Point Cloud Library (PCL)  1.7.1
List of all members | Public Types | Public Member Functions
pcl::visualization::CloudViewer Class Reference

Simple point cloud visualization class. More...

#include <pcl/visualization/cloud_viewer.h>

+ Inheritance diagram for pcl::visualization::CloudViewer:

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

Public Member Functions

 CloudViewer (const std::string &window_name)
 Construct a cloud viewer, with a window name. More...
 
 ~CloudViewer ()
 Will quit the window, and release all resources held by the viewer. More...
 
void showCloud (const ColorCloud::ConstPtr &cloud, const std::string &cloudname="cloud")
 Show a cloud, with an optional key for multiple clouds. More...
 
void showCloud (const ColorACloud::ConstPtr &cloud, const std::string &cloudname="cloud")
 Show a cloud, with an optional key for multiple clouds. More...
 
void showCloud (const GrayCloud::ConstPtr &cloud, const std::string &cloudname="cloud")
 Show a cloud, with an optional key for multiple clouds. More...
 
void showCloud (const MonochromeCloud::ConstPtr &cloud, const std::string &cloudname="cloud")
 Show a cloud, with an optional key for multiple clouds. More...
 
bool wasStopped (int millis_to_wait=1)
 Check if the gui was quit, you should quit also. More...
 
void runOnVisualizationThread (VizCallable x, const std::string &key="callable")
 Run a callbable object on the UI thread. More...
 
void runOnVisualizationThreadOnce (VizCallable x)
 Run a callbable object on the UI thread. More...
 
void removeVisualizationCallable (const std::string &key="callable")
 Remove a previously added callable object, NOP if it doesn't exist. More...
 
boost::signals2::connection registerKeyboardCallback (void(*callback)(const pcl::visualization::KeyboardEvent &, void *), void *cookie=NULL)
 Register a callback function for keyboard events. More...
 
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. More...
 
boost::signals2::connection registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=NULL)
 Register a callback function for mouse events. More...
 
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. More...
 
boost::signals2::connection registerPointPickingCallback (void(*callback)(const pcl::visualization::PointPickingEvent &, void *), void *cookie=NULL)
 Register a callback function for point picking events. More...
 
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. More...
 

Detailed Description

Simple point cloud visualization class.

Author
Ethan Rublee

Definition at line 51 of file cloud_viewer.h.

Member Typedef Documentation

Definition at line 54 of file cloud_viewer.h.

Definition at line 55 of file cloud_viewer.h.

Definition at line 56 of file cloud_viewer.h.

Definition at line 57 of file cloud_viewer.h.

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

Definition at line 108 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_nameThis is displayed at the top of the window
pcl::visualization::CloudViewer::~CloudViewer ( )

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

Returns

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]callbackthe function that will be registered as a callback for a keyboard event
[in]cookieuser data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 135 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]callbackthe member function that will be registered as a callback for a keyboard event
[in]instanceinstance to the class that implements the callback function
[in]cookieuser data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 147 of file cloud_viewer.h.

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]callbackthe function that will be registered as a callback for a mouse event
[in]cookieuser data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 158 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]callbackthe member function that will be registered as a callback for a mouse event
[in]instanceinstance to the class that implements the callback function
[in]cookieuser data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 170 of file cloud_viewer.h.

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]callbackthe function that will be registered as a callback for a point picking event
[in]cookieuser data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 182 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]callbackthe member function that will be registered as a callback for a point picking event
[in]instanceinstance to the class that implements the callback function
[in]cookieuser data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 194 of file cloud_viewer.h.

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

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

Parameters
keythe key that was registered with the callable object.
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
xUse boost::ref(x) for a function object that you would like to not copy
keyThe key for the callable – use the same key to overwrite.
void pcl::visualization::CloudViewer::runOnVisualizationThreadOnce ( VizCallable  x)

Run a callbable object on the UI thread.

This will run once and be removed

Parameters
xUse boost::ref(x) for a function object that you would like to not copy
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]cloudRGB point cloud
[in]cloudnamea key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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]cloudRGB point cloud
[in]cloudnamea key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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]cloudXYZI point cloud
[in]cloudnamea key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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]cloudXYZ point cloud
[in]cloudnamea key for the point cloud, use the same name if you would like to overwrite the existing cloud.
bool pcl::visualization::CloudViewer::wasStopped ( int  millis_to_wait = 1)

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

Parameters
millis_to_waitThis will request to "spin" for the number of milliseconds, before exiting.
Returns
true if the user signaled the gui to stop

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