histogram_visualizer.h

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#pragma once
 
#include <pcl/visualization/interactor_style.h>
#include <pcl/visualization/common/common.h>
#include <pcl/visualization/common/ren_win_interact_map.h>
 
class vtkRenderWindowInteractor;
 
namespace pcl
{
  namespace visualization
  {
    /** \brief PCL histogram visualizer main class. 
      * \author Radu Bogdan Rusu
      * \ingroup visualization
      */
    class PCL_EXPORTS PCLHistogramVisualizer
    {
      public:
        using Ptr = shared_ptr<PCLHistogramVisualizer>;
        using ConstPtr = shared_ptr<const PCLHistogramVisualizer>;
 
        /** \brief PCL histogram visualizer constructor. */
        PCLHistogramVisualizer ();
 
        virtual ~PCLHistogramVisualizer () = default;
        /** \brief Spin once method. Calls the interactor and updates the screen once. 
          *  \param[in] time - How long (in ms) should the visualization loop be allowed to run.
          */
        void 
        spinOnce (int time = 1);
 
        /** \brief Spin method. Calls the interactor and runs an internal loop. */
        void 
        spin ();
        
        /** \brief Set the viewport's background color.
          * \param[in] r the red component of the RGB color
          * \param[in] g the green component of the RGB color
          * \param[in] b the blue component of the RGB color
          */
        void 
        setBackgroundColor (const double &r, const double &g, const double &b);
 
        /** \brief Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] hsize the length of the histogram
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        template <typename PointT> bool 
        addFeatureHistogram (const pcl::PointCloud<PointT> &cloud, 
                             int hsize, 
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);
 
        /** \brief Add a histogram feature to screen as a separate window from a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        bool 
        addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                             const std::string &field_name, 
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);
 
        /** \brief Add a histogram feature to screen as a separate window.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window 
          */
        template <typename PointT> bool 
        addFeatureHistogram (const pcl::PointCloud<PointT> &cloud, 
                             const std::string &field_name, 
                             const pcl::index_t index,
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);
 
        /** \brief Add a histogram feature to screen as a separate window.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        bool 
        addFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                             const std::string &field_name, 
                             const pcl::index_t index,
                             const std::string &id = "cloud", int win_width = 640, int win_height = 200);
        
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] hsize the length of the histogram
          * \param[in] id the point cloud object id (default: cloud)
          */
        template <typename PointT> bool 
        updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, int hsize, const std::string &id = "cloud");
        
                             
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] id the point cloud object id (default: cloud)
          */
        bool 
        updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                                const std::string &field_name, 
                                const std::string &id = "cloud");
                             
        
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          */
        template <typename PointT> bool 
        updateFeatureHistogram (const pcl::PointCloud<PointT> &cloud, const std::string &field_name,
                                 const pcl::index_t index, const std::string &id = "cloud");
        
                             
        /** \brief Update a histogram feature that is already on screen, with a cloud containing a single histogram.
          * \param[in] cloud the PointCloud dataset containing the histogram
          * \param[in] field_name the field name containing the histogram
          * \param[in] index the point index to extract the histogram from
          * \param[in] id the point cloud object id (default: cloud)
          */
        bool 
        updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud,
                                const std::string &field_name, const pcl::index_t index,
                                const std::string &id = "cloud");         
 
 
         /** \brief Set the Y range to minp-maxp for all histograms.
           * \param[in] minp the minimum Y range
           * \param[in] maxp the maximum Y range
           */
        void 
        setGlobalYRange (float minp, float maxp);
 
        /** \brief Update all window positions on screen so that they fit. */
        void 
        updateWindowPositions ();
 
      protected:
 
        /** \brief Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.
          * \param[in] xy_array the input vtkDoubleArray holding the histogram data
          * \param[out] renwinint the resultant render window interactor holding the rendered object
          * \param[in] id the point cloud object id
          * \param[in] win_width the width of the window
          * \param[in] win_height the height of the window
          */
        void
        createActor (const vtkSmartPointer<vtkDoubleArray> &xy_array, 
                     RenWinInteract &renwinint,
                     const std::string &id, const int win_width, const int win_height);
        
        /** \brief Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.
          * \param[in] xy_array the input vtkDoubleArray holding the histogram data
          * \param[out] renwinupd the resultant render window interactor holding the rendered object
          * \param[in] hsize Histogram size
          */             
        void
        reCreateActor (const vtkSmartPointer<vtkDoubleArray> &xy_array, 
                       RenWinInteract* renwinupd, const int hsize);
 
      private:
        /** \brief A map of all windows on screen (with their renderers and interactors). */
        RenWinInteractMap wins_;
 
        struct ExitMainLoopTimerCallback : public vtkCommand
        {
          static ExitMainLoopTimerCallback* New ()
          {
            return (new ExitMainLoopTimerCallback);
          }
          void 
          Execute (vtkObject*, unsigned long event_id, void* call_data) override;
 
          int right_timer_id;
          vtkRenderWindowInteractor *interact;
        };
        
        struct ExitCallback : public vtkCommand
        {
          ExitCallback () = default;
 
          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }
 
          void 
          Execute (vtkObject*, unsigned long event_id, void*) override;
 
          PCLHistogramVisualizer *his{nullptr};
        };
 
        /** \brief Callback object enabling us to leave the main loop, when a timer fires. */
        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;
        /** \brief Set to true when the histogram visualizer is ready to be terminated. */
        bool stopped_{false};
    };
  }
}
 
#include <pcl/visualization/impl/histogram_visualizer.hpp>