visualization/src/image_viewer.cpp

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
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 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 */

#include <vtkCallbackCommand.h>
#include <vtkCamera.h>
#include <vtkImageSlice.h>
#include <vtkImageSliceMapper.h>
#include <vtkImageViewer.h>
#include <vtkObjectFactory.h>
#include <vtkRenderer.h>
#include <vtkVersion.h>

#include <pcl/visualization/image_viewer.h>
#include <pcl/visualization/common/float_image_utils.h>
#include <pcl/visualization/keyboard_event.h>
#include <pcl/visualization/mouse_event.h>
#include <pcl/common/time.h>
#include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>

//////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::ImageViewer::ImageViewer (const std::string& window_title)
  : mouse_command_ (vtkSmartPointer<vtkCallbackCommand>::New ())
  , keyboard_command_ (vtkSmartPointer<vtkCallbackCommand>::New ())
  , win_ (vtkSmartPointer<vtkRenderWindow>::New ())
  , ren_ (vtkSmartPointer<vtkRenderer>::New ())
  , slice_ (vtkSmartPointer<vtkImageSlice>::New ())
  , interactor_style_ (vtkSmartPointer<ImageViewerInteractorStyle>::New ())
  , data_size_ (0)
  , stopped_ ()
  , timer_id_ ()
  , algo_ (vtkSmartPointer<vtkImageFlip>::New ())
{
  interactor_ = vtkSmartPointer <vtkRenderWindowInteractor>::Take (vtkRenderWindowInteractorFixNew ());

  // Prepare for image flip
  algo_->SetInterpolationModeToCubic ();
  algo_->PreserveImageExtentOn ();
  algo_->FlipAboutOriginOn ();
  algo_->SetFilteredAxis (1);

  // blend_->SetBlendModeToNormal ();
  // blend_->SetNumberOfThreads (1);

  // Set the mouse/keyboard callbacks
  mouse_command_->SetClientData (this);
  mouse_command_->SetCallback (ImageViewer::MouseCallback);

  keyboard_command_->SetClientData (this);
  keyboard_command_->SetCallback (ImageViewer::KeyboardCallback);

  // Create our own  interactor and set the window title
  win_->SetSize (640, 480);
  win_->AddRenderer (ren_);
  win_->SetWindowName (window_title.c_str ());
  interactor_->SetRenderWindow (win_);

  vtkSmartPointer<vtkImageData> empty_image = vtkSmartPointer<vtkImageData>::New ();
  vtkSmartPointer<vtkImageSliceMapper> map = vtkSmartPointer<vtkImageSliceMapper>::New ();
  map->SetInputData (empty_image);
  slice_->SetMapper (map);
  ren_->AddViewProp (slice_);
  ren_->GetActiveCamera ()->ParallelProjectionOn ();
  interactor_->SetInteractorStyle (interactor_style_);

  // Initialize and create timer
  interactor_->Initialize ();
  timer_id_ = interactor_->CreateRepeatingTimer (0);

  // Set the exit callbacks
  exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New ();
  exit_main_loop_timer_callback_->window = this;
  exit_main_loop_timer_callback_->right_timer_id = -1;
  interactor_->AddObserver (vtkCommand::TimerEvent, exit_main_loop_timer_callback_);

  exit_callback_ = vtkSmartPointer<ExitCallback>::New ();
  exit_callback_->window = this;
  interactor_->AddObserver (vtkCommand::ExitEvent, exit_callback_);

  // Reset camera (flip it vertically)
  resetStoppedFlag ();

  PCL_DEBUG ("[pcl::visualization::ImageViewer] VTK version found: %d.%d\n", VTK_MAJOR_VERSION, VTK_MINOR_VERSION);
}

//////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::ImageViewer::~ImageViewer ()
{
   interactor_->DestroyTimer (timer_id_);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addRGBImage (
    const unsigned char* rgb_data, unsigned width, unsigned height,
    const std::string &layer_id, double opacity, bool autoresize)
{
  if (autoresize &&
      (unsigned (getSize ()[0]) != width ||
      unsigned (getSize ()[1]) != height))
    setSize (width, height);

  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addRGBImage] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, width, height, opacity, false);
  }

  void* data = const_cast<void*> (reinterpret_cast<const void*> (rgb_data));

  vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
  image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
  image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
  image->GetPointData ()->GetScalars ()->SetVoidArray (data, 3 * width * height, 1);
  algo_->SetInputData (image);
  algo_->Update ();
  slice_->GetMapper ()->SetInputConnection (algo_->GetOutputPort ());
  ren_->ResetCamera ();
  ren_->GetActiveCamera ()->SetParallelScale (0.5 * win_->GetSize ()[1]);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showRGBImage (
    const unsigned char* rgb_data, unsigned width, unsigned height,
    const std::string &layer_id, double opacity)
{
  addRGBImage (rgb_data, width, height, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addMonoImage (
    const unsigned char* rgb_data, unsigned width, unsigned height,
    const std::string &layer_id, double opacity)
{
  if (unsigned (getSize ()[0]) != width ||
      unsigned (getSize ()[1]) != height)
    setSize (width, height);

  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::showMonoImage] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, width, height, opacity, false);
  }

  void* data = const_cast<void*> (reinterpret_cast<const void*> (rgb_data));

  vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
  image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
  image->AllocateScalars (VTK_UNSIGNED_CHAR, 1);
  image->GetPointData ()->GetScalars ()->SetVoidArray (data, width * height, 1);

  algo_->SetInputData (image);
  algo_->Update ();
  slice_->GetMapper ()->SetInputConnection (algo_->GetOutputPort ());
  ren_->ResetCamera ();
  ren_->GetActiveCamera ()->SetParallelScale (0.5 * win_->GetSize ()[1]);
}


//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showMonoImage (
    const unsigned char* rgb_data, unsigned width, unsigned height,
    const std::string &layer_id, double opacity)
{
  addMonoImage (rgb_data, width, height, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addMonoImage (
    const pcl::PointCloud<pcl::Intensity> &cloud,
    const std::string &layer_id, double opacity)
{
  if (data_size_ < cloud.width * cloud.height)
  {
    data_size_ = cloud.width * cloud.height * 3;
    data_.reset (new unsigned char[data_size_]);
  }

  convertIntensityCloudToUChar (cloud, data_);

  return (addMonoImage (data_.get (), cloud.width, cloud.height, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showMonoImage (
    const pcl::PointCloud<pcl::Intensity> &cloud,
    const std::string &layer_id, double opacity)
{
  addMonoImage (cloud, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addMonoImage (
    const pcl::PointCloud<pcl::Intensity8u> &cloud,
    const std::string &layer_id, double opacity)
{
  if (data_size_ < cloud.width * cloud.height)
  {
    data_size_ = cloud.width * cloud.height * 3;
    data_.reset (new unsigned char[data_size_]);
  }

  convertIntensityCloud8uToUChar (cloud, data_);

  return (addMonoImage (data_.get (), cloud.width, cloud.height, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showMonoImage (
    const pcl::PointCloud<pcl::Intensity8u> &cloud,
    const std::string &layer_id, double opacity)
{
  addMonoImage (cloud, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addFloatImage (
    const float* float_image, unsigned int width, unsigned int height,
    float min_value, float max_value, bool grayscale,
    const std::string &layer_id, double opacity)
{
  unsigned char* rgb_image = FloatImageUtils::getVisualImage (float_image, width, height,
                                                              min_value, max_value, grayscale);
  addRGBImage (rgb_image, width, height, layer_id, opacity);
  image_data_.push_back (rgb_image);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showFloatImage (
    const float* float_image, unsigned int width, unsigned int height,
    float min_value, float max_value, bool grayscale,
    const std::string &layer_id, double opacity)
{
  addFloatImage (float_image, width, height, min_value, max_value, grayscale, layer_id, opacity);
  render ();
 }

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addAngleImage (
    const float* angle_image, unsigned int width, unsigned int height,
    const std::string &layer_id, double opacity)
{
  unsigned char* rgb_image = FloatImageUtils::getVisualAngleImage (angle_image, width, height);
  addRGBImage (rgb_image, width, height, layer_id, opacity);
  image_data_.push_back (rgb_image);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showAngleImage (
    const float* angle_image, unsigned int width, unsigned int height,
    const std::string &layer_id, double opacity)
{
  addAngleImage (angle_image, width, height, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addHalfAngleImage (
    const float* angle_image, unsigned int width, unsigned int height,
    const std::string &layer_id, double opacity)
{
  unsigned char* rgb_image = FloatImageUtils::getVisualHalfAngleImage (angle_image, width, height);
  addRGBImage (rgb_image, width, height, layer_id, opacity);
  image_data_.push_back (rgb_image);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showHalfAngleImage (
    const float* angle_image, unsigned int width, unsigned int height,
    const std::string &layer_id, double opacity)
{
  addHalfAngleImage (angle_image, width, height, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::addShortImage (
    const unsigned short* short_image, unsigned int width, unsigned int height,
    unsigned short min_value, unsigned short max_value, bool grayscale,
    const std::string &layer_id, double opacity)
{
  unsigned char* rgb_image = FloatImageUtils::getVisualImage (short_image, width, height,
                                                              min_value, max_value, grayscale);
  addRGBImage (rgb_image, width, height, layer_id, opacity);
  image_data_.push_back (rgb_image);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::showShortImage (
    const unsigned short* short_image, unsigned int width, unsigned int height,
    unsigned short min_value, unsigned short max_value, bool grayscale,
    const std::string &layer_id, double opacity)
{
  addShortImage (short_image, width, height, min_value, max_value, grayscale, layer_id, opacity);
  render ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::spin ()
{
  render ();
  resetStoppedFlag ();
  // Render the window before we start the interactor
  //interactor_->Render ();
  interactor_->Start ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::spinOnce (int time, bool force_redraw)
{
  if (force_redraw)
  {
    render ();
    //interactor_->Render ();
  }

  if (time <= 0)
    time = 1;

  DO_EVERY (1.0 / interactor_->GetDesiredUpdateRate (),
    exit_main_loop_timer_callback_->right_timer_id = interactor_->CreateRepeatingTimer (time);
    interactor_->Start ();
    interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
  );
  for(auto &i : image_data_)
    delete [] i;
  image_data_.clear ();
}

//////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::ImageViewer::registerMouseCallback (
    std::function<void (const pcl::visualization::MouseEvent&)> callback)
{
  // just add observer at first time when a callback is registered
  if (mouse_signal_.empty ())
  {
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::MouseMoveEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::MiddleButtonPressEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::MiddleButtonReleaseEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::MouseWheelBackwardEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::MouseWheelForwardEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::LeftButtonPressEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::LeftButtonReleaseEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::RightButtonPressEvent, mouse_command_);
    interactor_->GetInteractorStyle ()->AddObserver (vtkCommand::RightButtonReleaseEvent, mouse_command_);
  }
  return (mouse_signal_.connect (callback));
}

//////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::ImageViewer::registerKeyboardCallback (
    std::function<void (const pcl::visualization::KeyboardEvent&)> callback)
{
  // just add observer at first time when a callback is registered
  if (keyboard_signal_.empty ())
  {
    interactor_->AddObserver (vtkCommand::KeyPressEvent, keyboard_command_);
    interactor_->AddObserver (vtkCommand::KeyReleaseEvent, keyboard_command_);
  }

  return (keyboard_signal_.connect (callback));
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::emitMouseEvent (unsigned long event_id)
{
  //interactor_->GetMousePosition (&x, &y);
  int x = this->interactor_->GetEventPosition()[0];
  int y = this->interactor_->GetEventPosition()[1];
  MouseEvent event (MouseEvent::MouseMove, MouseEvent::NoButton, x, y,
                    interactor_->GetAltKey (),
                    interactor_->GetControlKey (),
                    interactor_->GetShiftKey ());
  bool repeat = false;
  switch (event_id)
  {
    case vtkCommand::MouseMoveEvent :
      event.setType (MouseEvent::MouseMove);
      break;

    case vtkCommand::LeftButtonPressEvent :
      event.setButton (MouseEvent::LeftButton);
      if (interactor_->GetRepeatCount () == 0)
        event.setType (MouseEvent::MouseButtonPress);
      else
        event.setType (MouseEvent::MouseDblClick);
      break;

    case vtkCommand::LeftButtonReleaseEvent :
      event.setButton (MouseEvent::LeftButton);
      event.setType (MouseEvent::MouseButtonRelease);
      break;

    case vtkCommand::RightButtonPressEvent :
      event.setButton (MouseEvent::RightButton);
      if (interactor_->GetRepeatCount () == 0)
        event.setType (MouseEvent::MouseButtonPress);
      else
        event.setType (MouseEvent::MouseDblClick);
      break;

    case vtkCommand::RightButtonReleaseEvent :
      event.setButton (MouseEvent::RightButton);
      event.setType (MouseEvent::MouseButtonRelease);
      break;

    case vtkCommand::MiddleButtonPressEvent :
      event.setButton (MouseEvent::MiddleButton);
      if (interactor_->GetRepeatCount () == 0)
        event.setType (MouseEvent::MouseButtonPress);
      else
        event.setType (MouseEvent::MouseDblClick);
      break;

    case vtkCommand::MiddleButtonReleaseEvent :
      event.setButton (MouseEvent::MiddleButton);
      event.setType (MouseEvent::MouseButtonRelease);
      break;

    case vtkCommand::MouseWheelBackwardEvent :
      event.setButton (MouseEvent::VScroll);
      event.setType (MouseEvent::MouseScrollDown);
      if (interactor_->GetRepeatCount () != 0)
        repeat = true;
      break;

    case vtkCommand::MouseWheelForwardEvent :
      event.setButton (MouseEvent::VScroll);
      event.setType (MouseEvent::MouseScrollUp);
      if (interactor_->GetRepeatCount () != 0)
        repeat = true;
      break;
    default:
      return;
  }

  mouse_signal_ (event);
  if (repeat)
    mouse_signal_ (event);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::emitKeyboardEvent (unsigned long event_id)
{
  KeyboardEvent event (bool(event_id == vtkCommand::KeyPressEvent), interactor_->GetKeySym (),  interactor_->GetKeyCode (), interactor_->GetAltKey (), interactor_->GetControlKey (), interactor_->GetShiftKey ());
  keyboard_signal_ (event);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void*)
{
  ImageViewer* window = reinterpret_cast<ImageViewer*> (clientdata);
  window->emitMouseEvent (eid);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void*)
{
  ImageViewer* window = reinterpret_cast<ImageViewer*> (clientdata);
  window->emitKeyboardEvent (eid);
}

//////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::ImageViewer::LayerMap::iterator
pcl::visualization::ImageViewer::createLayer (
    const std::string &layer_id, int width, int height, double opacity, bool fill_box)
{
  Layer l;
  l.layer_name = layer_id;
  // Create a new layer
  l.actor = vtkSmartPointer<vtkContextActor>::New ();
  l.actor->PickableOff ();
  l.actor->DragableOff ();
  if (fill_box)
  {
    vtkSmartPointer<context_items::FilledRectangle> rect = vtkSmartPointer<context_items::FilledRectangle>::New ();
    rect->setColors (0,0,0);
    rect->setOpacity (opacity);
    rect->set (0, 0, static_cast<float> (width), static_cast<float> (height));
    l.actor->GetScene ()->AddItem (rect);
  }
  ren_->AddActor (l.actor);
  // Add another element
  layer_map_.push_back (l);

  return (layer_map_.end () - 1);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addLayer (
    const std::string &layer_id, int width, int height, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it != layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addLayer] Layer with ID='%s' already exists!\n", layer_id.c_str ());
    return (false);
  }

  createLayer (layer_id, width, height, opacity, false);

  return (true);
}

///////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::removeLayer (const std::string &layer_id)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::removeLayer] No layer with ID='%s' found.\n", layer_id.c_str ());
    return;
  }
  ren_->RemoveActor (am_it->actor);
  layer_map_.erase (am_it);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addCircle (
    unsigned int x, unsigned int y, double radius, double r, double g, double b,
    const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addCircle] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Circle> circle = vtkSmartPointer<context_items::Circle>::New ();
  circle->setColors (static_cast<unsigned char> (255.0 * r),
                     static_cast<unsigned char> (255.0 * g),
                     static_cast<unsigned char> (255.0 * b));
  circle->setOpacity (opacity);
  circle->set (static_cast<float> (x), static_cast<float> (y), static_cast<float> (radius));
  am_it->actor->GetScene ()->AddItem (circle);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addCircle (unsigned int x, unsigned int y, double radius,
                                            const std::string &layer_id, double opacity)
{
  return (addCircle (x, y, radius, 0.0, 1.0, 0.0, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addFilledRectangle (
    unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,
    double r, double g, double b, const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addFilledRectangle] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::FilledRectangle> rect = vtkSmartPointer<context_items::FilledRectangle>::New ();
  rect->setColors (static_cast<unsigned char> (255.0 * r),
                   static_cast<unsigned char> (255.0 * g),
                   static_cast<unsigned char> (255.0 * b));
  rect->setOpacity (opacity);
  rect->set (static_cast<float> (x_min), static_cast<float> (y_min),
             static_cast<float> (x_max - x_min), static_cast<float> (y_max - y_min));
  am_it->actor->GetScene ()->AddItem (rect);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addFilledRectangle (
    unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,
    const std::string &layer_id, double opacity)
{
  return (addFilledRectangle (x_min, x_max, y_min, y_max, 0.0, 1.0, 0.0, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addRectangle (
    unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,
    double r, double g, double b, const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addRectangle] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Rectangle> rect = vtkSmartPointer<context_items::Rectangle>::New ();
  rect->setColors (static_cast<unsigned char> (255.0 * r),
                   static_cast<unsigned char> (255.0 * g),
                   static_cast<unsigned char> (255.0 * b));
  rect->setOpacity (opacity);
  rect->set (static_cast<float> (x_min), static_cast<float> (y_min),
             static_cast<float> (x_max), static_cast<float> (y_max));
  am_it->actor->GetScene ()->AddItem (rect);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addRectangle (
    unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max,
    const std::string &layer_id, double opacity)
{
  return (addRectangle (x_min, x_max, y_min, y_max, 0.0, 1.0, 0.0, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addRectangle (
    const pcl::PointXY &min_pt, const pcl::PointXY &max_pt,
    double r, double g, double b, const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addRectangle] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Rectangle> rect = vtkSmartPointer<context_items::Rectangle>::New ();
  rect->setColors (static_cast<unsigned char> (255.0 * r),
                   static_cast<unsigned char> (255.0 * g),
                   static_cast<unsigned char> (255.0 * b));
  rect->setOpacity (opacity);
  rect->set (min_pt.x, min_pt.y, max_pt.x, max_pt.y);
  am_it->actor->GetScene ()->AddItem (rect);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addRectangle (
    const pcl::PointXY &min_pt, const pcl::PointXY &max_pt,
    const std::string &layer_id, double opacity)
{
  return (addRectangle (min_pt, max_pt, 0.0, 1.0, 0.0, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addLine (unsigned int x_min, unsigned int y_min,
                                          unsigned int x_max, unsigned int y_max,
                                          double r, double g, double b,
                                          const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addLine] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Line> line = vtkSmartPointer<context_items::Line>::New ();
  line->setColors (static_cast<unsigned char> (255.0 * r),
                   static_cast<unsigned char> (255.0 * g),
                   static_cast<unsigned char> (255.0 * b));
  line->setOpacity (opacity);
  line->set (static_cast<float> (x_min), static_cast<float> (y_min),
             static_cast<float> (x_max), static_cast<float> (y_max));
  am_it->actor->GetScene ()->AddItem (line);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addLine (unsigned int x_min, unsigned int y_min,
                                          unsigned int x_max, unsigned int y_max,
                                          const std::string &layer_id, double opacity)
{
  return (addLine (x_min, y_min, x_max, y_max, 0.0, 1.0, 0.0, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addText (unsigned int x, unsigned int y,
                                          const std::string& text_string,
                                          double r, double g, double b,
                                          const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::addText] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Text> text = vtkSmartPointer<context_items::Text>::New ();
  text->setColors (static_cast<unsigned char> (255.0 * r),
                   static_cast<unsigned char> (255.0 * g),
                   static_cast<unsigned char> (255.0 * b));
  text->setOpacity (opacity);
  text->set (static_cast<float> (x), static_cast<float> (y), text_string);
  am_it->actor->GetScene ()->AddItem (text);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::ImageViewer::addText (unsigned int x, unsigned int y, const std::string& text,
                                          const std::string &layer_id, double opacity)
{
  return (addText (x, y, text, 0.0, 1.0, 0.0, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::markPoint (
    std::size_t u, std::size_t v, Vector3ub fg_color, Vector3ub bg_color, double radius,
    const std::string &layer_id, double opacity)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::markPoint] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Point> point = vtkSmartPointer<context_items::Point>::New ();
  point->setColors (fg_color[0], fg_color[1], fg_color[2]);
  point->setOpacity (opacity);

  vtkSmartPointer<context_items::Disk> disk = vtkSmartPointer<context_items::Disk>::New ();
  disk->setColors (bg_color[0], bg_color[1], bg_color[2]);
  disk->setOpacity (opacity);

  point->set (static_cast<float> (u), static_cast<float> (v));
  disk->set (static_cast<float> (u), static_cast<float> (v), static_cast<float> (radius));

  am_it->actor->GetScene ()->AddItem (disk);
  am_it->actor->GetScene ()->AddItem (point);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::markPoints (
    const std::vector<int>& uv, Vector3ub fg_color, Vector3ub bg_color, double size,
    const std::string &layer_id, double opacity)
{
  if (uv.empty ())
    return;

  std::vector<float> float_uv (uv.size ());
  for (std::size_t i = 0; i < uv.size (); ++i)
    float_uv[i] = static_cast<float> (uv[i]);
  return (markPoints (float_uv, fg_color, bg_color, size, layer_id, opacity));
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::markPoints (
    const std::vector<float>& uv, Vector3ub fg_color, Vector3ub bg_color, double size,
    const std::string &layer_id, double opacity)
{
  if (uv.empty ())
    return;

  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
  if (am_it == layer_map_.end ())
  {
    PCL_DEBUG ("[pcl::visualization::ImageViewer::markPoint] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
    am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
  }

  vtkSmartPointer<context_items::Markers> markers = vtkSmartPointer<context_items::Markers>::New ();
  markers->setOpacity (opacity);
  markers->set (uv);
  markers->setSize (size);
  markers->setColors (bg_color[0], bg_color[1], bg_color[2]);
  markers->setPointColors (fg_color[0], fg_color[1], fg_color[2]);
  am_it->actor->GetScene ()->AddItem (markers);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::render ()
{
  win_->Render ();
  for(auto &i : image_data_)
    delete [] i;
  image_data_.clear ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::convertIntensityCloudToUChar (
    const pcl::PointCloud<pcl::Intensity> &cloud,
    boost::shared_array<unsigned char> data)
{
  int j = 0;
  for (const auto &point : cloud.points)
  {
    data[j++] = static_cast <unsigned char> (point.intensity * 255);
  }
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::convertIntensityCloud8uToUChar (
    const pcl::PointCloud<pcl::Intensity8u> &cloud,
    boost::shared_array<unsigned char> data)
{
  int j = 0;
  for (const auto &point : cloud.points)
    data[j++] = static_cast<unsigned char> (point.intensity);
}

//////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::ImageViewerInteractorStyle::ImageViewerInteractorStyle ()
{
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewerInteractorStyle::OnChar ()
{
  FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);

  Superclass::OnChar();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewerInteractorStyle::adjustCamera (
    vtkImageData *image, vtkRenderer *ren)
{
  // Set up the background camera to fill the renderer with the image
  double origin[3], spacing[3];
  int extent[6];
  image->GetOrigin  (origin);
  image->GetSpacing (spacing);
  image->GetExtent  (extent);

  vtkCamera* camera = ren->GetActiveCamera ();
  double xc = origin[0] + 0.5 * (extent[0] + extent[1]) * spacing[0];
  double yc = origin[1] + 0.5 * (extent[2] + extent[3]) * spacing[1];
  double yd = (extent[3] - extent[2] + 1) * spacing[1];
  double d = camera->GetDistance ();
  camera->SetParallelScale (0.5 * yd);
  camera->SetFocalPoint (xc, yc, 0.0);
  camera->SetPosition (xc, yc, d);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewerInteractorStyle::adjustCamera (vtkRenderer *ren)
{
  // Set up the background camera to fill the renderer with the image
  vtkCamera* camera = ren->GetActiveCamera ();
  int *wh = ren->GetRenderWindow ()->GetSize ();
  double xc = static_cast<double> (wh[0]) / 2.0,
         yc = static_cast<double> (wh[1]) / 2.0,
         yd = static_cast<double> (wh[1]),
         d = 3.346065;
  camera->SetParallelScale (0.5 * yd);
  camera->SetFocalPoint (xc, yc, 0.0);
  camera->SetPosition (xc, yc, d);
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewerInteractorStyle::OnLeftButtonDown ()
{
  int x = Interactor->GetEventPosition ()[0];
  int y = Interactor->GetEventPosition ()[1];

  FindPokedRenderer (x, y);
  if (!CurrentRenderer)
    return;

  // Redefine this button to handle window/level
  GrabFocus (this->EventCallbackCommand);
  // If shift is held down, do nothing
  if (!this->Interactor->GetShiftKey() && !this->Interactor->GetControlKey())
  {
    WindowLevelStartPosition[0] = x;
    WindowLevelStartPosition[1] = y;
    StartWindowLevel ();
  }
  else if (Interactor->GetShiftKey ())
    return;
  // If ctrl is held down in slicing mode, do nothing
  else if (Interactor->GetControlKey ())
    return;
  // The rest of the button + key combinations remain the same
  else
    Superclass::OnLeftButtonDown ();
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::setWindowTitle (const std::string& name)
{
  win_->SetWindowName (name.c_str ());
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::setPosition (int x, int y)
{
  win_->SetPosition (x, y);
}

//////////////////////////////////////////////////////////////////////////////////////////
int*
pcl::visualization::ImageViewer::getSize ()
{
  return (win_->GetSize ());
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::setSize (int xw, int yw)
{
  win_->SetSize (xw, yw);
}

//////////////////////////////////////////////////////////////////////////////////////////
namespace pcl
{
  namespace visualization
  {
    vtkStandardNewMacro (ImageViewerInteractorStyle);
  }
}