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Open Source Computer Vision Library https://opencv.org/
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opencv/modules/viz/src/interactor_style.cpp

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#include "precomp.hpp"
#include <q/interactor_style.h>
//#include <q/visualization/vtk/vtkVertexBufferObjectMapper.h>
using namespace cv;
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::Initialize ()
{
modifier_ = temp_viz::InteractorStyle::KB_MOD_ALT;
// Set windows size (width, height) to unknown (-1)
win_size_ = Vec2i(-1, -1);
win_pos_ = Vec2i(0, 0);
max_win_size_ = Vec2i(-1, -1);
// Create the image filter and PNG writer objects
wif_ = vtkSmartPointer<vtkWindowToImageFilter>::New ();
snapshot_writer_ = vtkSmartPointer<vtkPNGWriter>::New ();
snapshot_writer_->SetInputConnection (wif_->GetOutputPort ());
init_ = true;
stereo_anaglyph_mask_default_ = true;
// Initialize the keyboard event callback as none
keyboardCallback_ = 0;
keyboard_callback_cookie_ = 0;
// Initialize the mouse event callback as none
mouseCallback_ = 0;
mouse_callback_cookie_ = 0;
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::saveScreenshot (const std::string &file)
{
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
wif_->SetInput (Interactor->GetRenderWindow ());
wif_->Modified (); // Update the WindowToImageFilter
snapshot_writer_->Modified ();
snapshot_writer_->SetFileName (file.c_str ());
snapshot_writer_->Write ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::zoomIn ()
{
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
// Zoom in
StartDolly ();
double factor = 10.0 * 0.2 * .5;
Dolly (pow (1.1, factor));
EndDolly ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::zoomOut ()
{
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
// Zoom out
StartDolly ();
double factor = 10.0 * -0.2 * .5;
Dolly (pow (1.1, factor));
EndDolly ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnChar ()
{
// Make sure we ignore the same events we handle in OnKeyDown to avoid calling things twice
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
if (Interactor->GetKeyCode () >= '0' && Interactor->GetKeyCode () <= '9')
return;
std::string key (Interactor->GetKeySym ());
if (key.find ("XF86ZoomIn") != std::string::npos)
zoomIn ();
else if (key.find ("XF86ZoomOut") != std::string::npos)
zoomOut ();
bool keymod = false;
switch (modifier_)
{
case KB_MOD_ALT:
{
keymod = Interactor->GetAltKey ();
break;
}
case KB_MOD_CTRL:
{
keymod = Interactor->GetControlKey ();
break;
}
case KB_MOD_SHIFT:
{
keymod = Interactor->GetShiftKey ();
break;
}
}
switch (Interactor->GetKeyCode ())
{
// All of the options below simply exit
case 'h': case 'H':
case 'l': case 'L':
case 'p': case 'P':
case 'j': case 'J':
case 'c': case 'C':
case 43: // KEY_PLUS
case 45: // KEY_MINUS
case 'f': case 'F':
case 'g': case 'G':
case 'o': case 'O':
case 'u': case 'U':
case 'q': case 'Q':
{
break;
}
// S and R have a special !ALT case
case 'r': case 'R':
case 's': case 'S':
{
if (!keymod)
Superclass::OnChar ();
break;
}
default:
{
Superclass::OnChar ();
break;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie)
{
// Register the callback function and store the user data
mouseCallback_ = callback;
mouse_callback_cookie_ = cookie;
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void *cookie)
{
// Register the callback function and store the user data
keyboardCallback_ = callback;
keyboard_callback_cookie_ = cookie;
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
temp_viz::InteractorStyle::OnKeyDown ()
{
if (!init_)
{
std::cout << "[PCLVisualizerInteractorStyle] Interactor style not initialized. Please call Initialize () before continuing" << std::endl;
return;
}
if (!renderer_)
{
std::cout << "[PCLVisualizerInteractorStyle] No renderer collection given! Use SetRendererCollection () before continuing." << std::endl;
return;
}
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
if (wif_->GetInput () == NULL)
{
wif_->SetInput (Interactor->GetRenderWindow ());
wif_->Modified ();
snapshot_writer_->Modified ();
}
// Save the initial windows width/height
if (win_size_[0] == -1 || win_size_[1] == -1)
win_size_ = Vec2i(Interactor->GetRenderWindow ()->GetSize ());
// Get the status of special keys (Cltr+Alt+Shift)
bool shift = Interactor->GetShiftKey ();
bool ctrl = Interactor->GetControlKey ();
bool alt = Interactor->GetAltKey ();
bool keymod = false;
switch (modifier_)
{
case KB_MOD_ALT:
{
keymod = alt;
break;
}
case KB_MOD_CTRL:
{
keymod = ctrl;
break;
}
case KB_MOD_SHIFT:
{
keymod = shift;
break;
}
}
std::string key (Interactor->GetKeySym ());
if (key.find ("XF86ZoomIn") != std::string::npos)
zoomIn ();
else if (key.find ("XF86ZoomOut") != std::string::npos)
zoomOut ();
switch (Interactor->GetKeyCode ())
{
case 'h': case 'H':
{
std::cout << "| Help:\n"
"-------\n"
" p, P : switch to a point-based representation\n"
" w, W : switch to a wireframe-based representation (where available)\n"
" s, S : switch to a surface-based representation (where available)\n"
"\n"
" j, J : take a .PNG snapshot of the current window view\n"
" c, C : display current camera/window parameters\n"
" f, F : fly to point mode\n"
"\n"
" e, E : exit the interactor\n"
" q, Q : stop and call VTK's TerminateApp\n"
"\n"
" +/- : increment/decrement overall point size\n"
" +/- [+ ALT] : zoom in/out \n"
"\n"
" r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]\n"
"\n"
" ALT + s, S : turn stereo mode on/off\n"
" ALT + f, F : switch between maximized window mode and original size\n"
"\n"
" SHIFT + left click : select a point\n"
<< std::endl;
break;
}
// Switch representation to points
case 'p': case 'P':
{
vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors ();
vtkCollectionSimpleIterator ait;
for (ac->InitTraversal (ait); vtkActor* actor = ac->GetNextActor (ait); )
{
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
{
vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
apart->GetProperty ()->SetRepresentationToPoints ();
}
}
break;
}
// Save a PNG snapshot with the current screen
case 'j': case 'J':
{
char cam_fn[80], snapshot_fn[80];
unsigned t = static_cast<unsigned> (time (0));
sprintf (snapshot_fn, "screenshot-%d.png" , t);
saveScreenshot (snapshot_fn);
sprintf (cam_fn, "screenshot-%d.cam", t);
ofstream ofs_cam;
ofs_cam.open (cam_fn);
vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
double clip[2], focal[3], pos[3], view[3];
cam->GetClippingRange (clip);
cam->GetFocalPoint (focal);
cam->GetPosition (pos);
cam->GetViewUp (view);
#ifndef M_PI
# define M_PI 3.14159265358979323846 // pi
#endif
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
ofs_cam << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
<< endl;
ofs_cam.close ();
std::cout << "Screenshot (" << snapshot_fn << ") and camera information (" << cam_fn << ") successfully captured." << std::endl;
break;
}
// display current camera settings/parameters
case 'c': case 'C':
{
vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
double clip[2], focal[3], pos[3], view[3];
cam->GetClippingRange (clip);
cam->GetFocalPoint (focal);
cam->GetPosition (pos);
cam->GetViewUp (view);
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
std::cerr << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
<< endl;
break;
}
case '=':
{
zoomIn();
break;
}
case 43: // KEY_PLUS
{
if(alt)
zoomIn ();
else
{
vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors ();
vtkCollectionSimpleIterator ait;
for (ac->InitTraversal (ait); vtkActor* actor = ac->GetNextActor (ait); )
{
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
{
vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
float psize = apart->GetProperty ()->GetPointSize ();
if (psize < 63.0f)
apart->GetProperty ()->SetPointSize (psize + 1.0f);
}
}
}
break;
}
case 45: // KEY_MINUS
{
if(alt)
zoomOut ();
else
{
vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors ();
vtkCollectionSimpleIterator ait;
for (ac->InitTraversal (ait); vtkActor* actor = ac->GetNextActor (ait); )
{
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
{
vtkSmartPointer<vtkActor> apart = static_cast<vtkActor*> (path->GetLastNode ()->GetViewProp ());
float psize = apart->GetProperty ()->GetPointSize ();
if (psize > 1.0f)
apart->GetProperty ()->SetPointSize (psize - 1.0f);
}
}
}
break;
}
// Switch between maximize and original window size
case 'f': case 'F':
{
if (keymod)
{
Vec2i screen_size(Interactor->GetRenderWindow ()->GetScreenSize ());
Vec2i win_size(Interactor->GetRenderWindow ()->GetSize ());
// Is window size = max?
if (win_size == max_win_size_)
{
Interactor->GetRenderWindow ()->SetSize (win_size_.val);
Interactor->GetRenderWindow ()->SetPosition (win_pos_.val);
Interactor->GetRenderWindow ()->Render ();
Interactor->Render ();
}
// Set to max
else
{
win_pos_ = Vec2i(Interactor->GetRenderWindow ()->GetPosition ());
win_size_ = win_size;
Interactor->GetRenderWindow ()->SetSize (screen_size.val);
Interactor->GetRenderWindow ()->Render ();
Interactor->Render ();
max_win_size_ = Vec2i(Interactor->GetRenderWindow ()->GetSize ());
}
}
else
{
AnimState = VTKIS_ANIM_ON;
vtkAssemblyPath *path = NULL;
Interactor->GetPicker ()->Pick (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1], 0.0, CurrentRenderer);
vtkAbstractPropPicker *picker;
if ((picker = vtkAbstractPropPicker::SafeDownCast (Interactor->GetPicker ())))
path = picker->GetPath ();
if (path != NULL)
Interactor->FlyTo (CurrentRenderer, picker->GetPickPosition ());
AnimState = VTKIS_ANIM_OFF;
}
break;
}
// 's'/'S' w/out ALT
case 's': case 'S':
{
if (keymod)
{
int stereo_render = Interactor->GetRenderWindow ()->GetStereoRender ();
if (!stereo_render)
{
if (stereo_anaglyph_mask_default_)
{
Interactor->GetRenderWindow ()->SetAnaglyphColorMask (4, 3);
stereo_anaglyph_mask_default_ = false;
}
else
{
Interactor->GetRenderWindow ()->SetAnaglyphColorMask (2, 5);
stereo_anaglyph_mask_default_ = true;
}
}
Interactor->GetRenderWindow ()->SetStereoRender (!stereo_render);
Interactor->GetRenderWindow ()->Render ();
Interactor->Render ();
}
else
Superclass::OnKeyDown ();
break;
}
case 'o': case 'O':
{
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
int flag = cam->GetParallelProjection ();
cam->SetParallelProjection (!flag);
CurrentRenderer->SetActiveCamera (cam);
CurrentRenderer->Render ();
break;
}
// Overwrite the camera reset
case 'r': case 'R':
{
if (!keymod)
{
Superclass::OnKeyDown ();
break;
}
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
static CloudActorMap::iterator it = actors_->begin ();
// it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
bool found_transformation = false;
for (size_t idx = 0; idx < actors_->size (); ++idx, ++it)
{
if (it == actors_->end ())
it = actors_->begin ();
const CloudActor& actor = it->second;
if (actor.viewpoint_transformation_.GetPointer ())
{
found_transformation = true;
break;
}
}
// if a valid transformation was found, use it otherwise fall back to default view point.
if (found_transformation)
{
const CloudActor& actor = it->second;
cam->SetPosition (actor.viewpoint_transformation_->GetElement (0, 3),
actor.viewpoint_transformation_->GetElement (1, 3),
actor.viewpoint_transformation_->GetElement (2, 3));
cam->SetFocalPoint (actor.viewpoint_transformation_->GetElement (0, 3) - actor.viewpoint_transformation_->GetElement (0, 2),
actor.viewpoint_transformation_->GetElement (1, 3) - actor.viewpoint_transformation_->GetElement (1, 2),
actor.viewpoint_transformation_->GetElement (2, 3) - actor.viewpoint_transformation_->GetElement (2, 2));
cam->SetViewUp (actor.viewpoint_transformation_->GetElement (0, 1),
actor.viewpoint_transformation_->GetElement (1, 1),
actor.viewpoint_transformation_->GetElement (2, 1));
}
else
{
cam->SetPosition (0, 0, 0);
cam->SetFocalPoint (0, 0, 1);
cam->SetViewUp (0, -1, 0);
}
// go to the next actor for the next key-press event.
if (it != actors_->end ())
++it;
else
it = actors_->begin ();
CurrentRenderer->SetActiveCamera (cam);
CurrentRenderer->ResetCameraClippingRange ();
CurrentRenderer->Render ();
break;
}
case 'q': case 'Q':
{
Interactor->ExitCallback ();
return;
}
default:
{
Superclass::OnKeyDown ();
break;
}
}
KeyboardEvent event (true, Interactor->GetKeySym (), Interactor->GetKeyCode (), Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
// Check if there is a keyboard callback registered
if (keyboardCallback_)
keyboardCallback_(event, keyboard_callback_cookie_);
renderer_->Render ();
Interactor->Render ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnKeyUp ()
{
KeyboardEvent event (false, Interactor->GetKeySym (), Interactor->GetKeyCode (), Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
// Check if there is a keyboard callback registered
if (keyboardCallback_)
keyboardCallback_(event, keyboard_callback_cookie_);
Superclass::OnKeyUp ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnMouseMove ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent event (MouseEvent::MouseMove, MouseEvent::NoButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnMouseMove ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnLeftButtonDown ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
MouseEvent event (type, MouseEvent::LeftButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnLeftButtonDown ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnLeftButtonUp ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent event (MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnLeftButtonUp ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnMiddleButtonDown ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
MouseEvent event (type, MouseEvent::MiddleButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnMiddleButtonDown ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnMiddleButtonUp ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent event (MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnMiddleButtonUp ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnRightButtonDown ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
MouseEvent event (type, MouseEvent::RightButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnRightButtonDown ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnRightButtonUp ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent event (MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
Superclass::OnRightButtonUp ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnMouseWheelForward ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent event (MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
// If a mouse callback registered, call it!
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
if (Interactor->GetRepeatCount () && mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
if (Interactor->GetAltKey ())
{
// zoom
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
double opening_angle = cam->GetViewAngle ();
if (opening_angle > 15.0)
opening_angle -= 1.0;
cam->SetViewAngle (opening_angle);
cam->Modified ();
CurrentRenderer->SetActiveCamera (cam);
CurrentRenderer->ResetCameraClippingRange ();
CurrentRenderer->Modified ();
CurrentRenderer->Render ();
renderer_->Render ();
Interactor->Render ();
}
else
Superclass::OnMouseWheelForward ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnMouseWheelBackward ()
{
Vec2i p(Interactor->GetEventPosition());
MouseEvent event (MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
// If a mouse callback registered, call it!
if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
if (Interactor->GetRepeatCount () && mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_);
if (Interactor->GetAltKey ())
{
// zoom
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
double opening_angle = cam->GetViewAngle ();
if (opening_angle < 170.0)
opening_angle += 1.0;
cam->SetViewAngle (opening_angle);
cam->Modified ();
CurrentRenderer->SetActiveCamera (cam);
CurrentRenderer->ResetCameraClippingRange ();
CurrentRenderer->Modified ();
CurrentRenderer->Render ();
renderer_->Render ();
Interactor->Render ();
}
else
Superclass::OnMouseWheelBackward ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::InteractorStyle::OnTimer ()
{
if (!init_)
{
std::cout << "[PCLVisualizerInteractorStyle] Interactor style not initialized. Please call Initialize () before continuing.\n" << std::endl;
return;
}
if (!renderer_)
{
std::cout << "[PCLVisualizerInteractorStyle] No renderer collection given! Use SetRendererCollection () before continuing." << std::endl;
return;
}
renderer_->Render ();
Interactor->Render ();
}
namespace temp_viz
{
// Standard VTK macro for *New ()
vtkStandardNewMacro (InteractorStyle);
}