Point Cloud Library (PCL) 1.12.1
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
21namespace Ui
22{
23 class PCLViewer;
24}
25
26class 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.