diff --git a/modules/viz/CMakeLists.txt b/modules/viz/CMakeLists.txt index 0509478fd..b45060371 100644 --- a/modules/viz/CMakeLists.txt +++ b/modules/viz/CMakeLists.txt @@ -36,26 +36,7 @@ macro(find_vtk) endif() endmacro() -macro(find_boost) - # Disable the config mode of find_package(Boost) - set(Boost_NO_BOOST_CMAKE ON) - set(Boost_USE_STATIC_LIBS ON) - - find_package(Boost 1.49.0 REQUIRED COMPONENTS system thread) - - if(Boost_FOUND) - set(HAVE_BOOST ON) - - # Obtain diagnostic information about Boost's automatic linking outputted during compilation time. - add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS}) - include_directories(SYSTEM ${Boost_INCLUDE_DIRS}) - link_directories(${Boost_LIBRARY_DIRS}) - message(STATUS "Boost found (include: ${Boost_INCLUDE_DIRS})") - endif() -endmacro() - find_vtk() -find_boost() find_package(OpenGL) diff --git a/modules/viz/include/opencv2/viz/viz3d.hpp b/modules/viz/include/opencv2/viz/viz3d.hpp index e48f5202f..fe0851a60 100644 --- a/modules/viz/include/opencv2/viz/viz3d.hpp +++ b/modules/viz/include/opencv2/viz/viz3d.hpp @@ -10,6 +10,7 @@ #include #include +#include namespace temp_viz { @@ -57,6 +58,9 @@ namespace temp_viz void spin (); void spinOnce (int time = 1, bool force_redraw = false); + + void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie = 0); + void registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie = 0); private: Viz3d(const Viz3d&); diff --git a/modules/viz/src/interactor_style.cpp b/modules/viz/src/interactor_style.cpp index d13ad3c35..00a1ed172 100644 --- a/modules/viz/src/interactor_style.cpp +++ b/modules/viz/src/interactor_style.cpp @@ -35,6 +35,14 @@ void temp_viz::InteractorStyle::Initialize () 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; } ////////////////////////////////////////////////////////////////////////////////////////////// @@ -138,15 +146,19 @@ void temp_viz::InteractorStyle::OnChar () } ////////////////////////////////////////////////////////////////////////////////////////////// -boost::signals2::connection temp_viz::InteractorStyle::registerMouseCallback (boost::function callback) +void temp_viz::InteractorStyle::registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie) { - return (mouse_signal_.connect (callback)); + // Register the callback function and store the user data + mouseCallback_ = callback; + mouse_callback_cookie_ = cookie; } ////////////////////////////////////////////////////////////////////////////////////////////// -boost::signals2::connection temp_viz::InteractorStyle::registerKeyboardCallback (boost::function callback) +void temp_viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void *cookie) { - return (keyboard_signal_.connect (callback)); + // Register the callback function and store the user data + keyboardCallback_ = callback; + keyboard_callback_cookie_ = cookie; } ////////////////////////////////////////////////////////////////////////////////////////////// @@ -508,7 +520,9 @@ temp_viz::InteractorStyle::OnKeyDown () } KeyboardEvent event (true, Interactor->GetKeySym (), Interactor->GetKeyCode (), Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - keyboard_signal_ (event); + // Check if there is a keyboard callback registered + if (keyboardCallback_) + keyboardCallback_(event, keyboard_callback_cookie_); renderer_->Render (); Interactor->Render (); @@ -518,7 +532,10 @@ temp_viz::InteractorStyle::OnKeyDown () void temp_viz::InteractorStyle::OnKeyUp () { KeyboardEvent event (false, Interactor->GetKeySym (), Interactor->GetKeyCode (), Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - keyboard_signal_ (event); + // Check if there is a keyboard callback registered + if (keyboardCallback_) + keyboardCallback_(event, keyboard_callback_cookie_); + Superclass::OnKeyUp (); } @@ -527,7 +544,8 @@ void temp_viz::InteractorStyle::OnMouseMove () { Vec2i p(Interactor->GetEventPosition()); MouseEvent event (MouseEvent::MouseMove, MouseEvent::NoButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnMouseMove (); } @@ -537,7 +555,8 @@ 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 ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnLeftButtonDown (); } @@ -546,7 +565,8 @@ void temp_viz::InteractorStyle::OnLeftButtonUp () { Vec2i p(Interactor->GetEventPosition()); MouseEvent event (MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnLeftButtonUp (); } @@ -557,7 +577,8 @@ void temp_viz::InteractorStyle::OnMiddleButtonDown () MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick; MouseEvent event (type, MouseEvent::MiddleButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnMiddleButtonDown (); } @@ -566,7 +587,8 @@ void temp_viz::InteractorStyle::OnMiddleButtonUp () { Vec2i p(Interactor->GetEventPosition()); MouseEvent event (MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnMiddleButtonUp (); } @@ -577,7 +599,8 @@ void temp_viz::InteractorStyle::OnRightButtonDown () MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick; MouseEvent event (type, MouseEvent::RightButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnRightButtonDown (); } @@ -586,7 +609,8 @@ void temp_viz::InteractorStyle::OnRightButtonUp () { Vec2i p(Interactor->GetEventPosition()); MouseEvent event (MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); Superclass::OnRightButtonUp (); } @@ -595,9 +619,11 @@ void temp_viz::InteractorStyle::OnMouseWheelForward () { Vec2i p(Interactor->GetEventPosition()); MouseEvent event (MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); - if (Interactor->GetRepeatCount ()) - mouse_signal_ (event); + // 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 ()) { @@ -625,10 +651,13 @@ void temp_viz::InteractorStyle::OnMouseWheelBackward () { Vec2i p(Interactor->GetEventPosition()); MouseEvent event (MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ()); - mouse_signal_ (event); - if (Interactor->GetRepeatCount ()) - mouse_signal_ (event); - + // 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 diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp index ec60d5021..5e7395173 100644 --- a/modules/viz/src/precomp.hpp +++ b/modules/viz/src/precomp.hpp @@ -4,11 +4,11 @@ #include #include - +/* #include #include #include -#include +#include */ #include diff --git a/modules/viz/src/q/interactor_style.h b/modules/viz/src/q/interactor_style.h index 91493eda6..3a196a728 100644 --- a/modules/viz/src/q/interactor_style.h +++ b/modules/viz/src/q/interactor_style.h @@ -56,25 +56,23 @@ namespace temp_viz */ inline void setCloudActorMap (const cv::Ptr& actors) { actors_ = actors; } - /** \brief Pass a set of renderers to the interactor style. * \param[in] rens the vtkRendererCollection to use */ void setRenderer (vtkSmartPointer& ren) { renderer_ = ren; } /** \brief Register a callback function for mouse events - * \param[in] cb a boost function that will be registered as a callback for a mouse event - * \return a connection object that allows to disconnect the callback function. + * \param[in] ccallback function that will be registered as a callback for a mouse event + * \param[in] cookie for passing user data to callback + */ + void registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie = 0); + + /** \brief Register a callback function for keyboard events + * \param[in] callback a function that will be registered as a callback for a keyboard event + * \param[in] cookie user data passed to the callback function */ - boost::signals2::connection registerMouseCallback (boost::function cb); - - /** \brief Register a callback boost::function for keyboard events - * \param[in] cb a boost function that will be registered as a callback for a keyboard event - * \return a connection object that allows to disconnect the callback function. - */ - boost::signals2::connection registerKeyboardCallback (boost::function cb); - - + void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void * cookie = 0); + /** \brief Save the current rendered image to disk, as a PNG screenshot. * \param[in] file the name of the PNG file */ @@ -113,9 +111,6 @@ namespace temp_viz /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */ vtkSmartPointer wif_; - boost::signals2::signal mouse_signal_; - boost::signals2::signal keyboard_signal_; - /** \brief Interactor style internal method. Gets called whenever a key is pressed. */ virtual void OnChar (); @@ -146,5 +141,15 @@ namespace temp_viz /** \brief The keyboard modifier to use. Default: Alt. */ KeyboardModifier modifier_; + + /** \brief KeyboardEvent callback function pointer*/ + void (*keyboardCallback_)(const cv::KeyboardEvent&, void*); + /** \brief KeyboardEvent callback user data*/ + void *keyboard_callback_cookie_; + + /** \brief MouseEvent callback function pointer */ + void (*mouseCallback_)(const cv::MouseEvent&, void*); + /** \brief MouseEvent callback user data */ + void *mouse_callback_cookie_; }; } diff --git a/modules/viz/src/q/viz3d_impl.hpp b/modules/viz/src/q/viz3d_impl.hpp index 1d946f1e1..5e72280a5 100644 --- a/modules/viz/src/q/viz3d_impl.hpp +++ b/modules/viz/src/q/viz3d_impl.hpp @@ -22,40 +22,18 @@ public: virtual ~VizImpl (); void setFullScreen (bool mode); void setWindowName (const std::string &name); - - /** \brief Register a callback boost::function for keyboard events - * \param[in] cb a boost function that will be registered as a callback for a keyboard event - * \return a connection object that allows to disconnect the callback function. - */ - boost::signals2::connection registerKeyboardCallback (boost::function cb); - inline boost::signals2::connection registerKeyboardCallback (void (*callback) (const cv::KeyboardEvent&, void*), void* cookie = NULL) - { return (registerKeyboardCallback (boost::bind (callback, _1, cookie))); } - - /** \brief Register a callback function for keyboard events - * \param[in] callback the member function that will be registered as a callback for a keyboard event - * \param[in] instance instance to the class that implements the callback function - * \param[in] cookie user data that is passed to the callback - * \return a connection object that allows to disconnect the callback function. - */ - template inline boost::signals2::connection registerKeyboardCallback (void (T::*callback) (const cv::KeyboardEvent&, void*), T& instance, void* cookie = NULL) - { return (registerKeyboardCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); } - + + /** \brief Register a callback function for keyboard input + * \param[in] callback function that will be registered as a callback for a keyboard event + * \param[in] cookie for passing user data to callback + */ + void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie = 0); + /** \brief Register a callback function for mouse events - * \param[in] cb a boost function that will be registered as a callback for a mouse event - * \return a connection object that allows to disconnect the callback function. + * \param[in] ccallback function that will be registered as a callback for a mouse event + * \param[in] cookie for passing user data to callback */ - boost::signals2::connection registerMouseCallback (boost::function cb); - inline boost::signals2::connection registerMouseCallback (void (*callback) (const cv::MouseEvent&, void*), void* cookie = NULL) - { return (registerMouseCallback (boost::bind (callback, _1, cookie))); } - - /** \brief Register a callback function for mouse events - * \param[in] callback the member function that will be registered as a callback for a mouse event - * \param[in] instance instance to the class that implements the callback function - * \param[in] cookie user data that is passed to the callback - * \return a connection object that allows to disconnect the callback function. - */ - template inline boost::signals2::connection registerMouseCallback (void (T::*callback) (const cv::MouseEvent&, void*), T& instance, void* cookie = NULL) - { return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); } + void registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie = 0); void spin (); void spinOnce (int time = 1, bool force_redraw = false); @@ -446,7 +424,6 @@ private: void allocVtkPolyData (vtkSmartPointer &polydata); void allocVtkPolyData (vtkSmartPointer &polydata); void allocVtkUnstructuredGrid (vtkSmartPointer &polydata); - }; //void getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternionf& orientation, Eigen::Matrix4f &transformation); diff --git a/modules/viz/src/viz3d.cpp b/modules/viz/src/viz3d.cpp index 9e35e42e9..974013d2f 100644 --- a/modules/viz/src/viz3d.cpp +++ b/modules/viz/src/viz3d.cpp @@ -92,3 +92,13 @@ bool temp_viz::Viz3d::removeCoordinateSystem (const String &id) { return impl_->removeCoordinateSystem(id); } + +void temp_viz::Viz3d::registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie) +{ + impl_->registerKeyboardCallback(callback, cookie); +} + +void temp_viz::Viz3d::registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie) +{ + impl_->registerMouseCallback(callback, cookie); +} \ No newline at end of file diff --git a/modules/viz/src/viz_main.cpp b/modules/viz/src/viz_main.cpp index 2c2fe5245..1ea8368af 100644 --- a/modules/viz/src/viz_main.cpp +++ b/modules/viz/src/viz_main.cpp @@ -95,15 +95,17 @@ temp_viz::Viz3d::VizImpl::~VizImpl () void temp_viz::Viz3d::VizImpl::saveScreenshot (const std::string &file) { style_->saveScreenshot (file); } ///////////////////////////////////////////////////////////////////////////////////////////// -boost::signals2::connection temp_viz::Viz3d::VizImpl::registerKeyboardCallback (boost::function callback) +void temp_viz::Viz3d::VizImpl::registerMouseCallback(void (*callback)(const cv::MouseEvent&, void*), void* cookie) { - return (style_->registerKeyboardCallback (callback)); + // Register the callback function in the interactor style + style_->registerMouseCallback(callback, cookie); } ///////////////////////////////////////////////////////////////////////////////////////////// -boost::signals2::connection temp_viz::Viz3d::VizImpl::registerMouseCallback (boost::function callback) +void temp_viz::Viz3d::VizImpl::registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie) { - return (style_->registerMouseCallback (callback)); + // Register the callback function in the interactor style + style_->registerKeyboardCallback(callback, cookie); } /////////////////////////////////////////////////////////////////////////////////////////////