Simple point cloud visualization class. More...

#include <pcl/visualization/cloud_viewer.h>

Inheritance diagram for pcl::visualization::CloudViewer:

Collaboration diagram for pcl::visualization::CloudViewer:

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

using pcl::visualization::CloudViewer::ColorACloud = pcl::PointCloud<pcl::PointXYZRGBA>

Definition at line 58 of file cloud_viewer.h.

◆ ColorCloud

using pcl::visualization::CloudViewer::ColorCloud = pcl::PointCloud<pcl::PointXYZRGB>

Definition at line 59 of file cloud_viewer.h.

◆ ConstPtr

using pcl::visualization::CloudViewer::ConstPtr = shared_ptr<const CloudViewer>

Definition at line 56 of file cloud_viewer.h.

◆ GrayCloud

using pcl::visualization::CloudViewer::GrayCloud = pcl::PointCloud<pcl::PointXYZI>

Definition at line 60 of file cloud_viewer.h.

◆ MonochromeCloud

using pcl::visualization::CloudViewer::MonochromeCloud = pcl::PointCloud<pcl::PointXYZ>

Definition at line 61 of file cloud_viewer.h.

◆ Ptr

using pcl::visualization::CloudViewer::Ptr = shared_ptr<CloudViewer>

Definition at line 55 of file cloud_viewer.h.

◆ VizCallable

using pcl::visualization::CloudViewer::VizCallable = std::function<void (pcl::visualization::PCLVisualizer&)>

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:

pcl/visualization/cloud_viewer.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ColorACloud

◆ ColorCloud

◆ ConstPtr

◆ GrayCloud

◆ MonochromeCloud

◆ Ptr

◆ VizCallable

Constructor & Destructor Documentation

◆ CloudViewer()

◆ ~CloudViewer()

Member Function Documentation

◆ registerKeyboardCallback() [1/2]

◆ registerKeyboardCallback() [2/2]

◆ registerMouseCallback() [1/2]

◆ registerMouseCallback() [2/2]

◆ registerPointPickingCallback() [1/2]

◆ registerPointPickingCallback() [2/2]

◆ removeVisualizationCallable()

◆ runOnVisualizationThread()

◆ runOnVisualizationThreadOnce()

◆ showCloud() [1/4]

◆ showCloud() [2/4]

◆ showCloud() [3/4]

◆ showCloud() [4/4]

◆ wasStopped()