Point Cloud Library (PCL)  1.9.1-dev
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::PointXYZRGBAColorACloud
 
typedef pcl::PointCloud< pcl::PointXYZRGBColorCloud
 
typedef pcl::PointCloud< pcl::PointXYZIGrayCloud
 
typedef pcl::PointCloud< pcl::PointXYZMonochromeCloud
 
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 52 of file cloud_viewer.h.

Member Typedef Documentation

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.

Definition at line 58 of file cloud_viewer.h.

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

Definition at line 109 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 136 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 148 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 159 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 171 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 183 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 195 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.

Referenced by pcl::gpu::DataSource::runCloudViewer().

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

Referenced by pcl::gpu::DataSource::runCloudViewer().


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