cloud_visualizer.h
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1 #include <pcl/visualization/pcl_visualizer.h>
2 #include <boost/thread/mutex.hpp>
3 #include <boost/thread/thread.hpp>
4 
5 typedef pcl::visualization::PCLVisualizer visualizer_t;
7 typedef pcl::PointXYZRGB point_t;
8 typedef pcl::PointCloud<point_t> pointcloud_t;
9 
10 namespace rc
11 {
12 
16  public:
17 
19  CloudVisualizer(const char* name);
20 
22  void operator()();
23 
25  void addCloudToViewer(const pointcloud_t::Ptr pointcloud);
26 
28  void updateCloudInViewer(const pointcloud_t::Ptr pointcloud);
29 
31  void stop();
32 
33  private:
34 
36  bool stop_;
37  boost::mutex viewer_mutex_;
38 };
39 
40 
41 }//namespace rc
pcl::visualization::PCLVisualizer visualizer_t
pcl::PointXYZRGB point_t
boost::mutex viewer_mutex_
Displays one cloud using the PCLVisualizer.
CloudVisualizer(const char *name)
Creates the viewer object.
boost::shared_ptr< visualizer_t > visualizer_ptr_t
pcl::PointCloud< point_t > pointcloud_t
void operator()()
Viewer update loop, will be called when viewer thread is started.
void addCloudToViewer(const pointcloud_t::Ptr pointcloud)
Thread-safe addition/replacement of the cloud.
void updateCloudInViewer(const pointcloud_t::Ptr pointcloud)
Thread-safe update to the cloud.
visualizer_ptr_t viewer_
void stop()
Signal thread to stop the visualization loop.


rc_cloud_accumulator
Author(s): Felix Endres
autogenerated on Mon Jun 10 2019 14:34:34