219 lines
11 KiB
C
219 lines
11 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#pragma once
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#include <pcl/visualization/pcl_visualizer.h> //pcl vis
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#include <boost/scoped_ptr.hpp> // scoped_ptr for pre-C++11
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#include <string>
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namespace pcl
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{
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namespace visualization
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{
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/** \brief Simple point cloud visualization class
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* \author Ethan Rublee
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* \ingroup visualization
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*/
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class PCL_EXPORTS CloudViewer : boost::noncopyable
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{
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public:
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using Ptr = shared_ptr<CloudViewer>;
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using ConstPtr = shared_ptr<const CloudViewer>;
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using ColorACloud = pcl::PointCloud<pcl::PointXYZRGBA>;
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using ColorCloud = pcl::PointCloud<pcl::PointXYZRGB>;
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using GrayCloud = pcl::PointCloud<pcl::PointXYZI>;
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using MonochromeCloud = pcl::PointCloud<pcl::PointXYZ>;
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/** \brief Construct a cloud viewer, with a window name.
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* \param window_name This is displayed at the top of the window
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*/
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CloudViewer (const std::string& window_name);
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/** \brief Will quit the window,
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* and release all resources held by the viewer.
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* @return
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*/
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~CloudViewer ();
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/** \brief Show a cloud, with an optional key for multiple clouds.
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* \param[in] cloud RGB point cloud
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* \param[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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*/
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void
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showCloud (const ColorCloud::ConstPtr &cloud, const std::string& cloudname = "cloud");
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/** \brief Show a cloud, with an optional key for multiple clouds.
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* \param[in] cloud RGB point cloud
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* \param[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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*/
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void
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showCloud (const ColorACloud::ConstPtr &cloud, const std::string& cloudname = "cloud");
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/** \brief Show a cloud, with an optional key for multiple clouds.
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* \param[in] cloud XYZI point cloud
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* \param[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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*/
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void
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showCloud (const GrayCloud::ConstPtr &cloud, const std::string& cloudname = "cloud");
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/** \brief Show a cloud, with an optional key for multiple clouds.
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* \param[in] cloud XYZ point cloud
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* \param[in] cloudname a key for the point cloud, use the same name if you would like to overwrite the existing cloud.
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*/
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void
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showCloud (const MonochromeCloud::ConstPtr &cloud, const std::string& cloudname = "cloud");
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/** \brief Check if the gui was quit, you should quit also
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* \param millis_to_wait This will request to "spin" for the number of milliseconds, before exiting.
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* \return true if the user signaled the gui to stop
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*/
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bool
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wasStopped (int millis_to_wait = 1);
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/** Visualization callable function, may be used for running things on the UI thread.
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*/
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using VizCallable = std::function<void (pcl::visualization::PCLVisualizer&)>;
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/** \brief Run a callbable object on the UI thread. Will persist until removed
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* @param x Use boost::ref(x) for a function object that you would like to not copy
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* \param key The key for the callable -- use the same key to overwrite.
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*/
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void
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runOnVisualizationThread (VizCallable x, const std::string& key = "callable");
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/** \brief Run a callbable object on the UI thread. This will run once and be removed
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* @param x Use boost::ref(x) for a function object that you would like to not copy
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*/
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void
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runOnVisualizationThreadOnce (VizCallable x);
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/** \brief Remove a previously added callable object, NOP if it doesn't exist.
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* @param key the key that was registered with the callable object.
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*/
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void
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removeVisualizationCallable (const std::string& key = "callable");
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/** \brief Register a callback function for keyboard events
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* \param[in] callback the function that will be registered as a callback for a keyboard event
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* \param[in] cookie user data that is passed to the callback
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* \return connection object that allows to disconnect the callback function.
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*/
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inline boost::signals2::connection
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registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), void* cookie = nullptr)
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{
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return (registerKeyboardCallback ([=] (const pcl::visualization::KeyboardEvent& e) { (*callback) (e, cookie); }));
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}
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/** \brief Register a callback function for keyboard events
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* \param[in] callback the member function that will be registered as a callback for a keyboard event
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* \param[in] instance instance to the class that implements the callback function
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* \param[in] cookie user data that is passed to the callback
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* \return connection object that allows to disconnect the callback function.
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*/
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template<typename T> inline boost::signals2::connection
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registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), T& instance, void* cookie = nullptr)
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{
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return (registerKeyboardCallback ([=, &instance] (const pcl::visualization::KeyboardEvent& e) { (instance.*callback) (e, cookie); }));
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}
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/** \brief Register a callback function for mouse events
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* \param[in] callback the function that will be registered as a callback for a mouse event
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* \param[in] cookie user data that is passed to the callback
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* \return connection object that allows to disconnect the callback function.
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*/
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inline boost::signals2::connection
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registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), void* cookie = nullptr)
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{
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return (registerMouseCallback ([=] (const pcl::visualization::MouseEvent& e) { (*callback) (e, cookie); }));
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}
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/** \brief Register a callback function for mouse events
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* \param[in] callback the member function that will be registered as a callback for a mouse event
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* \param[in] instance instance to the class that implements the callback function
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* \param[in] cookie user data that is passed to the callback
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* \return connection object that allows to disconnect the callback function.
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*/
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template<typename T> inline boost::signals2::connection
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registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), T& instance, void* cookie = nullptr)
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{
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return (registerMouseCallback ([=, &instance] (const pcl::visualization::MouseEvent& e) { (instance.*callback) (e, cookie); }));
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}
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/** \brief Register a callback function for point picking events
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* \param[in] callback the function that will be registered as a callback for a point picking event
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* \param[in] cookie user data that is passed to the callback
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* \return connection object that allows to disconnect the callback function.
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*/
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inline boost::signals2::connection
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registerPointPickingCallback (void (*callback) (const pcl::visualization::PointPickingEvent&, void*), void* cookie = nullptr)
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{
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return (registerPointPickingCallback ([=] (const pcl::visualization::PointPickingEvent& e) { (*callback) (e, cookie); }));
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}
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/** \brief Register a callback function for point picking events
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* \param[in] callback the member function that will be registered as a callback for a point picking event
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* \param[in] instance instance to the class that implements the callback function
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* \param[in] cookie user data that is passed to the callback
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* \return connection object that allows to disconnect the callback function.
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*/
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template<typename T> inline boost::signals2::connection
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registerPointPickingCallback (void (T::*callback) (const pcl::visualization::PointPickingEvent&, void*), T& instance, void* cookie = nullptr)
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{
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return (registerPointPickingCallback ([=, &instance] (const pcl::visualization::PointPickingEvent& e) { (instance.*callback) (e, cookie); }));
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}
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private:
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/** \brief Private implementation. */
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struct CloudViewer_impl;
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boost::scoped_ptr<CloudViewer_impl> impl_;
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boost::signals2::connection
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registerMouseCallback (std::function<void (const pcl::visualization::MouseEvent&)>);
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boost::signals2::connection
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registerKeyboardCallback (std::function<void (const pcl::visualization::KeyboardEvent&)>);
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boost::signals2::connection
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registerPointPickingCallback (std::function<void (const pcl::visualization::PointPickingEvent&)>);
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};
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}
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}
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