W3cubDocs

/PointCloudLibrary

Simple point cloud visualization class. More...

#include <pcl/visualization/cloud_viewer.h>

Public Types

using Ptr = shared_ptr< CloudViewer >
using ConstPtr = shared_ptr< const CloudViewer >
using ColorACloud = pcl::PointCloud< pcl::PointXYZRGBA >
using ColorCloud = pcl::PointCloud< pcl::PointXYZRGB >
using GrayCloud = pcl::PointCloud< pcl::PointXYZI >
using MonochromeCloud = pcl::PointCloud< pcl::PointXYZ >
using VizCallable = std::function< void(pcl::visualization::PCLVisualizer &)>
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=nullptr)
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=nullptr)
Register a callback function for keyboard events. More...
boost::signals2::connection registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=nullptr)
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=nullptr)
Register a callback function for mouse events. More...
boost::signals2::connection registerPointPickingCallback (void(*callback)(const pcl::visualization::PointPickingEvent &, void *), void *cookie=nullptr)
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=nullptr)
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

ColorACloud

ColorCloud

ConstPtr

Definition at line 56 of file cloud_viewer.h.

GrayCloud

MonochromeCloud

Ptr

Definition at line 55 of file cloud_viewer.h.

VizCallable

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

Definition at line 112 of file cloud_viewer.h.

Constructor & Destructor Documentation

CloudViewer()

pcl::visualization::CloudViewer::CloudViewer ( const std::string & window_name )

Construct a cloud viewer, with a window name.

Parameters
window_name This is displayed at the top of the window

~CloudViewer()

pcl::visualization::CloudViewer::~CloudViewer ( )

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

Returns

Member Function Documentation

registerKeyboardCallback() [1/2]

boost::signals2::connection pcl::visualization::CloudViewer::registerKeyboardCallback ( void(*)(const pcl::visualization::KeyboardEvent &, void *) callback,
void * cookie = nullptr
)
inline

Register a callback function for keyboard events.

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

Definition at line 139 of file cloud_viewer.h.

registerKeyboardCallback() [2/2]

template<typename T >
boost::signals2::connection pcl::visualization::CloudViewer::registerKeyboardCallback ( void(T::*)(const pcl::visualization::KeyboardEvent &, void *) callback,
T & instance,
void * cookie = nullptr
)
inline

Register a callback function for keyboard events.

Parameters
[in] callback the member function that will be registered as a callback for a keyboard event
[in] instance instance to the class that implements the callback function
[in] cookie user data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 151 of file cloud_viewer.h.

registerMouseCallback() [1/2]

boost::signals2::connection pcl::visualization::CloudViewer::registerMouseCallback ( void(*)(const pcl::visualization::MouseEvent &, void *) callback,
void * cookie = nullptr
)
inline

Register a callback function for mouse events.

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

Definition at line 162 of file cloud_viewer.h.

registerMouseCallback() [2/2]

template<typename T >
boost::signals2::connection pcl::visualization::CloudViewer::registerMouseCallback ( void(T::*)(const pcl::visualization::MouseEvent &, void *) callback,
T & instance,
void * cookie = nullptr
)
inline

Register a callback function for mouse events.

Parameters
[in] callback the member function that will be registered as a callback for a mouse event
[in] instance instance to the class that implements the callback function
[in] cookie user data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 174 of file cloud_viewer.h.

registerPointPickingCallback() [1/2]

boost::signals2::connection pcl::visualization::CloudViewer::registerPointPickingCallback ( void(*)(const pcl::visualization::PointPickingEvent &, void *) callback,
void * cookie = nullptr
)
inline

Register a callback function for point picking events.

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

Definition at line 186 of file cloud_viewer.h.

registerPointPickingCallback() [2/2]

template<typename T >
boost::signals2::connection pcl::visualization::CloudViewer::registerPointPickingCallback ( void(T::*)(const pcl::visualization::PointPickingEvent &, void *) callback,
T & instance,
void * cookie = nullptr
)
inline

Register a callback function for point picking events.

Parameters
[in] callback the member function that will be registered as a callback for a point picking event
[in] instance instance to the class that implements the callback function
[in] cookie user data that is passed to the callback
Returns
connection object that allows to disconnect the callback function.

Definition at line 198 of file cloud_viewer.h.

removeVisualizationCallable()

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

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

Parameters
key the key that was registered with the callable object.

runOnVisualizationThread()

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
x Use boost::ref(x) for a function object that you would like to not copy
key The key for the callable – use the same key to overwrite.

runOnVisualizationThreadOnce()

void pcl::visualization::CloudViewer::runOnVisualizationThreadOnce ( VizCallable x )

Run a callbable object on the UI thread.

This will run once and be removed

Parameters
x Use boost::ref(x) for a function object that you would like to not copy

showCloud() [1/4]

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] cloud RGB point cloud
[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

showCloud() [2/4]

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] cloud RGB point cloud
[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

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

showCloud() [3/4]

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] cloud XYZI point cloud
[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

showCloud() [4/4]

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] cloud XYZ point cloud
[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.

wasStopped()

bool pcl::visualization::CloudViewer::wasStopped ( int millis_to_wait = 1 )

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

Parameters
millis_to_wait This 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:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_cloud_viewer.html