Point Cloud Library (PCL)  1.3.1
cloud_viewer.h
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00001 /*
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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_ */
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