pcl::visualization::PCLVisualizerInteractorStyle Class Reference

PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. More...

#include <pcl/visualization/interactor_style.h>

Inheritance diagram for pcl::visualization::PCLVisualizerInteractorStyle:

Collaboration diagram for pcl::visualization::PCLVisualizerInteractorStyle:

Public Member Functions
	PCLVisualizerInteractorStyle ()
	Empty constructor. More...
	vtkTypeMacro (PCLVisualizerInteractorStyle, vtkInteractorStyleTrackballCamera)
virtual void	Initialize ()
	Initialization routine. More...
void	setCloudActorMap (const CloudActorMapPtr &actors)
	Pass a pointer to the actor map. More...
CloudActorMapPtr	getCloudActorMap ()
	Get the cloud actor map pointer. More...
void	setRendererCollection (vtkSmartPointer< vtkRendererCollection > &rens)
	Pass a set of renderers to the interactor style. More...
boost::signals2::connection	registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register a callback function for mouse events. More...
boost::signals2::connection	registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback boost::function for keyboard events. More...
boost::signals2::connection	registerPointPickingCallback (boost::function< void(const pcl::visualization::PointPickingEvent &)> cb)
	Register a callback function for point picking events. More...
void	saveScreenshot (const std::string &file)
	Save the current rendered image to disk, as a PNG screenshot. More...
void	setKeyboardModifier (const InteractorKeyboardModifier &modifier)
	Change the default keyboard modified from ALT to a different special key. More...

Static Public Member Functions
static PCLVisualizerInteractorStyle *	New ()

Friends
class	PointPickingCallback

Detailed Description

PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications.

Besides defining the rendering style, we also create a list of custom actions that are triggered on different keys being pressed:

• p, P : switch to a point-based representation
• w, W : switch to a wireframe-based representation (where available)
• s, S : switch to a surface-based representation (where available)
• j, J : take a .PNG snapshot of the current window view
• c, C : display current camera/window parameters
• f, F : fly to point mode
• e, E : exit the interactor\
• q, Q : stop and call VTK's TerminateApp
• + / - : increment/decrement overall point size
• g, G : display scale grid (on/off)
• u, U : display lookup table (on/off)
• r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
• ALT + s, S : turn stereo mode on/off
• ALT + f, F : switch between maximized window mode and original size
• l, L : list all available geometric and color handlers for the current actor map
• ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)
• 0..9 [+ CTRL] : switch between different color handlers (where available)
• SHIFT + left click : select a point

Author

Radu B. Rusu

Definition at line 96 of file interactor_style.h.

Constructor & Destructor Documentation

pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle ( )

inline

Empty constructor.

Definition at line 104 of file interactor_style.h.

Member Function Documentation

CloudActorMapPtr pcl::visualization::PCLVisualizerInteractorStyle::getCloudActorMap ( )

inline

Get the cloud actor map pointer.

Definition at line 126 of file interactor_style.h.

virtual void pcl::visualization::PCLVisualizerInteractorStyle::Initialize ( )

virtual

Initialization routine.

Must be called before anything else.

static PCLVisualizerInteractorStyle* pcl::visualization::PCLVisualizerInteractorStyle::New ( )

static

boost::signals2::connection pcl::visualization::PCLVisualizerInteractorStyle::registerKeyboardCallback

(

boost::function< void(const pcl::visualization::KeyboardEvent &)>

cb

)

Register a callback boost::function for keyboard events.

Parameters

[in]

cb

a boost function that will be registered as a callback for a keyboard event

Returns

a connection object that allows to disconnect the callback function.

boost::signals2::connection pcl::visualization::PCLVisualizerInteractorStyle::registerMouseCallback

(

boost::function< void(const pcl::visualization::MouseEvent &)>

cb

)

Register a callback function for mouse events.

Parameters

[in]

cb

a boost function that will be registered as a callback for a mouse event

Returns

a connection object that allows to disconnect the callback function.

boost::signals2::connection pcl::visualization::PCLVisualizerInteractorStyle::registerPointPickingCallback

(

boost::function< void(const pcl::visualization::PointPickingEvent &)>

cb

)

Register a callback function for point picking events.

Parameters

[in]

cb

a boost function that will be registered as a callback for a point picking event

Returns

a connection object that allows to disconnect the callback function.

void pcl::visualization::PCLVisualizerInteractorStyle::saveScreenshot

(

const std::string &

file

)

Save the current rendered image to disk, as a PNG screenshot.

Parameters

[in]

file

the name of the PNG file

void pcl::visualization::PCLVisualizerInteractorStyle::setCloudActorMap ( const CloudActorMapPtr &  actors )

inline

Pass a pointer to the actor map.

Parameters

[in]

actors

the actor map that will be used with this style

Definition at line 122 of file interactor_style.h.

void pcl::visualization::PCLVisualizerInteractorStyle::setKeyboardModifier ( const InteractorKeyboardModifier &  modifier )

inline

Change the default keyboard modified from ALT to a different special key.

Allowed values are:

• INTERACTOR_KB_MOD_ALT
• INTERACTOR_KB_MOD_CTRL
• INTERACTOR_KB_MOD_SHIFT

  Parameters

  [in]

  modifier

  the new keyboard modifier

Definition at line 169 of file interactor_style.h.

void pcl::visualization::PCLVisualizerInteractorStyle::setRendererCollection ( vtkSmartPointer< vtkRendererCollection > &  rens )

inline

Pass a set of renderers to the interactor style.

Parameters

[in]

rens

the vtkRendererCollection to use

Definition at line 132 of file interactor_style.h.

pcl::visualization::PCLVisualizerInteractorStyle::vtkTypeMacro	(	PCLVisualizerInteractorStyle	,
		vtkInteractorStyleTrackballCamera
	)

Friends And Related Function Documentation

friend class PointPickingCallback

friend

Definition at line 264 of file interactor_style.h.

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The documentation for this class was generated from the following file:

• /builddir/build/BUILD/PCL-1.6.0-Source/visualization/include/pcl/visualization/interactor_style.h