Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 00036 #ifndef PCL_CLOUD_VIEWER_H_ 00037 #define PCL_CLOUD_VIEWER_H_ 00038 00039 #include <pcl/visualization/pcl_visualizer.h> //pcl vis 00040 #include <pcl/point_cloud.h> //basic pcl includes 00041 #include <pcl/point_types.h> 00042 00043 #include <boost/function.hpp> 00044 00045 #include <string> 00046 00047 namespace pcl 00048 { 00049 namespace visualization 00050 { 00055 class PCL_EXPORTS CloudViewer : boost::noncopyable 00056 { 00057 public: 00058 typedef pcl::PointCloud<pcl::PointXYZRGB> ColorCloud; 00059 typedef pcl::PointCloud<pcl::PointXYZI> GrayCloud; 00060 typedef pcl::PointCloud<pcl::PointXYZ> MonochromeCloud; 00061 00065 CloudViewer (const std::string& window_name); 00066 00071 ~CloudViewer (); 00072 00077 void 00078 showCloud (const ColorCloud::ConstPtr &cloud, const std::string& cloudname = "cloud"); 00079 00084 void 00085 showCloud (const GrayCloud::ConstPtr &cloud, const std::string& cloudname = "cloud"); 00086 00087 00092 void 00093 showCloud (const MonochromeCloud::ConstPtr &cloud, const std::string& cloudname = "cloud"); 00094 00099 bool 00100 wasStopped (int millis_to_wait = 1); 00101 00104 typedef boost::function1<void, pcl::visualization::PCLVisualizer&> VizCallable; 00105 00110 void 00111 runOnVisualizationThread (VizCallable x, const std::string& key = "callable"); 00112 00116 void 00117 runOnVisualizationThreadOnce (VizCallable x); 00118 00122 void 00123 removeVisualizationCallable (const std::string& key = "callable"); 00124 00130 inline boost::signals2::connection 00131 registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), void* cookie = NULL) 00132 { 00133 return (registerKeyboardCallback (boost::bind (callback, _1, cookie))); 00134 } 00135 00142 template<typename T> inline boost::signals2::connection 00143 registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), T& instance, void* cookie = NULL) 00144 { 00145 return (registerKeyboardCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00146 } 00147 00153 inline boost::signals2::connection 00154 registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), void* cookie = NULL) 00155 { 00156 return (registerMouseCallback (boost::bind (callback, _1, cookie))); 00157 } 00158 00165 template<typename T> inline boost::signals2::connection 00166 registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), T& instance, void* cookie = NULL) 00167 { 00168 return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00169 } 00170 00171 00177 inline boost::signals2::connection 00178 registerPointPickingCallback (void (*callback) (const pcl::visualization::PointPickingEvent&, void*), void* cookie = NULL) 00179 { 00180 return (registerPointPickingCallback (boost::bind (callback, _1, cookie))); 00181 } 00182 00189 template<typename T> inline boost::signals2::connection 00190 registerPointPickingCallback (void (T::*callback) (const pcl::visualization::PointPickingEvent&, void*), T& instance, void* cookie = NULL) 00191 { 00192 return (registerPointPickingCallback (boost::bind (callback, boost::ref (instance), _1, cookie))); 00193 } 00194 00195 private: 00197 class CloudViewer_impl; 00198 std::auto_ptr<CloudViewer_impl> impl_; 00199 00200 boost::signals2::connection 00201 registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)>); 00202 00203 boost::signals2::connection 00204 registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)>); 00205 00206 boost::signals2::connection 00207 registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)>); 00208 }; 00209 } 00210 } 00211 00212 #endif /* CLOUD_VIEWER_H_ */