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Add new constructors to PCLVisualizer #2004

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merged 9 commits into from
Oct 9, 2017
Merged

Add new constructors to PCLVisualizer #2004

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9abebf0
Add new constructors to PCLVisualizer
Sep 22, 2017
21248c3
Replace raw pointers with smart pointers, code re-usage
Sep 23, 2017
19b308c
Fix indents, remove repeating code
Sep 29, 2017
9e95ccd
Remove double window resizing
Sep 30, 2017
1fe27c9
Add missed comment
Sep 30, 2017
492d6a5
Remove unused parameter
Sep 30, 2017
c1a3d85
Split construct into several small functions
Sep 30, 2017
6f4fe43
Fix one name per line issue
Sep 30, 2017
a0219bb
Add missing header file
Oct 1, 2017
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39 changes: 39 additions & 0 deletions visualization/include/pcl/visualization/pcl_visualizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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 ();
Expand Down Expand Up @@ -1939,6 +1959,25 @@ namespace pcl
vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
#endif
private:
/** \brief Internal function for object construction
* \param[in] custom vtk renderer
* \param[in] custom vtk render window
* \param[in] create_interactor if true (default), create an interactor, false otherwise
*/
void construct(vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind,
const std::string &name, const bool create_interactor);

/** \brief Internal function for object construction
* \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
*/
void construct(int &argc, char **argv, vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind,
const std::string &name, PCLVisualizerInteractorStyle* style, const bool create_interactor );

struct PCL_EXPORTS ExitMainLoopTimerCallback : public vtkCommand
{
static ExitMainLoopTimerCallback* New ()
Expand Down
301 changes: 182 additions & 119 deletions visualization/src/pcl_visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,54 +136,7 @@ pcl::visualization::PCLVisualizer::PCLVisualizer (const std::string &name, const
, 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_);

if (create_interactor)
createInteractor ();

win_->SetWindowName (name.c_str ());
construct(vtkSmartPointer<vtkRenderer>::New(), vtkSmartPointer<vtkRenderWindow>::New(), name, create_interactor);
}

/////////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -205,79 +158,53 @@ pcl::visualization::PCLVisualizer::PCLVisualizer (int &argc, char **argv, const
, 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 ());

// 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 ();

// Get screen size
int scr_size_x = win_->GetScreenSize ()[0];
int scr_size_y = win_->GetScreenSize ()[1];

// Set default camera parameters
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);
}
}
}
// Set the window size as 1/2 of the screen size or the user given parameter
if (!camera_set_ && !camera_file_loaded_)
{
win_->SetSize (scr_size_x/2, scr_size_y/2);
win_->SetPosition (0, 0);
}
construct(argc, argv, vtkSmartPointer<vtkRenderer>::New(), vtkSmartPointer<vtkRenderWindow>::New(), name, style, create_interactor);
}

if (create_interactor)
createInteractor ();
/////////////////////////////////////////////////////////////////////////////////////////////
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_ ()
, 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)
{
construct(ren, wind, name, create_interactor);
}

win_->SetWindowName (name.c_str ());
/////////////////////////////////////////////////////////////////////////////////////////////
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_ ()
, style_ (style)
, cloud_actor_map_ (new CloudActorMap)
, shape_actor_map_ (new ShapeActorMap)
, coordinate_actor_map_ (new CoordinateActorMap)
, camera_set_ ()
, camera_file_loaded_ (false)
{
construct(argc, argv, ren, wind, name, style, create_interactor);
}

/////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -387,6 +314,142 @@ pcl::visualization::PCLVisualizer::setupInteractor (
// iren->SetPicker (pp);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void pcl::visualization::PCLVisualizer::construct(vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind, const std::string & name, const bool create_interactor)
{
if (!ren)
PCL_ERROR("Passed pointer to renderer is 0");

if (!wind)
PCL_ERROR("Passed pointer to render window is 0");
// Create a Renderer
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");

win_ = wind;
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_);

if (create_interactor)
createInteractor();

win_->SetWindowName(name.c_str());
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}

/////////////////////////////////////////////////////////////////////////////////////////////
void pcl::visualization::PCLVisualizer::construct(int & argc, char ** argv, vtkSmartPointer<vtkRenderer> ren, vtkSmartPointer<vtkRenderWindow> wind, const std::string & name, PCLVisualizerInteractorStyle * style, const bool create_interactor)
{
if (!ren)
PCL_ERROR("Passed pointer to renderer is 0");

if (!wind)
PCL_ERROR("Passed pointer to render window is 0");
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");

win_ = wind;
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(wind);

// Create the interactor style
style_->Initialize();
style_->setRendererCollection(rens_);
style_->setCloudActorMap(cloud_actor_map_);
style_->setShapeActorMap(shape_actor_map_);
style_->UseTimersOn();

// Get screen size
int scr_size_x = win_->GetScreenSize()[0];
int scr_size_y = win_->GetScreenSize()[1];

// Set default camera parameters
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);
}
}
}
// Set the window size as 1/2 of the screen size or the user given parameter
if (!camera_set_ && !camera_file_loaded_)
{
win_->SetSize(scr_size_x / 2, scr_size_y / 2);
win_->SetPosition(0, 0);
}

if (create_interactor)
createInteractor();

win_->SetWindowName(name.c_str());
}

/////////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLVisualizer::~PCLVisualizer ()
{
Expand Down