Simple point cloud visualization class. More...

#include <cloud_viewer.h>

Classes
struct	CloudViewer_impl
Public Types
typedef pcl::PointCloud < pcl::PointXYZRGBA >	ColorACloud
typedef pcl::PointCloud < pcl::PointXYZRGB >	ColorCloud
typedef pcl::PointCloud < pcl::PointXYZI >	GrayCloud
typedef pcl::PointCloud < pcl::PointXYZ >	MonochromeCloud
typedef boost::function1< void, pcl::visualization::PCLVisualizer & >	VizCallable
Public Member Functions
	CloudViewer (const std::string &window_name)
	Construct a cloud viewer, with a window name.
boost::signals2::connection	registerKeyboardCallback (void(callback)(const pcl::visualization::KeyboardEvent &, void ), void *cookie=NULL)
	Register a callback function for keyboard events.
template<typename T >
boost::signals2::connection	registerKeyboardCallback (void(T::callback)(const pcl::visualization::KeyboardEvent &, void ), T &instance, void *cookie=NULL)
	Register a callback function for keyboard events.
boost::signals2::connection	registerMouseCallback (void(callback)(const pcl::visualization::MouseEvent &, void ), void *cookie=NULL)
	Register a callback function for mouse events.
template<typename T >
boost::signals2::connection	registerMouseCallback (void(T::callback)(const pcl::visualization::MouseEvent &, void ), T &instance, void *cookie=NULL)
	Register a callback function for mouse events.
boost::signals2::connection	registerPointPickingCallback (void(callback)(const pcl::visualization::PointPickingEvent &, void ), void *cookie=NULL)
	Register a callback function for point picking events.
template<typename T >
boost::signals2::connection	registerPointPickingCallback (void(T::callback)(const pcl::visualization::PointPickingEvent &, void ), T &instance, void *cookie=NULL)
	Register a callback function for point picking events.
void	removeVisualizationCallable (const std::string &key="callable")
	Remove a previously added callable object, NOP if it doesn't exist.
void	runOnVisualizationThread (VizCallable x, const std::string &key="callable")
	Run a callbable object on the UI thread. Will persist until removed.
void	runOnVisualizationThreadOnce (VizCallable x)
	Run a callbable object on the UI thread. This will run once and be removed.
void	showCloud (const ColorCloud::ConstPtr &cloud, const std::string &cloudname="cloud")
	Show a cloud, with an optional key for multiple clouds.
void	showCloud (const ColorACloud::ConstPtr &cloud, const std::string &cloudname="cloud")
	Show a cloud, with an optional key for multiple clouds.
void	showCloud (const GrayCloud::ConstPtr &cloud, const std::string &cloudname="cloud")
	Show a cloud, with an optional key for multiple clouds.
void	showCloud (const MonochromeCloud::ConstPtr &cloud, const std::string &cloudname="cloud")
	Show a cloud, with an optional key for multiple clouds.
bool	wasStopped (int millis_to_wait=1)
	Check if the gui was quit, you should quit also.
	~CloudViewer ()
	Will quit the window, and release all resources held by the viewer.
Private Member Functions
boost::signals2::connection	registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)>)
boost::signals2::connection	registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)>)
boost::signals2::connection	registerPointPickingCallback (boost::function< void(const pcl::visualization::PointPickingEvent &)>)
Private Attributes
std::auto_ptr< CloudViewer_impl >	impl_

Detailed Description

Simple point cloud visualization class.

Author:: Ethan Rublee

Definition at line 55 of file cloud_viewer.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZRGBA> pcl::visualization::CloudViewer::ColorACloud

Definition at line 58 of file cloud_viewer.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> pcl::visualization::CloudViewer::ColorCloud

Definition at line 59 of file cloud_viewer.h.

typedef pcl::PointCloud<pcl::PointXYZI> pcl::visualization::CloudViewer::GrayCloud

Definition at line 60 of file cloud_viewer.h.

typedef pcl::PointCloud<pcl::PointXYZ> pcl::visualization::CloudViewer::MonochromeCloud

Definition at line 61 of file cloud_viewer.h.

typedef boost::function1<void, pcl::visualization::PCLVisualizer&> pcl::visualization::CloudViewer::VizCallable

Visualization callable function, may be used for running things on the UI thread.

Definition at line 112 of file cloud_viewer.h.

Constructor & Destructor Documentation

pcl::visualization::CloudViewer::CloudViewer ( const std::string & window_name )

Construct a cloud viewer, with a window name.

Parameters:

window_name This is displayed at the top of the window

Definition at line 266 of file visualization/src/cloud_viewer.cpp.

pcl::visualization::CloudViewer::~CloudViewer ( )

Will quit the window, and release all resources held by the viewer.

Returns:

Definition at line 270 of file visualization/src/cloud_viewer.cpp.

Member Function Documentation

boost::signals2::connection pcl::visualization::CloudViewer::registerKeyboardCallback	(	void()(const pcl::visualization::KeyboardEvent &, void )	callback,
		void *	cookie = `NULL`
	)		`[inline]`

Register a callback function for keyboard events.

Parameters:

[in]	callback	the function that will be registered as a callback for a keyboard event
[in]	cookie	user data that is passed to the callback

Returns:: connection object that allows to disconnect the callback function.

Definition at line 139 of file cloud_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::CloudViewer::registerKeyboardCallback	(	void(T::)(const pcl::visualization::KeyboardEvent &, void )	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline]`

Register a callback function for keyboard events.

Parameters:

[in]	callback	the member function that will be registered as a callback for a keyboard event
[in]	instance	instance to the class that implements the callback function
[in]	cookie	user data that is passed to the callback

Returns:: connection object that allows to disconnect the callback function.

Definition at line 151 of file cloud_viewer.h.

boost::signals2::connection pcl::visualization::CloudViewer::registerKeyboardCallback ( boost::function< void(const pcl::visualization::KeyboardEvent &)> callback ) [private]

Definition at line 347 of file visualization/src/cloud_viewer.cpp.

boost::signals2::connection pcl::visualization::CloudViewer::registerMouseCallback	(	void()(const pcl::visualization::MouseEvent &, void )	callback,
		void *	cookie = `NULL`
	)		`[inline]`

Register a callback function for mouse events.

Parameters:

[in]	callback	the function that will be registered as a callback for a mouse event
[in]	cookie	user data that is passed to the callback

Returns:: connection object that allows to disconnect the callback function.

Definition at line 162 of file cloud_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::CloudViewer::registerMouseCallback	(	void(T::)(const pcl::visualization::MouseEvent &, void )	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline]`

Register a callback function for mouse events.

Parameters:

[in]	callback	the member function that will be registered as a callback for a mouse event
[in]	instance	instance to the class that implements the callback function
[in]	cookie	user data that is passed to the callback

Returns:: connection object that allows to disconnect the callback function.

Definition at line 174 of file cloud_viewer.h.

boost::signals2::connection pcl::visualization::CloudViewer::registerMouseCallback ( boost::function< void(const pcl::visualization::MouseEvent &)> callback ) [private]

Definition at line 354 of file visualization/src/cloud_viewer.cpp.

boost::signals2::connection pcl::visualization::CloudViewer::registerPointPickingCallback	(	void()(const pcl::visualization::PointPickingEvent &, void )	callback,
		void *	cookie = `NULL`
	)		`[inline]`

Register a callback function for point picking events.

Parameters:

[in]	callback	the function that will be registered as a callback for a point picking event
[in]	cookie	user data that is passed to the callback

Returns:: connection object that allows to disconnect the callback function.

Definition at line 186 of file cloud_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::CloudViewer::registerPointPickingCallback	(	void(T::)(const pcl::visualization::PointPickingEvent &, void )	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline]`

Register a callback function for point picking events.

Parameters:

[in]	callback	the member function that will be registered as a callback for a point picking event
[in]	instance	instance to the class that implements the callback function
[in]	cookie	user data that is passed to the callback

Returns:: connection object that allows to disconnect the callback function.

Definition at line 198 of file cloud_viewer.h.

boost::signals2::connection pcl::visualization::CloudViewer::registerPointPickingCallback ( boost::function< void(const pcl::visualization::PointPickingEvent &)> callback ) [private]

Definition at line 361 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::removeVisualizationCallable ( const std::string & key = "callable" )

Remove a previously added callable object, NOP if it doesn't exist.

Parameters:

key	the key that was registered with the callable object.

Definition at line 332 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::runOnVisualizationThread	(	VizCallable	x,
		const std::string &	key = `"callable"`
	)

Run a callbable object on the UI thread. Will persist until removed.

Parameters:

x	Use boost::ref(x) for a function object that you would like to not copy
key	The key for the callable -- use the same key to overwrite.

Definition at line 318 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::runOnVisualizationThreadOnce ( VizCallable x )

Run a callbable object on the UI thread. This will run once and be removed.

Parameters:

x	Use boost::ref(x) for a function object that you would like to not copy

Definition at line 325 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::showCloud	(	const ColorCloud::ConstPtr &	cloud,
		const std::string &	cloudname = `"cloud"`
	)

Show a cloud, with an optional key for multiple clouds.

Parameters:

[in]	cloud	RGB point cloud
[in]	cloudname	a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

Definition at line 288 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::showCloud	(	const ColorACloud::ConstPtr &	cloud,
		const std::string &	cloudname = `"cloud"`
	)

Show a cloud, with an optional key for multiple clouds.

Parameters:

[in]	cloud	RGB point cloud
[in]	cloudname	a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

Definition at line 278 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::showCloud	(	const GrayCloud::ConstPtr &	cloud,
		const std::string &	cloudname = `"cloud"`
	)

Show a cloud, with an optional key for multiple clouds.

Parameters:

[in]	cloud	XYZI point cloud
[in]	cloudname	a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

Definition at line 298 of file visualization/src/cloud_viewer.cpp.

void pcl::visualization::CloudViewer::showCloud	(	const MonochromeCloud::ConstPtr &	cloud,
		const std::string &	cloudname = `"cloud"`
	)

Show a cloud, with an optional key for multiple clouds.

Parameters:

[in]	cloud	XYZ point cloud
[in]	cloudname	a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

Definition at line 308 of file visualization/src/cloud_viewer.cpp.

bool pcl::visualization::CloudViewer::wasStopped ( int millis_to_wait = 1 )

Check if the gui was quit, you should quit also.

Parameters:

millis_to_wait This will request to "spin" for the number of milliseconds, before exiting.

Returns:: true if the user signaled the gui to stop

Definition at line 339 of file visualization/src/cloud_viewer.cpp.

Member Data Documentation

std::auto_ptr<CloudViewer_impl> pcl::visualization::CloudViewer::impl_ [private]

Definition at line 205 of file cloud_viewer.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation