PCL histogram visualizer main class. More...

#include <histogram_visualizer.h>

Classes
struct	ExitCallback
struct	ExitMainLoopTimerCallback
Public Member Functions
template<typename PointT >
bool	addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
bool	addFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window from a cloud containing a single histogram.
template<typename PointT >
bool	addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, const int index, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window.
bool	addFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name, const int index, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window.
	PCLHistogramVisualizer ()
	PCL histogram visualizer constructor.
void	setBackgroundColor (const double &r, const double &g, const double &b, int viewport=0)
	Set the viewport's background color.
void	setGlobalYRange (float minp, float maxp)
	Set the Y range to minp-maxp for all histograms.
void	spin ()
	Spin method. Calls the interactor and runs an internal loop.
void	spinOnce (int time=1)
	Spin once method. Calls the interactor and updates the screen once.
template<typename PointT >
bool	updateFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram.
bool	updateFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram.
template<typename PointT >
bool	updateFeatureHistogram (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, const int index, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram.
bool	updateFeatureHistogram (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name, const int index, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram.
void	updateWindowPositions ()
	Update all window positions on screen so that they fit.
virtual	~PCLHistogramVisualizer ()
Protected Member Functions
void	createActor (const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract &renwinint, const std::string &id, const int win_width, const int win_height)
	Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.
void	reCreateActor (const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract *renwinupd, const int hsize)
	Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.
Private Attributes
vtkSmartPointer< ExitCallback >	exit_callback_
vtkSmartPointer < ExitMainLoopTimerCallback >	exit_main_loop_timer_callback_
	Callback object enabling us to leave the main loop, when a timer fires.
bool	stopped_
	Set to true when the histogram visualizer is ready to be terminated.
RenWinInteractMap	wins_
	A map of all windows on screen (with their renderers and interactors).

Detailed Description

PCL histogram visualizer main class.

Author:: Radu Bogdan Rusu

Definition at line 55 of file histogram_visualizer.h.

Constructor & Destructor Documentation

pcl::visualization::PCLHistogramVisualizer::PCLHistogramVisualizer ( )

PCL histogram visualizer constructor.

Definition at line 49 of file histogram_visualizer.cpp.

virtual pcl::visualization::PCLHistogramVisualizer::~PCLHistogramVisualizer ( ) [inline, virtual]

Definition at line 61 of file histogram_visualizer.h.

Member Function Documentation

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		int	hsize,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	hsize	the length of the histogram
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 45 of file histogram_visualizer.hpp.

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const sensor_msgs::PointCloud2 &	cloud,
		const std::string &	field_name,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window from a cloud containing a single histogram.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 358 of file histogram_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		const std::string &	field_name,
		const int	index,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 81 of file histogram_visualizer.hpp.

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const sensor_msgs::PointCloud2 &	cloud,
		const std::string &	field_name,
		const int	index,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 405 of file histogram_visualizer.cpp.

void pcl::visualization::PCLHistogramVisualizer::createActor	(	const vtkSmartPointer< vtkDoubleArray > &	xy_array,
		RenWinInteract &	renwinint,
		const std::string &	id,
		const int	win_width,
		const int	win_height
	)		`[protected]`

Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.

Parameters:

[in]	xy_array	the input vtkDoubleArray holding the histogram data
[out]	renwinint	the resultant render window interactor holding the rendered object
[in]	id	the point cloud object id
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 271 of file histogram_visualizer.cpp.

void pcl::visualization::PCLHistogramVisualizer::reCreateActor	(	const vtkSmartPointer< vtkDoubleArray > &	xy_array,
		RenWinInteract *	renwinupd,
		const int	hsize
	)		`[protected]`

Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.

Parameters:

[in]	xy_array	the input vtkDoubleArray holding the histogram data
[out]	renwinint	the resultant render window interactor holding the rendered object
[in]	id	the point cloud object id

Definition at line 244 of file histogram_visualizer.cpp.

void pcl::visualization::PCLHistogramVisualizer::setBackgroundColor	(	const double &	r,
		const double &	g,
		const double &	b,
		int	viewport = `0`
	)

Set the viewport's background color.

Parameters:

[in]	r	the red component of the RGB color
[in]	g	the green component of the RGB color
[in]	b	the blue component of the RGB color
[in]	viewport	the view port (default: all)

Definition at line 180 of file histogram_visualizer.cpp.

void pcl::visualization::PCLHistogramVisualizer::setGlobalYRange	(	float	minp,
		float	maxp
	)

Set the Y range to minp-maxp for all histograms.

Parameters:

[in]	minp	the minimum Y range
[in]	maxp	the maximum Y range

Definition at line 204 of file histogram_visualizer.cpp.

void pcl::visualization::PCLHistogramVisualizer::spin ( )

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

Definition at line 164 of file histogram_visualizer.cpp.

void pcl::visualization::PCLHistogramVisualizer::spinOnce ( int time = 1 )

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.

Definition at line 105 of file histogram_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		int	hsize,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	hsize	the length of the histogram
[in]	id	the point cloud object id (default: cloud)

Definition at line 138 of file histogram_visualizer.hpp.

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const sensor_msgs::PointCloud2 &	cloud,
		const std::string &	field_name,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	id	the point cloud object id (default: cloud)

Definition at line 465 of file histogram_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		const std::string &	field_name,
		const int	index,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)

Definition at line 168 of file histogram_visualizer.hpp.

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const sensor_msgs::PointCloud2 &	cloud,
		const std::string &	field_name,
		const int	index,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters:

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)