Initial implementation of keyboard callback registration mechanism without boost

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -10,6 +10,7 @@
 
 #include <string>
 #include <opencv2/viz/types.hpp>
+#include <opencv2/viz/events.hpp>
 
 namespace temp_viz
 {
@@ -57,6 +58,8 @@ namespace temp_viz
 
         void spin ();
         void spinOnce (int time = 1, bool force_redraw = false);
+	
+	void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie = NULL);
 
     private:
         Viz3d(const Viz3d&);

modules/viz/src/interactor_style.cpp

@@ -35,6 +35,10 @@ void temp_viz::InteractorStyle::Initialize ()
 
     init_ = true;
     stereo_anaglyph_mask_default_ = true;
+    
+    // Initialize the keyboard callback as none
+    keyboardCallback_ = NULL;
+    keyboard_callback_cookie_ = NULL;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -144,9 +148,17 @@ boost::signals2::connection temp_viz::InteractorStyle::registerMouseCallback (bo
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-boost::signals2::connection temp_viz::InteractorStyle::registerKeyboardCallback (boost::function<void (const cv::KeyboardEvent&)> callback)
+// boost::signals2::connection temp_viz::InteractorStyle::registerKeyboardCallback (boost::function<void (const cv::KeyboardEvent&)> callback)
+// {
+//     return (keyboard_signal_.connect (callback));
+// }
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void temp_viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void *cookie)
 {
-    return (keyboard_signal_.connect (callback));
+    /* Register the new callback function by assigning it to the internal callback function pointer */
+    keyboardCallback_ = callback;
+    keyboard_callback_cookie_ = NULL;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -508,7 +520,10 @@ 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_ != NULL)
+      keyboardCallback_(event, keyboard_callback_cookie_);
+    //keyboard_signal_ (event);
 
     renderer_->Render ();
     Interactor->Render ();
@@ -518,7 +533,10 @@ 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_ != NULL)
+      keyboardCallback_(event, keyboard_callback_cookie_);
+//     keyboard_signal_ (event);
     Superclass::OnKeyUp ();
 }
 

modules/viz/src/q/interactor_style.h

@@ -68,13 +68,27 @@ namespace temp_viz
                   */
             boost::signals2::connection registerMouseCallback (boost::function<void (const cv::MouseEvent&)> cb);
 
-            /** \brief Register a callback boost::function for keyboard events
+            /** \brief Register a callback function for keyboard events
-                  * \param[in] cb a boost function that will be registered as a callback for a keyboard event
+                  * \param[in] callback a function that will be registered as a callback for a keyboard event
-                  * \return a connection object that allows to disconnect the callback function.
+                  * \param[in] cookie user data passed to the callback function
                   */
-            boost::signals2::connection registerKeyboardCallback (boost::function<void (const cv::KeyboardEvent&)> cb);
+	    void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void * cookie = NULL);
-
+	    
-
+	    
+	    // TODO Implement callback function as a method of an instance
+	    /** \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] instance the instance that the callback function belongs to
+		  * \param[in] cookie for passing user data to callback
+		  */
+// 	    template<typename T> inline void registerKeyboardCallback(void (T::*callback)(const cv::KeyboardEvent&, void*), T& instance, void* cookie = NULL)
+// 	    { 
+// 		registerKeyboardCallback(callback, cookie);
+// 		// Set the instance for calling the callback
+// 		keyboard_callback_instance_ = (void *) &instance; 
+// 		
+// 	    }
+	    
             /** \brief Save the current rendered image to disk, as a PNG screenshot.
                   * \param[in] file the name of the PNG file
                   */
@@ -146,5 +160,10 @@ namespace temp_viz
 
             /** \brief The keyboard modifier to use. Default: Alt. */
             KeyboardModifier modifier_;
+	    
+	    /** \brief Keyboard-Callback function */
+	    void (*keyboardCallback_)(const cv::KeyboardEvent&, void*);
+	    void *keyboard_callback_cookie_;
+	    void *keyboard_callback_instance_;
         };
 }

modules/viz/src/q/viz3d_impl.hpp

@@ -22,23 +22,41 @@ public:
     virtual ~VizImpl ();
     void setFullScreen (bool mode);
     void setWindowName (const std::string &name);
+    
+    /** \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 = NULL);
+    
+    // TODO Implement callback function as a method of an instance
+    /** \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] instance the instance that the callback function belongs to
+	  * \param[in] cookie for passing user data to callback
+	  */
+    
+//     template<typename T> inline void registerKeyboardCallback(void (T::*callback)(const cv::KeyboardEvent&, void*), T& instance, void* cookie = NULL)
+//     {  }
 
-    /** \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<void (const cv::KeyboardEvent&)> 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
+//     /** \brief Register a callback boost::function for keyboard events
-          * \param[in] instance  instance to the class that implements the callback function
+//           * \param[in] cb a boost function that will be registered as a callback for a keyboard event
-          * \param[in] cookie    user data that is passed to the callback
+//           * \return a connection object that allows to disconnect the callback function.
-          * \return a connection object that allows to disconnect the callback function.
+//           */
-          */
+//     void registerKeyboardCallback (boost::function<void (const cv::KeyboardEvent&)> cb);
-    template<typename T> inline boost::signals2::connection registerKeyboardCallback (void (T::*callback) (const cv::KeyboardEvent&, void*), T& instance, void* cookie = NULL)
+//     inline boost::signals2::connection registerKeyboardCallback (void (*callback) (const cv::KeyboardEvent&, void*), void* cookie = NULL)
-    { return (registerKeyboardCallback (boost::bind (callback,  boost::ref (instance), _1, cookie))); }
+//     { 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<typename T> 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 mouse events
           * \param[in] cb a boost function that will be registered as a callback for a mouse event
@@ -446,7 +464,6 @@ private:
     void allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata);
     void allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata);
     void allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
-
 };
 
 //void getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternionf& orientation, Eigen::Matrix4f &transformation);

modules/viz/src/viz3d.cpp

@@ -92,3 +92,8 @@ 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);
+}

modules/viz/src/viz_main.cpp

@@ -94,18 +94,19 @@ 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<void (const cv::KeyboardEvent&)> callback)
-{
-    return (style_->registerKeyboardCallback (callback));
-}
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 boost::signals2::connection temp_viz::Viz3d::VizImpl::registerMouseCallback (boost::function<void (const cv::MouseEvent&)> callback)
 {
     return (style_->registerMouseCallback (callback));
 }
 
+/////////////////////////////////////////////////////////////////////////////////////////////
+void temp_viz::Viz3d::VizImpl::registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie)
+{
+    // Register the callback function in the interactor style
+    style_->registerKeyboardCallback(callback, cookie);
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////////
 void temp_viz::Viz3d::VizImpl::spin ()
 {