Point Cloud Library (PCL)  1.12.1-dev
pclviewer.h
1 #pragma once
2 
3 // Qt
4 #include <QMainWindow>
5 #include <QFileDialog>
6 
7 // Point Cloud Library
8 #include <pcl/point_cloud.h>
9 #include <pcl/point_types.h>
10 #include <pcl/io/ply_io.h>
11 #include <pcl/io/pcd_io.h>
12 #include <pcl/filters/filter.h>
13 #include <pcl/visualization/pcl_visualizer.h>
14 
15 // Boost
16 #include <boost/math/special_functions/round.hpp>
17 
20 
21 namespace Ui
22 {
23  class PCLViewer;
24 }
25 
26 class PCLViewer : public QMainWindow
27 {
28  Q_OBJECT
29 
30  public:
31  /** @brief Constructor */
32  explicit
33  PCLViewer (QWidget *parent = 0);
34 
35  /** @brief Destructor */
37 
38  public Q_SLOTS:
39  /** @brief Triggered whenever the "Save file" button is clicked */
40  void
42 
43  /** @brief Triggered whenever the "Load file" button is clicked */
44  void
46 
47  /** @brief Triggered whenever a button in the "Color on axis" group is clicked */
48  void
50 
51  /** @brief Triggered whenever a button in the "Color mode" group is clicked */
52  void
54 
55  protected:
56  /** @brief Rerender the view */
57  void
59 
60  /** @brief The PCL visualizer object */
62 
63  /** @brief The point cloud displayed */
65 
66  /** @brief 0 = x | 1 = y | 2 = z */
68 
69  /** @brief Holds the color mode for @ref colorCloudDistances */
71 
72  /** @brief Color point cloud on X,Y or Z axis using a Look-Up Table (LUT)
73  * Computes a LUT and color the cloud accordingly, available color palettes are :
74  *
75  * Values are on a scale from 0 to 255:
76  * 0. Blue (= 0) -> Red (= 255), this is the default value
77  * 1. Green (= 0) -> Magenta (= 255)
78  * 2. White (= 0) -> Red (= 255)
79  * 3. Grey (< 128) / Red (> 128)
80  * 4. Blue -> Green -> Red (~ rainbow)
81  *
82  * @warning If there's an outlier in the data the color may seem uniform because of this outlier!
83  * @note A boost rounding exception error will be thrown if used with a non dense point cloud
84  */
85  void
87 
88  private:
89  /** @brief ui pointer */
90  Ui::PCLViewer *ui;
91 };
void refreshView()
Rerender the view.
int color_mode_
Holds the color mode for colorCloudDistances.
Definition: pclviewer.h:70
int filtering_axis_
0 = x | 1 = y | 2 = z
Definition: pclviewer.h:67
PCLViewer(QWidget *parent=0)
Constructor.
PointCloudT::Ptr cloud_
The point cloud displayed.
Definition: pclviewer.h:64
void loadFileButtonPressed()
Triggered whenever the "Load file" button is clicked.
pcl::visualization::PCLVisualizer::Ptr viewer_
The PCL visualizer object.
Definition: pclviewer.h:61
~PCLViewer()
Destructor.
void saveFileButtonPressed()
Triggered whenever the "Save file" button is clicked.
void colorCloudDistances()
Color point cloud on X,Y or Z axis using a Look-Up Table (LUT) Computes a LUT and color the cloud acc...
void axisChosen()
Triggered whenever a button in the "Color on axis" group is clicked.
void lookUpTableChosen()
Triggered whenever a button in the "Color mode" group is clicked.
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< PCLVisualizer > Ptr
Defines all the PCL implemented PointT point type structures.
Definition: pclviewer.h:22
A point structure representing Euclidean xyz coordinates, and the RGBA color.
A point structure representing Euclidean xyz coordinates, and the RGB color.