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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: pcl_histogram_visualizer.h 31709 2010-08-11 08:11:54Z rusu $ 00035 * 00036 */ 00037 #ifndef PCL_CLOUD_VIEWER_H_ 00038 #define PCL_CLOUD_VIEWER_H_ 00039 #include <pcl_visualization/pcl_visualizer.h> //pcl vis 00040 #include <pcl/point_cloud.h> //basic pcl includes 00041 #include <pcl/point_types.h> 00042 00043 #include <boost/function.hpp> 00044 00045 #include <string> 00046 namespace pcl_visualization 00047 { 00050 class CloudViewer 00051 { 00052 public: 00053 typedef pcl::PointCloud<pcl::PointXYZRGB> ColorCloud; 00054 typedef pcl::PointCloud<pcl::PointXYZ> GrayCloud; 00055 00059 CloudViewer (const std::string& window_name); 00060 00065 ~CloudViewer (); 00066 00071 void 00072 showCloud (const ColorCloud& cloud, const std::string& cloudname = "cloud"); 00073 00078 void 00079 showCloud (const GrayCloud& cloud, const std::string& cloudname = "cloud"); 00080 00085 bool 00086 wasStopped (int millis_to_wait = 1); 00087 00090 typedef boost::function1<void, pcl_visualization::PCLVisualizer&> VizCallable; 00091 00096 void 00097 runOnVisualizationThread (VizCallable x, const std::string& key = "callable"); 00098 00102 void 00103 removeVisualizationCallable (const std::string& key = "callable"); 00104 private: 00105 00106 CloudViewer (const CloudViewer&rhs);//don't copy me for now! 00107 00108 void 00109 operator= (const CloudViewer&rhs);//don't copy me for now! 00110 00113 struct CloudViewer_impl; 00114 CloudViewer_impl* impl_; 00115 }; 00116 } 00117 00118 #include "libpcl_visualization/cloud_viewer.hpp" 00119 #endif /* CLOUD_VIEWER_H_ */