TViewer is a small visualization library built on top of PCL Visualizer. It provides a point cloud viewer that will come in handy when you need to visualize a number of different objects simultaneously with an ability to show/hide them individually using keyboard shortcuts.
The viewer maintains a collection of "visualization objects", each of which has a state (shown or hidden) and an associated keyboard shortcut that the user may use to toggle the state. You do not need to write any boiler-plate code for that, but rather simply create a visualization object and register it with the viewer:
viewer->add<PointCloudObject<pcl::PointXYZ>> ("cloud", "some point cloud", "c", cloud);The presented code creates a new visualization object that displays cloud
point cloud and that the user may show or hide by pressing c key. The objects
themselves could be static or dynamic, which means that they might either have a
particular data (point cloud) associated with them, or a function that generates
new data.
The library also has a few more random features:
- saving/loading of camera viewpoint
- utility functions for handling keyboard input and point picking
- support for no GUI mode
- randomly shuffling colors in point clouds
Usage
In order to use TViewer simply clone this repository to the root of your project and drop the following lines into your 'CMakeLists.txt':
add_subdirectory(${CMAKE_SOURCE_DIR}/tviewer)
include_directories(${TVIEWER_INCLUDE_DIRS})
add_definitions(${TVIEWER_DEFINITIONS})and do not forget to link your target with the library:
add_executable(my_app
my_app.cpp
)
target_link_libraries(my_app
${PCL_LIBRARIES}
${TVIEWER_LIBRARIES}
)In the source code you only need to include 'tviewer/tviewer.h'.