cloud_viewer.h

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#ifndef PCL_CLOUD_VIEWER_H_
#define PCL_CLOUD_VIEWER_H_

#include <pcl/visualization/pcl_visualizer.h> //pcl vis
#include <pcl/point_cloud.h> //basic pcl includes
#include <pcl/point_types.h>

#include <boost/function.hpp>

#include <string>

namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS CloudViewer : boost::noncopyable
    {
      public:
        typedef pcl::PointCloud<pcl::PointXYZRGBA> ColorACloud;
        typedef pcl::PointCloud<pcl::PointXYZRGB> ColorCloud;
        typedef pcl::PointCloud<pcl::PointXYZI> GrayCloud;
        typedef pcl::PointCloud<pcl::PointXYZ> MonochromeCloud;

        CloudViewer (const std::string& window_name);

        ~CloudViewer ();

        void
        showCloud (const ColorCloud::ConstPtr &cloud, const std::string& cloudname = "cloud");

        void
        showCloud (const ColorACloud::ConstPtr &cloud, const std::string& cloudname = "cloud");

        void
        showCloud (const GrayCloud::ConstPtr &cloud, const std::string& cloudname = "cloud");


        void
        showCloud (const MonochromeCloud::ConstPtr &cloud, const std::string& cloudname = "cloud");
        
        bool
        wasStopped (int millis_to_wait = 1);

        typedef boost::function1<void, pcl::visualization::PCLVisualizer&> VizCallable;

        void
        runOnVisualizationThread (VizCallable x, const std::string& key = "callable");

        void
        runOnVisualizationThreadOnce (VizCallable x);

        void
        removeVisualizationCallable (const std::string& key = "callable");
        
        inline boost::signals2::connection 
        registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*), void* cookie = NULL)
        {
          return (registerKeyboardCallback (boost::bind (callback, _1, cookie)));
        }
        
        template<typename T> inline boost::signals2::connection 
        registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*), T& instance, void* cookie = NULL)
        {
          return (registerKeyboardCallback (boost::bind (callback,  boost::ref (instance), _1, cookie)));
        }
        
        inline boost::signals2::connection 
        registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*), void* cookie = NULL)
        {
          return (registerMouseCallback (boost::bind (callback, _1, cookie)));
        }
        
        template<typename T> inline boost::signals2::connection 
        registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*), T& instance, void* cookie = NULL)
        {
          return (registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie)));
        }

        
        inline boost::signals2::connection 
        registerPointPickingCallback (void (*callback) (const pcl::visualization::PointPickingEvent&, void*), void* cookie = NULL)
        {
          return (registerPointPickingCallback (boost::bind (callback, _1, cookie)));
        }
        
        template<typename T> inline boost::signals2::connection 
        registerPointPickingCallback (void (T::*callback) (const pcl::visualization::PointPickingEvent&, void*), T& instance, void* cookie = NULL)
        {
          return (registerPointPickingCallback (boost::bind (callback, boost::ref (instance), _1, cookie)));
        }
        
      private:
        struct CloudViewer_impl;
        std::auto_ptr<CloudViewer_impl> impl_;
        
        boost::signals2::connection 
        registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)>);

        boost::signals2::connection 
        registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)>);

        boost::signals2::connection 
        registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)>);
    };
  }
}

#endif /* CLOUD_VIEWER_H_ */