pcl::visualization::ImageViewer Class Reference

ImageViewer is a class for 2D image visualization. More...

#include <image_viewer.h>

Inheritance diagram for pcl::visualization::ImageViewer:

List of all members.

Classes
struct	ExitCallback
struct	ExitMainLoopTimerCallback
struct	Layer
	Internal structure describing a layer. More...
struct	LayerComparator
Public Member Functions
void	addAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
	Add an angle 2D image layer, but do not render it (use spin/spinOnce to update).
bool	addCircle (unsigned int x, unsigned int y, double radius, const std::string &layer_id="circles", double opacity=1.0)
	Add a circle shape from a point and a radius.
bool	addCircle (unsigned int x, unsigned int y, double radius, double r, double g, double b, const std::string &layer_id="circles", double opacity=1.0)
	Add a circle shape from a point and a radius.
bool	addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="boxes", double opacity=0.5)
	Add a 2D box and fill it in with a given color.
bool	addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="boxes", double opacity=0.5)
	Add a 2D box and fill it in with a given color.
void	addFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false, const std::string &layer_id="float_image", double opacity=1.0)
	Add a float 2D image layer, but do not render it (use spin/spinOnce to update).
void	addHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
	Add a half angle 2D image layer, but do not render it (use spin/spinOnce to update).
bool	addLayer (const std::string &layer_id, int width, int height, double opacity=0.5)
	Add a new 2D rendering layer to the viewer.
bool	addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D line with a given color.
bool	addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D line with a given color.
template<typename T >
bool	addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="image_mask", double opacity=0.5)
	Add a generic 2D mask to an image.
template<typename T >
bool	addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=0.5)
	Add a generic 2D mask to an image (colored in red)
void	addMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).
template<typename T >
bool	addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, double r, double g, double b, const std::string &layer_id="planar_polygon", double opacity=1.0)
	Add a generic 2D planar polygon to an image.
template<typename T >
bool	addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, const std::string &layer_id="planar_polygon", double opacity=1.0)
	Add a generic 2D planar polygon to an image.
bool	addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color.
bool	addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color.
bool	addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color.
bool	addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color.
template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color.
template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color.
template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box that contains a given image mask and color its edges.
template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=1.0)
	Add a 2D box that contains a given image mask and color its edges in red.
void	addRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).
template<typename T >
void	addRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).
template<typename T >
void	addRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).
void	addShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false, const std::string &layer_id="short_image", double opacity=1.0)
	Add a short 2D image layer, but do not render it (use spin/spinOnce to update).
	ImageViewer (const std::string &window_title="")
	Constructor.
void	markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color=red_color, double radius=3.0, const std::string &layer_id="points", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another.
boost::signals2::connection	registerKeyboardCallback (void(*callback)(const pcl::visualization::KeyboardEvent &, void *), void *cookie=NULL)
	Register a callback function for keyboard events.
template<typename T >
boost::signals2::connection	registerKeyboardCallback (void(T::*callback)(const pcl::visualization::KeyboardEvent &, void *), T &instance, void *cookie=NULL)
	Register a callback function for keyboard events.
boost::signals2::connection	registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback boost::function for keyboard events.
boost::signals2::connection	registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=NULL)
	Register a callback boost::function for mouse events.
template<typename T >
boost::signals2::connection	registerMouseCallback (void(T::*callback)(const pcl::visualization::MouseEvent &, void *), T &instance, void *cookie=NULL)
	Register a callback function for mouse events.
boost::signals2::connection	registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register a callback function for mouse events.
void	removeLayer (const std::string &layer_id)
	Remove a 2D layer given by its ID.
void	setPosition (int x, int y)
	Set the position in screen coordinates.
void	setSize (int xw, int yw)
	Set the window size in screen coordinates.
void	setWindowTitle (const std::string &name)
	Set the window title name.
void	showAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
	Show a 2D image on screen representing angle data.
void	showFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false, const std::string &layer_id="float_image", double opacity=1.0)
	Show a 2D image (float) on screen.
void	showHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
	Show a 2D image on screen representing half angle data.
void	showMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen.
void	showRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D RGB image on screen.
template<typename T >
void	showRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D image on screen, obtained from the RGB channel of a point cloud.
template<typename T >
void	showRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D image on screen, obtained from the RGB channel of a point cloud.
void	showShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false, const std::string &layer_id="short_image", double opacity=1.0)
	Show a 2D image (unsigned short) on screen.
void	spin ()
	Spin method. Calls the interactor and runs an internal loop.
void	spinOnce (int time=1, bool force_redraw=true)
	Spin once method. Calls the interactor and updates the screen once.
bool	wasStopped () const
	Returns true when the user tried to close the window.
virtual	~ImageViewer ()
	Destructor.
Protected Member Functions
void	emitKeyboardEvent (unsigned long event_id)
	Fire up a keyboard event with a specified event ID.
void	emitMouseEvent (unsigned long event_id)
	Fire up a mouse event with a specified event ID.
void	resetStoppedFlag ()
	Set the stopped flag back to false.
Static Protected Member Functions
static void	KeyboardCallback (vtkObject *, unsigned long eid, void *clientdata, void *calldata)
static void	MouseCallback (vtkObject *, unsigned long eid, void *clientdata, void *calldata)
Private Types
typedef std::vector< Layer >	LayerMap
Private Member Functions
LayerMap::iterator	createLayer (const std::string &layer_id, int width, int height, double opacity=0.5, bool fill_box=true)
	Add a new 2D rendering layer to the viewer.
Private Attributes
vtkSmartPointer< vtkImageBlend >	blend_
	Internal blender used to overlay 2D geometry over the image.
boost::shared_array< unsigned char >	data_
	The data array representing the image. Used internally.
size_t	data_size_
	The data array (representing the image) size. Used internally.
vtkSmartPointer< ExitCallback >	exit_callback_
vtkSmartPointer < ExitMainLoopTimerCallback >	exit_main_loop_timer_callback_
	Callback object enabling us to leave the main loop, when a timer fires.
vtkSmartPointer< vtkImageViewer >	image_viewer_
	The ImageViewer widget.
vtkSmartPointer < vtkRenderWindowInteractor >	interactor_
vtkSmartPointer < vtkCallbackCommand >	keyboard_command_
boost::signals2::signal< void(const pcl::visualization::KeyboardEvent &)>	keyboard_signal_
LayerMap	layer_map_
	Internal list with different 2D layers shapes.
vtkSmartPointer < vtkCallbackCommand >	mouse_command_
boost::signals2::signal< void(const pcl::visualization::MouseEvent &)>	mouse_signal_
bool	stopped_
	Set to false if the interaction loop is running.
int	timer_id_
	Global timer ID. Used in destructor only.

---

Detailed Description

ImageViewer is a class for 2D image visualization.

Features include:

• add and remove different layers with different opacity (transparency) values
• add 2D geometric shapes (circles, boxes, etc) in separate layers
• display RGB, monochrome, float, angle images

Simple usage example:

 pcl::visualization::ImageViewer iv;
 iv.addCircle (10, 10, 5, 1.0, 0.0, 0.0, "circles", 1.0);    // add a red, fully opaque circle with radius 5 pixels at (10,10) in layer "circles"
 iv.addFilledRectangle (10, 20, 10, 20, 0.0, 1.0, 0.0, "boxes", 0.5);    // add a green, 50% transparent box at (10,10->20,20) in layer "boxes"
 iv.addRGBImage<pcl::PointXYZRGBA> (cloud);                  // add a RGB image from a point cloud dataset in an "rgb_image" default layer
 iv.spin ();                                                 // press 'q' to exit
 iv.removeLayer ("circles");                                 // remove layer "circles"
 iv.spin ();                                                 // press 'q' to exit

Author:

Radu B. Rusu, Suat Gedikli

Definition at line 80 of file image_viewer.h.

---

Member Typedef Documentation

typedef std::vector<Layer> pcl::visualization::ImageViewer::LayerMap [private]

Definition at line 733 of file image_viewer.h.

---

Constructor & Destructor Documentation

pcl::visualization::ImageViewer::ImageViewer

(

const std::string &

window_title = ""

)

Constructor.

Parameters:

[in]

window_title

the title of the window

Definition at line 46 of file image_viewer.cpp.

pcl::visualization::ImageViewer::~ImageViewer

(

)

[virtual]

Destructor.

Definition at line 92 of file image_viewer.cpp.

---

Member Function Documentation

void pcl::visualization::ImageViewer::addAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "angle_image",
		double	opacity = 1.0
	)

Add an angle 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 263 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addCircle	(	unsigned int	x,
		unsigned int	y,
		double	radius,
		const std::string &	layer_id = "circles",
		double	opacity = 1.0
	)

Add a circle shape from a point and a radius.

Parameters:

[in]	x	the x coordinate of the circle center
[in]	y	the y coordinate of the circle center
[in]	radius	the radius of the circle
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 604 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addCircle	(	unsigned int	x,
		unsigned int	y,
		double	radius,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "circles",
		double	opacity = 1.0
	)

Add a circle shape from a point and a radius.

Parameters:

[in]	x	the x coordinate of the circle center
[in]	y	the y coordinate of the circle center
[in]	radius	the radius of the circle
[in]	r	the red channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 582 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addFilledRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		const std::string &	layer_id = "boxes",
		double	opacity = 0.5
	)

Add a 2D box and fill it in with a given color.

Parameters:

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 644 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addFilledRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "boxes",
		double	opacity = 0.5
	)

Add a 2D box and fill it in with a given color.

Parameters:

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 622 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::addFloatImage	(	const float *	data,
		unsigned int	width,
		unsigned int	height,
		float	min_value = std::numeric_limits<float>::min (),
		float	max_value = std::numeric_limits<float>::max (),
		bool	grayscale = false,
		const std::string &	layer_id = "float_image",
		double	opacity = 1.0
	)

Add a float 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the image in float format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 239 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::addHalfAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "half_angle_image",
		double	opacity = 1.0
	)

Add a half angle 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 284 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addLayer	(	const std::string &	layer_id,
		int	width,
		int	height,
		double	opacity = 0.5
	)

Add a new 2D rendering layer to the viewer.

Parameters:

[in]	layer_id	the name of the layer
[in]	width	the width of the layer
[in]	height	the height of the layer
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 526 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addLine	(	unsigned int	x_min,
		unsigned int	y_min,
		unsigned int	x_max,
		unsigned int	y_max,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "line",
		double	opacity = 1.0
	)

Add a 2D line with a given color.

Parameters:

[in]	x_min	the X min coordinate
[in]	y_min	the Y min coordinate
[in]	x_max	the X max coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 775 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addLine	(	unsigned int	x_min,
		unsigned int	y_min,
		unsigned int	x_max,
		unsigned int	y_max,
		const std::string &	layer_id = "line",
		double	opacity = 1.0
	)

Add a 2D line with a given color.

Parameters:

[in]	x_min	the X min coordinate
[in]	y_min	the Y min coordinate
[in]	x_max	the X max coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 755 of file image_viewer.cpp.

template<typename T >

bool pcl::visualization::ImageViewer::addMask	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "image_mask",
		double	opacity = 0.5
	)

Add a generic 2D mask to an image.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	r	the red channel of the color that the mask should be rendered with
[in]	g	the green channel of the color that the mask should be rendered with
[in]	b	the blue channel of the color that the mask should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 98 of file image_viewer.hpp.

template<typename T >

bool pcl::visualization::ImageViewer::addMask	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		const std::string &	layer_id = "image_mask",
		double	opacity = 0.5
	)

Add a generic 2D mask to an image (colored in red)

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 135 of file image_viewer.hpp.

void pcl::visualization::ImageViewer::addMonoImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "mono_image",
		double	opacity = 1.0
	)

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 169 of file image_viewer.cpp.

template<typename T >

bool pcl::visualization::ImageViewer::addPlanarPolygon	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PlanarPolygon< T > &	polygon,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "planar_polygon",
		double	opacity = 1.0
	)

Add a generic 2D planar polygon to an image.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	polygon	the point data representing the polygon that we want to draw. A line will be drawn from each point to the next in the dataset.
[in]	r	the red channel of the color that the polygon should be rendered with
[in]	g	the green channel of the color that the polygon should be rendered with
[in]	b	the blue channel of the color that the polygon should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 171 of file image_viewer.hpp.

template<typename T >

bool pcl::visualization::ImageViewer::addPlanarPolygon	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PlanarPolygon< T > &	polygon,
		const std::string &	layer_id = "planar_polygon",
		double	opacity = 1.0
	)

Add a generic 2D planar polygon to an image.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	polygon	the point data representing the polygon that we want to draw. A line will be drawn from each point to the next in the dataset.
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 217 of file image_viewer.hpp.

bool pcl::visualization::ImageViewer::addRectangle	(	const pcl::PointXY &	min_pt,
		const pcl::PointXY &	max_pt,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box and color its edges with a given color.

Parameters:

[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 732 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addRectangle	(	const pcl::PointXY &	min_pt,
		const pcl::PointXY &	max_pt,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box and color its edges with a given color.

Parameters:

[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 709 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box and color its edges with a given color.

Parameters:

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 686 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::addRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box and color its edges with a given color.

Parameters:

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 663 of file image_viewer.cpp.

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const T &	min_pt,
		const T &	max_pt,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box and color its edges with a given color.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 330 of file image_viewer.hpp.

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const T &	min_pt,
		const T &	max_pt,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box and color its edges with a given color.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 261 of file image_viewer.hpp.

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = "rectangles",
		double	opacity = 1.0
	)

Add a 2D box that contains a given image mask and color its edges.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	r	the red channel of the color that the mask should be rendered with
[in]	g	the green channel of the color that the mask should be rendered with
[in]	b	the blue channel of the color that the mask should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 397 of file image_viewer.hpp.

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		const std::string &	layer_id = "image_mask",
		double	opacity = 1.0
	)

Add a 2D box that contains a given image mask and color its edges in red.

Parameters:

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 448 of file image_viewer.hpp.

void pcl::visualization::ImageViewer::addRGBImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "rgb_image",
		double	opacity = 1.0
	)

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 99 of file image_viewer.cpp.

template<typename T >

void pcl::visualization::ImageViewer::addRGBImage	(	const typename pcl::PointCloud< T >::ConstPtr &	cloud,
		const std::string &	layer_id = "rgb_image",
		double	opacity = 1.0
	)		[inline]

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 153 of file image_viewer.h.

template<typename T >

void pcl::visualization::ImageViewer::addRGBImage	(	const pcl::PointCloud< T > &	cloud,
		const std::string &	layer_id = "rgb_image",
		double	opacity = 1.0
	)

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	data	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Convert from BGR to RGB

Definition at line 72 of file image_viewer.hpp.

void pcl::visualization::ImageViewer::addShortImage	(	const unsigned short *	short_image,
		unsigned int	width,
		unsigned int	height,
		unsigned short	min_value = std::numeric_limits<unsigned short>::min (),
		unsigned short	max_value = std::numeric_limits<unsigned short>::max (),
		bool	grayscale = false,
		const std::string &	layer_id = "short_image",
		double	opacity = 1.0
	)

Add a short 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters:

[in]	short_image	the input data representing the image in unsigned short format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 305 of file image_viewer.cpp.

pcl::visualization::ImageViewer::LayerMap::iterator pcl::visualization::ImageViewer::createLayer	(	const std::string &	layer_id,
		int	width,
		int	height,
		double	opacity = 0.5,
		bool	fill_box = true
	)		[private]

Add a new 2D rendering layer to the viewer.

Parameters:

[in]	layer_id	the name of the layer
[in]	width	the width of the layer
[in]	height	the height of the layer
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)
[in]	fill_box	set to true to fill in the image with one black box before starting

Definition at line 497 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::emitKeyboardEvent

(

unsigned long

event_id

)

[protected]

Fire up a keyboard event with a specified event ID.

Parameters:

int]	event_id the id of the event

Definition at line 473 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::emitMouseEvent

(

unsigned long

event_id

)

[protected]

Fire up a mouse event with a specified event ID.

Parameters:

int]	event_id the id of the event

Definition at line 396 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::KeyboardCallback	(	vtkObject *	,
		unsigned long	eid,
		void *	clientdata,
		void *	calldata
	)		[static, protected]

Definition at line 489 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::markPoint	(	size_t	u,
		size_t	v,
		Vector3ub	fg_color,
		Vector3ub	bg_color = red_color,
		double	radius = 3.0,
		const std::string &	layer_id = "points",
		double	opacity = 1.0
	)

Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another.

Parameters:

[in]	u	the u/x coordinate of the pixel
[in]	v	the v/y coordinate of the pixel
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	radius	the circle radius around the pixel
[in]	layer_id	the name of the layer (default: "points")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 796 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::MouseCallback	(	vtkObject *	,
		unsigned long	eid,
		void *	clientdata,
		void *	calldata
	)		[static, protected]

Definition at line 481 of file image_viewer.cpp.

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback	(	void(*)(const pcl::visualization::KeyboardEvent &, void *)	callback,
		void *	cookie = NULL
	)		[inline]

Register a callback function for keyboard events.

Parameters:

[in]	callback	the function that will be registered as a callback for a keyboard event
[in]	cookie	user data that is passed to the callback

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 325 of file image_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback	(	void(T::*)(const pcl::visualization::KeyboardEvent &, void *)	callback,
		T &	instance,
		void *	cookie = NULL
	)		[inline]

Register a callback function for keyboard events.

Parameters:

[in]	callback	the member function that will be registered as a callback for a keyboard event
[in]	instance	instance to the class that implements the callback function
[in]	cookie	user data that is passed to the callback

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 338 of file image_viewer.h.

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback

(

boost::function< void(const pcl::visualization::KeyboardEvent &)>

cb

)

Register a callback boost::function for keyboard events.

Parameters:

[in]

cb

the boost function that will be registered as a callback for a keyboard event

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 381 of file image_viewer.cpp.

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback	(	void(*)(const pcl::visualization::MouseEvent &, void *)	callback,
		void *	cookie = NULL
	)		[inline]

Register a callback boost::function for mouse events.

Parameters:

[in]	callback	the function that will be registered as a callback for a mouse event
[in]	cookie	user data that is passed to the callback

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 357 of file image_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback	(	void(T::*)(const pcl::visualization::MouseEvent &, void *)	callback,
		T &	instance,
		void *	cookie = NULL
	)		[inline]

Register a callback function for mouse events.

Parameters:

[in]	callback	the member function that will be registered as a callback for a mouse event
[in]	instance	instance to the class that implements the callback function
[in]	cookie	user data that is passed to the callback

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 370 of file image_viewer.h.

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback

(

boost::function< void(const pcl::visualization::MouseEvent &)>

cb

)

Register a callback function for mouse events.

Parameters:

[in]

cb

the boost function that will be registered as a callback for a mouse event

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 360 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::removeLayer

(

const std::string &

layer_id

)

Remove a 2D layer given by its ID.

Parameters:

[in]

layer_id

the name of the layer

Definition at line 556 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::resetStoppedFlag

(

)

[inline, protected]

Set the stopped flag back to false.

Definition at line 661 of file image_viewer.h.

void pcl::visualization::ImageViewer::setPosition	(	int	x,
		int	y
	)		[inline]

Set the position in screen coordinates.

Parameters:

[in]	x	where to move the window to (X)
[in]	y	where to move the window to (Y)

Definition at line 388 of file image_viewer.h.

void pcl::visualization::ImageViewer::setSize	(	int	xw,
		int	yw
	)		[inline]

Set the window size in screen coordinates.

Parameters:

[in]	xw	window size in horizontal (pixels)
[in]	yw	window size in vertical (pixels)

Definition at line 398 of file image_viewer.h.

void pcl::visualization::ImageViewer::setWindowTitle

(

const std::string &

name

)

[inline]

Set the window title name.

Parameters:

[in]

name

the window title

Definition at line 302 of file image_viewer.h.

void pcl::visualization::ImageViewer::showAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "angle_image",
		double	opacity = 1.0
	)

Show a 2D image on screen representing angle data.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 274 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::showFloatImage	(	const float *	data,
		unsigned int	width,
		unsigned int	height,
		float	min_value = std::numeric_limits<float>::min (),
		float	max_value = std::numeric_limits<float>::max (),
		bool	grayscale = false,
		const std::string &	layer_id = "float_image",
		double	opacity = 1.0
	)

Show a 2D image (float) on screen.

Parameters:

[in]	data	the input data representing the image in float format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 252 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::showHalfAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "half_angle_image",
		double	opacity = 1.0
	)

Show a 2D image on screen representing half angle data.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 295 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::showMonoImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "mono_image",
		double	opacity = 1.0
	)

Show a monochrome 2D image on screen.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 229 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::showRGBImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = "rgb_image",
		double	opacity = 1.0
	)

Show a 2D RGB image on screen.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 159 of file image_viewer.cpp.

template<typename T >

void pcl::visualization::ImageViewer::showRGBImage	(	const typename pcl::PointCloud< T >::ConstPtr &	cloud,
		const std::string &	layer_id = "rgb_image",
		double	opacity = 1.0
	)		[inline]

Show a 2D image on screen, obtained from the RGB channel of a point cloud.

Parameters:

[in]	data	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 141 of file image_viewer.h.

template<typename T >

void pcl::visualization::ImageViewer::showRGBImage	(	const pcl::PointCloud< T > &	cloud,
		const std::string &	layer_id = "rgb_image",
		double	opacity = 1.0
	)

Show a 2D image on screen, obtained from the RGB channel of a point cloud.

Parameters:

[in]	data	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Convert from BGR to RGB

Definition at line 46 of file image_viewer.hpp.

void pcl::visualization::ImageViewer::showShortImage	(	const unsigned short *	short_image,
		unsigned int	width,
		unsigned int	height,
		unsigned short	min_value = std::numeric_limits<unsigned short>::min (),
		unsigned short	max_value = std::numeric_limits<unsigned short>::max (),
		bool	grayscale = false,
		const std::string &	layer_id = "short_image",
		double	opacity = 1.0
	)

Show a 2D image (unsigned short) on screen.

Parameters:

[in]	short_image	the input data representing the image in unsigned short format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 318 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::spin

(

)

Spin method. Calls the interactor and runs an internal loop.

Definition at line 329 of file image_viewer.cpp.

void pcl::visualization::ImageViewer::spinOnce	(	int	time = 1,
		bool	force_redraw = true
	)

Spin once method. Calls the interactor and updates the screen once.

Parameters:

[in]	time	- How long (in ms) should the visualization loop be allowed to run.
[in]	force_redraw	- if false it might return without doing anything if the interactor's framerate does not require a redraw yet.

Definition at line 340 of file image_viewer.cpp.

bool pcl::visualization::ImageViewer::wasStopped

(

)

const [inline]

Returns true when the user tried to close the window.

Definition at line 405 of file image_viewer.h.

---

Member Data Documentation

vtkSmartPointer<vtkImageBlend> pcl::visualization::ImageViewer::blend_ [private]

Internal blender used to overlay 2D geometry over the image.

Definition at line 772 of file image_viewer.h.

boost::shared_array<unsigned char> pcl::visualization::ImageViewer::data_ [private]

The data array representing the image. Used internally.

Definition at line 760 of file image_viewer.h.

size_t pcl::visualization::ImageViewer::data_size_ [private]

The data array (representing the image) size. Used internally.

Definition at line 763 of file image_viewer.h.

vtkSmartPointer<ExitCallback> pcl::visualization::ImageViewer::exit_callback_ [private]

Definition at line 754 of file image_viewer.h.

vtkSmartPointer<ExitMainLoopTimerCallback> pcl::visualization::ImageViewer::exit_main_loop_timer_callback_ [private]

Callback object enabling us to leave the main loop, when a timer fires.

Definition at line 753 of file image_viewer.h.

vtkSmartPointer<vtkImageViewer> pcl::visualization::ImageViewer::image_viewer_ [private]

The ImageViewer widget.

Definition at line 757 of file image_viewer.h.

vtkSmartPointer<vtkRenderWindowInteractor> pcl::visualization::ImageViewer::interactor_ [private]

Definition at line 748 of file image_viewer.h.

vtkSmartPointer<vtkCallbackCommand> pcl::visualization::ImageViewer::keyboard_command_ [private]

Definition at line 750 of file image_viewer.h.

boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> pcl::visualization::ImageViewer::keyboard_signal_ [private]

Definition at line 746 of file image_viewer.h.

LayerMap pcl::visualization::ImageViewer::layer_map_ [private]

Internal list with different 2D layers shapes.

Definition at line 775 of file image_viewer.h.

vtkSmartPointer<vtkCallbackCommand> pcl::visualization::ImageViewer::mouse_command_ [private]

Definition at line 749 of file image_viewer.h.

boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> pcl::visualization::ImageViewer::mouse_signal_ [private]

Definition at line 745 of file image_viewer.h.

bool pcl::visualization::ImageViewer::stopped_ [private]

Set to false if the interaction loop is running.

Definition at line 766 of file image_viewer.h.

int pcl::visualization::ImageViewer::timer_id_ [private]

Global timer ID. Used in destructor only.

Definition at line 769 of file image_viewer.h.

---

The documentation for this class was generated from the following files:

• image_viewer.h
• image_viewer.hpp
• image_viewer.cpp