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402 lines
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<title>The CloudViewer — Point Cloud Library 1.12.0 documentation</title>
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<div class="version">
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1.12.0
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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">The CloudViewer</a></li>
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<li><a class="reference internal" href="#simple-cloud-visualization">Simple Cloud Visualization</a></li>
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<li><a class="reference internal" href="#a-more-complete-sample">A more complete sample:</a></li>
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<li><a class="reference internal" href="#compiling-and-running-the-program">Compiling and running the program</a></li>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div class="section" id="the-cloudviewer">
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<span id="cloud-viewer"></span><h1>The CloudViewer</h1>
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<p>The CloudViewer is a straight forward, simple point cloud visualization, meant
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to get you up and viewing clouds in as little code as possible.</p>
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<div class="admonition note">
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<p class="first admonition-title">Note</p>
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<p class="last">The CloudViewer class is <strong>NOT</strong> meant to be used in multi-threaded
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applications! Please check the documentation on
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<span>PCLVisualizer</span> or read the <a class="reference internal" href="pcl_visualizer.html#pcl-visualizer"><span class="std std-ref">PCLVisualizer</span></a> tutorial
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for thread safe visualization.</p>
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</div>
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</div>
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<div class="section" id="simple-cloud-visualization">
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<h1>Simple Cloud Visualization</h1>
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<p>If you just want to visualize something in your app with a few lines of code,
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use a snippet like the following one:</p>
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<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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13</pre></div></td><td class="code"><div class="highlight"><pre><span></span> <span class="cp">#include</span> <span class="cpf"><pcl/visualization/cloud_viewer.h></span><span class="cp"></span>
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<span class="c1">//...</span>
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<span class="kt">void</span>
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<span class="nf">foo</span> <span class="p">()</span>
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<span class="p">{</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZRGB</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span><span class="p">;</span>
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<span class="c1">//... populate cloud</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">CloudViewer</span> <span class="n">viewer</span> <span class="p">(</span><span class="s">"Simple Cloud Viewer"</span><span class="p">);</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">showCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
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<span class="k">while</span> <span class="p">(</span><span class="o">!</span><span class="n">viewer</span><span class="p">.</span><span class="n">wasStopped</span> <span class="p">())</span>
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<span class="p">{</span>
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<span class="p">}</span>
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<span class="p">}</span>
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</pre></div>
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</td></tr></table></div>
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</div>
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<div class="section" id="a-more-complete-sample">
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<h1>A more complete sample:</h1>
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<p>The following shows how to run code on the visualization thread. The PCLVisualizer is
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the back end of the CloudViewer, but its running in its own thread. To access it you
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must use callback functions, to avoid the visualization concurrency issues. However
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care must be taken to avoid race conditions in your code, as the callbacks will be
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called from the visualization thread.</p>
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<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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61</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><pcl/visualization/cloud_viewer.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><iostream></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/io/io.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/io/pcd_io.h></span><span class="cp"></span>
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<span class="kt">int</span> <span class="n">user_data</span><span class="p">;</span>
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<span class="kt">void</span>
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<span class="nf">viewerOneOff</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">PCLVisualizer</span><span class="o">&</span> <span class="n">viewer</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">setBackgroundColor</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span> <span class="n">o</span><span class="p">;</span>
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<span class="n">o</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">;</span>
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<span class="n">o</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
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<span class="n">o</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">addSphere</span> <span class="p">(</span><span class="n">o</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="s">"sphere"</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cout</span> <span class="o"><<</span> <span class="s">"i only run once"</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="kt">void</span>
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<span class="nf">viewerPsycho</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">PCLVisualizer</span><span class="o">&</span> <span class="n">viewer</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="k">static</span> <span class="kt">unsigned</span> <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
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<span class="n">std</span><span class="o">::</span><span class="n">stringstream</span> <span class="n">ss</span><span class="p">;</span>
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<span class="n">ss</span> <span class="o"><<</span> <span class="s">"Once per viewer loop: "</span> <span class="o"><<</span> <span class="n">count</span><span class="o">++</span><span class="p">;</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">removeShape</span> <span class="p">(</span><span class="s">"text"</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">addText</span> <span class="p">(</span><span class="n">ss</span><span class="p">.</span><span class="n">str</span><span class="p">(),</span> <span class="mi">200</span><span class="p">,</span> <span class="mi">300</span><span class="p">,</span> <span class="s">"text"</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span>
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<span class="c1">//FIXME: possible race condition here:</span>
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<span class="n">user_data</span><span class="o">++</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="kt">int</span>
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<span class="nf">main</span> <span class="p">()</span>
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<span class="p">{</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZRGBA</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZRGBA</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">io</span><span class="o">::</span><span class="n">loadPCDFile</span> <span class="p">(</span><span class="s">"my_point_cloud.pcd"</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud</span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">CloudViewer</span> <span class="n">viewer</span><span class="p">(</span><span class="s">"Cloud Viewer"</span><span class="p">);</span>
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<span class="c1">//blocks until the cloud is actually rendered</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">showCloud</span><span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
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<span class="c1">//use the following functions to get access to the underlying more advanced/powerful</span>
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<span class="c1">//PCLVisualizer</span>
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<span class="c1">//This will only get called once</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">runOnVisualizationThreadOnce</span> <span class="p">(</span><span class="n">viewerOneOff</span><span class="p">);</span>
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<span class="c1">//This will get called once per visualization iteration</span>
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<span class="n">viewer</span><span class="p">.</span><span class="n">runOnVisualizationThread</span> <span class="p">(</span><span class="n">viewerPsycho</span><span class="p">);</span>
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<span class="k">while</span> <span class="p">(</span><span class="o">!</span><span class="n">viewer</span><span class="p">.</span><span class="n">wasStopped</span> <span class="p">())</span>
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<span class="p">{</span>
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<span class="c1">//you can also do cool processing here</span>
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<span class="c1">//FIXME: Note that this is running in a separate thread from viewerPsycho</span>
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<span class="c1">//and you should guard against race conditions yourself...</span>
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<span class="n">user_data</span><span class="o">++</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="k">return</span> <span class="mi">0</span><span class="p">;</span>
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<span class="p">}</span>
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</pre></div>
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</td></tr></table></div>
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</div>
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<div class="section" id="compiling-and-running-the-program">
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<h1>Compiling and running the program</h1>
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<p>Add the following lines to your <cite>CMakeLists.txt</cite> file:</p>
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<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
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<span class="nb">project</span><span class="p">(</span><span class="s">cloud_viewer</span><span class="p">)</span>
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<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
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<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
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<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
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<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
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<span class="nb">add_executable</span> <span class="p">(</span><span class="s">cloud_viewer</span> <span class="s">cloud_viewer.cpp</span><span class="p">)</span>
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<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">cloud_viewer</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
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</pre></div>
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</td></tr></table></div>
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<p>After you have made the executable, you can run it like so:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./cloud_viewer
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</pre></div>
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