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Add new constructors to PCLVisualizer (PointCloudLibrary#2004)
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Add new constructors to PCLVisualizer

New constructors allow to provide custom renderers and render windows.
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@denix56 @UnaNancyOwen
denix56 authored and UnaNancyOwen committed Nov 24, 2017
1 parent c2267a1 commit 73fc141
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Showing 2 changed files with 220 additions and 107 deletions.
49 changes: 49 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 +1959,35 @@ 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 ()
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278 changes: 171 additions & 107 deletions visualization/src/pcl_visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 ());
}

/////////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -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 ());
}

Expand Down Expand Up @@ -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 ()
{
Expand Down

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