_callback_ ()
   , exit_callback_ ()
   , rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
-  , win_ ()
+  , win_ (vtkSmartPointer<vtkRenderWindow>::New ())
   , style_ (vtkSmartPointer<pcl::visualization::PCLVisualizerInteractorStyle>::New ())
   , cloud_actor_map_ (new CloudActorMap)
   , shape_actor_map_ (new ShapeActorMap)
   , coordinate_actor_map_ (new CoordinateActorMap)
   , camera_set_ ()
   , camera_file_loaded_ (false)
 {
-  // Create a Renderer
   vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New ();
-  ren->AddObserver (vtkCommand::EndEvent, update_fps_);
-  // Add it to the list of renderers
-  rens_->AddItem (ren);
-
-  // FPS callback
-  vtkSmartPointer<vtkTextActor> txt = vtkSmartPointer<vtkTextActor>::New ();
-  update_fps_->actor = txt;
-  update_fps_->pcl_visualizer = this;
-  update_fps_->decimated = false;
-  ren->AddActor (txt);
-  txt->SetInput("0 FPS");
-
-  // Create a RendererWindow
-  win_ = vtkSmartPointer<vtkRenderWindow>::New ();
-  win_->SetWindowName (name.c_str ());
-
-  // Get screen size
-  int scr_size_x = win_->GetScreenSize ()[0];
-  int scr_size_y = win_->GetScreenSize ()[1];
-  // Set the window size as 1/2 of the screen size
-  win_->SetSize (scr_size_x / 2, scr_size_y / 2);
-
-  // By default, don't use vertex buffer objects
-  use_vbos_ = false;
-
-  // Add all renderers to the window
-  rens_->InitTraversal ();
-  vtkRenderer* renderer = NULL;
-  while ((renderer = rens_->GetNextItem ()) != NULL)
-    win_->AddRenderer (renderer);
-
-  // Set renderer window in case no interactor is created
-  style_->setRenderWindow (win_);
-
-  // Create the interactor style
-  style_->Initialize ();
-  style_->setRendererCollection (rens_);
-  style_->setCloudActorMap (cloud_actor_map_);
-  style_->setShapeActorMap (shape_actor_map_);
-  style_->UseTimersOn ();
-  style_->setUseVbos(use_vbos_);
+  setupRenderer (ren);
+  setupFPSCallback (ren);
+  setupRenderWindow (name);
+  setDefaultWindowSizeAndPos ();
+  setupStyle ();
 
   if (create_interactor)
     createInteractor ();
-
-  win_->SetWindowName (name.c_str ());
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
@@ -197,86 +158,92 @@ pcl::visualization::PCLVisualizer::PCLVisualizer (int &argc, char **argv, const
   , exit_main_loop_timer_callback_ ()
   , exit_callback_ ()
   , rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
-  , win_ ()
+  , win_ (vtkSmartPointer<vtkRenderWindow>::New ())
   , style_ (style)
   , cloud_actor_map_ (new CloudActorMap)
   , shape_actor_map_ (new ShapeActorMap)
   , coordinate_actor_map_ (new CoordinateActorMap)
   , camera_set_ ()
   , camera_file_loaded_ (false)
 {
-  // Create a Renderer
   vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New ();
-  ren->AddObserver (vtkCommand::EndEvent, update_fps_);
-  // Add it to the list of renderers
-  rens_->AddItem (ren);
+  setupRenderer (ren);
+  setupFPSCallback (ren);
+  setupRenderWindow (name);
+  setupStyle ();
+  setupCamera (argc, argv);
 
-  // FPS callback
-  vtkSmartPointer<vtkTextActor> txt = vtkSmartPointer<vtkTextActor>::New ();
-  update_fps_->actor = txt;
-  update_fps_->pcl_visualizer = this;
-  update_fps_->decimated = false;
-  ren->AddActor (txt);
-  txt->SetInput("0 FPS");
+  if(!camera_set_ && !camera_file_loaded_)
+    setDefaultWindowSizeAndPos ();
 
-  // Create a RendererWindow
-  win_ = vtkSmartPointer<vtkRenderWindow>::New ();
-  win_->SetWindowName (name.c_str ());
-
-  // By default, don't use vertex buffer objects
-  use_vbos_ = false;
-
-  // Add all renderers to the window
-  rens_->InitTraversal ();
-  vtkRenderer* renderer = NULL;
-  while ((renderer = rens_->GetNextItem ()) != NULL)
-    win_->AddRenderer (renderer);
-
-  // Set renderer window in case no interactor is created
-  style_->setRenderWindow (win_);
+  if (create_interactor)
+    createInteractor ();
 
-  // Create the interactor style
-  style_->Initialize ();
-  style_->setRendererCollection (rens_);
-  style_->setCloudActorMap (cloud_actor_map_);
-  style_->setShapeActorMap (shape_actor_map_);
-  style_->UseTimersOn ();
+  //window name should be reset due to its reset somewhere in camera initialization
+  win_->SetWindowName (name.c_str ());
+}
 
-  // Get screen size
-  int scr_size_x = win_->GetScreenSize ()[0];
-  int scr_size_y = win_->GetScreenSize ()[1];
+/////////////////////////////////////////////////////////////////////////////////////////////
+pcl::visualization::PCLVisualizer::PCLVisualizer (vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind,
+                                                  const std::string &name, const bool create_interactor)
+  : interactor_ ()
+  , update_fps_ (vtkSmartPointer<FPSCallback>::New ())
+#if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
+  , stopped_ ()
+  , timer_id_ ()
+#endif
+  , exit_main_loop_timer_callback_ ()
+  , exit_callback_ ()
+  , rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
+  , win_ (wind)
+  , style_ (vtkSmartPointer<pcl::visualization::PCLVisualizerInteractorStyle>::New ())
+  , cloud_actor_map_ (new CloudActorMap)
+  , shape_actor_map_ (new ShapeActorMap)
+  , coordinate_actor_map_ (new CoordinateActorMap)
+  , camera_set_ ()
+  , camera_file_loaded_ (false)
+{
+  setupRenderer (ren);
+  setupFPSCallback (ren);
+  setupRenderWindow (name);
+  setDefaultWindowSizeAndPos ();
+  setupStyle ();
 
-  // Set default camera parameters
-  initCameraParameters ();
+  if (create_interactor)
+    createInteractor ();
+}
 
-  // Parse the camera settings and update the internal camera
-  camera_set_ = getCameraParameters (argc, argv);
-  // Calculate unique camera filename for camera parameter saving/restoring
-  if (!camera_set_)
-  {
-    std::string camera_file = getUniqueCameraFile (argc, argv);
-    if (!camera_file.empty ())
-    {
-      if (boost::filesystem::exists (camera_file) && style_->loadCameraParameters (camera_file))
-      {
-        camera_file_loaded_ = true;
-      }
-      else
-      {
-        style_->setCameraFile (camera_file);
-      }
-    }
-  }
-  // Set the window size as 1/2 of the screen size or the user given parameter
+/////////////////////////////////////////////////////////////////////////////////////////////
+pcl::visualization::PCLVisualizer::PCLVisualizer (int &argc, char **argv, vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind,
+                                                  const std::string &name, PCLVisualizerInteractorStyle* style, const bool create_interactor)
+  : interactor_ ()
+  , update_fps_ (vtkSmartPointer<FPSCallback>::New ())
+#if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
+  , stopped_ ()
+  , timer_id_ ()
+#endif
+  , exit_main_loop_timer_callback_ ()
+  , exit_callback_ ()
+  , rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
+  , win_ (wind)
+  , style_ (style)
+  , cloud_actor_map_ (new CloudActorMap)
+  , shape_actor_map_ (new ShapeActorMap)
+  , coordinate_actor_map_ (new CoordinateActorMap)
+  , camera_set_ ()
+  , camera_file_loaded_ (false)
+{
+  setupRenderer (ren);
+  setupFPSCallback (ren);
+  setupRenderWindow (name);
+  setupStyle ();
+  setupCamera (argc, argv);
   if (!camera_set_ && !camera_file_loaded_)
-  {
-    win_->SetSize (scr_size_x/2, scr_size_y/2);
-    win_->SetPosition (0, 0);
-  }
-
+    setDefaultWindowSizeAndPos ();
   if (create_interactor)
     createInteractor ();
 
+  //window name should be reset due to its reset somewhere in camera initialization
   win_->SetWindowName (name.c_str ());
 }
 
@@ -387,6 +354,103 @@ pcl::visualization::PCLVisualizer::setupInteractor (
   // iren->SetPicker (pp);
 }
 
+/////////////////////////////////////////////////////////////////////////////////////////////
+void pcl::visualization::PCLVisualizer::setupRenderer (vtkSmartPointer<vtkRenderer> ren)
+{
+  if (!ren)
+    PCL_ERROR ("Passed pointer to renderer is null");
+
+  ren->AddObserver (vtkCommand::EndEvent, update_fps_);
+  // Add it to the list of renderers
+  rens_->AddItem (ren);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void pcl::visualization::PCLVisualizer::setupFPSCallback (const vtkSmartPointer<vtkRenderer>& ren)
+{
+  if (!ren)
+    PCL_ERROR ("Passed pointer to renderer is null");
+  // FPS callback
+  vtkSmartPointer<vtkTextActor> txt = vtkSmartPointer<vtkTextActor>::New ();
+  update_fps_->actor = txt;
+  update_fps_->pcl_visualizer = this;
+  update_fps_->decimated = false;
+  ren->AddActor (txt);
+  txt->SetInput ("0 FPS");
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void pcl::visualization::PCLVisualizer::setupRenderWindow (const std::string& name)
+{
+  if (!win_)
+    PCL_ERROR ("Pointer to render window is null");
+
+  win_->SetWindowName (name.c_str ());
+
+  // By default, don't use vertex buffer objects
+  use_vbos_ = false;
+
+  // Add all renderers to the window
+  rens_->InitTraversal ();
+  vtkRenderer* renderer = NULL;
+  while ((renderer = rens_->GetNextItem ()) != NULL)
+    win_->AddRenderer (renderer);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void pcl::visualization::PCLVisualizer::setupStyle ()
+{
+  if (!style_)
+    PCL_ERROR ("Pointer to style is null");
+
+  // Set rend erer window in case no interactor is created
+  style_->setRenderWindow (win_);
+
+  // Create the interactor style
+  style_->Initialize ();
+  style_->setRendererCollection (rens_);
+  style_->setCloudActorMap (cloud_actor_map_);
+  style_->setShapeActorMap (shape_actor_map_);
+  style_->UseTimersOn ();
+  style_->setUseVbos (use_vbos_);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void pcl::visualization::PCLVisualizer::setDefaultWindowSizeAndPos ()
+{
+  if (!win_)
+    PCL_ERROR ("Pointer to render window is null");
+  int scr_size_x = win_->GetScreenSize ()[0];
+  int scr_size_y = win_->GetScreenSize ()[1];
+  win_->SetSize (scr_size_x / 2, scr_size_y / 2);
+  win_->SetPosition (0, 0);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void pcl::visualization::PCLVisualizer::setupCamera (int &argc, char **argv)
+{
+  initCameraParameters ();
+
+  // Parse the camera settings and update the internal camera
+  camera_set_ = getCameraParameters (argc, argv);
+  // Calculate unique camera filename for camera parameter saving/restoring
+  if (!camera_set_)
+  {
+    std::string camera_file = getUniqueCameraFile (argc, argv);
+    if (!camera_file.empty ())
+    {
+      if (boost::filesystem::exists (camera_file) && style_->loadCameraParameters (camera_file))
+      {
+        camera_file_loaded_ = true;
+      }
+      else
+      {
+        style_->setCameraFile (camera_file);
+      }
+    }
+  }
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////////
 pcl::visualization::PCLVisualizer::~PCLVisualizer ()
 {