Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions
pcl::visualization::CloudViewer Class Reference

Simple point cloud visualization class. More...

#include <pcl/visualization/cloud_viewer.h>

List of all members.

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.

Public Member Functions

 CloudViewer (const std::string &window_name)
 Construct a cloud viewer, with a window name.
 ~CloudViewer ()
 Will quit the window, and release all resources held by the viewer.
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.
void runOnVisualizationThread (VizCallable x, const std::string &key="callable")
 Run a callbable object on the UI thread.
void runOnVisualizationThreadOnce (VizCallable x)
 Run a callbable object on the UI thread.
void removeVisualizationCallable (const std::string &key="callable")
 Remove a previously added callable object, NOP if it doesn't exist.
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.

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

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.

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: