Classes
class	Camera
	Camera class holds a set of camera parameters together with the window pos/size. More...
class	CloudActor
class	CloudViewer
	Simple point cloud visualization class. More...
class	FloatImageUtils
class	FPSCallback
class	ImageViewer
	ImageViewer is a class for 2D image visualization. More...
class	KeyboardEvent
class	MouseEvent
class	PCLHistogramVisualizer
	PCL histogram visualizer main class. More...
class	PCLHistogramVisualizerInteractorStyle
	PCL histogram visualizer interactory style class. More...
class	PCLImageCanvasSource2D
	pclImageCanvasSource2D represents our own custom version of vtkImageCanvasSource2D, used by the ImageViewer class. More...
class	PCLVisualizer
	PCL Visualizer main class. More...
class	PCLVisualizerInteractor
	The PCLVisualizer interactor. More...
class	PCLVisualizerInteractorStyle
	PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. Besides defining the rendering style, we also create a list of custom actions that are triggered on different keys being pressed: More...
class	PointCloudColorHandler
	Base Handler class for PointCloud colors. More...
class	PointCloudColorHandler< sensor_msgs::PointCloud2 >
	Base Handler class for PointCloud colors. More...
class	PointCloudColorHandlerCustom
	Handler for predefined user colors. The color at each point will be drawn as the use given R, G, B values. More...
class	PointCloudColorHandlerCustom< sensor_msgs::PointCloud2 >
	Handler for predefined user colors. The color at each point will be drawn as the use given R, G, B values. More...
class	PointCloudColorHandlerGenericField
	Generic field handler class for colors. Uses an user given field to extract 1D data and display the color at each point using a min-max lookup table. More...
class	PointCloudColorHandlerGenericField< sensor_msgs::PointCloud2 >
	Generic field handler class for colors. Uses an user given field to extract 1D data and display the color at each point using a min-max lookup table. More...
class	PointCloudColorHandlerHSVField
	HSV handler class for colors. Uses the data present in the "h", "s", "v" fields as the color at each point. More...
class	PointCloudColorHandlerHSVField< sensor_msgs::PointCloud2 >
	HSV handler class for colors. Uses the data present in the "h", "s", "v" fields as the color at each point. More...
class	PointCloudColorHandlerRandom
	Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...
class	PointCloudColorHandlerRandom< sensor_msgs::PointCloud2 >
	Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...
class	PointCloudColorHandlerRGBField
	RGB handler class for colors. Uses the data present in the "rgb" or "rgba" fields as the color at each point. More...
class	PointCloudColorHandlerRGBField< sensor_msgs::PointCloud2 >
	RGB handler class for colors. Uses the data present in the "rgb" or "rgba" fields as the color at each point. More...
class	PointCloudGeometryHandler
	Base handler class for PointCloud geometry. More...
class	PointCloudGeometryHandler< sensor_msgs::PointCloud2 >
	Base handler class for PointCloud geometry. More...
class	PointCloudGeometryHandlerCustom
	Custom handler class for PointCloud geometry. Given an input dataset and three user defined fields, all data present in them is extracted and displayed on screen as XYZ data. More...
class	PointCloudGeometryHandlerCustom< sensor_msgs::PointCloud2 >
	Custom handler class for PointCloud geometry. Given an input dataset and three user defined fields, all data present in them is extracted and displayed on screen as XYZ data. More...
class	PointCloudGeometryHandlerSurfaceNormal
	Surface normal handler class for PointCloud geometry. Given an input dataset, all data present in fields "normal_x", "normal_y", and "normal_z" is extracted and dislayed on screen as XYZ data. More...
class	PointCloudGeometryHandlerSurfaceNormal< sensor_msgs::PointCloud2 >
	Surface normal handler class for PointCloud geometry. Given an input dataset, all data present in fields "normal_x", "normal_y", and "normal_z" is extracted and dislayed on screen as XYZ data. More...
class	PointCloudGeometryHandlerXYZ
	XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ data present in fields "x", "y", and "z" is extracted and displayed on screen. More...
class	PointCloudGeometryHandlerXYZ< sensor_msgs::PointCloud2 >
	XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ data present in fields "x", "y", and "z" is extracted and displayed on screen. More...
class	PointPickingCallback
class	PointPickingEvent
class	RangeImageVisualizer
	Range image visualizer class. More...
class	RenWinInteract
class	Window
Typedefs
typedef boost::unordered_map < std::string, CloudActor >	CloudActorMap
typedef boost::shared_ptr < CloudActorMap >	CloudActorMapPtr
typedef std::map< int, vtkSmartPointer< vtkProp > >	CoordinateActorMap
typedef std::map< std::string, RenWinInteract >	RenWinInteractMap
typedef boost::unordered_map < std::string, vtkSmartPointer < vtkProp > >	ShapeActorMap
typedef boost::shared_ptr < ShapeActorMap >	ShapeActorMapPtr
typedef Eigen::Array< unsigned char, 3, 1 >	Vector3ub
Enumerations
enum	InteractorKeyboardModifier { INTERACTOR_KB_MOD_ALT, INTERACTOR_KB_MOD_CTRL, INTERACTOR_KB_MOD_SHIFT }
	A list of potential keyboard modifiers for PCLVisualizerInteractorStyle. Defaults to Alt. More...
enum	RenderingProperties { PCL_VISUALIZER_POINT_SIZE, PCL_VISUALIZER_OPACITY, PCL_VISUALIZER_LINE_WIDTH, PCL_VISUALIZER_FONT_SIZE, PCL_VISUALIZER_COLOR, PCL_VISUALIZER_REPRESENTATION, PCL_VISUALIZER_IMMEDIATE_RENDERING }
enum	RenderingRepresentationProperties { PCL_VISUALIZER_REPRESENTATION_POINTS, PCL_VISUALIZER_REPRESENTATION_WIREFRAME, PCL_VISUALIZER_REPRESENTATION_SURFACE }
Functions
PCL_EXPORTS void	allocVtkUnstructuredGrid (vtkSmartPointer< vtkUnstructuredGrid > &polydata)
	Allocate a new unstructured grid smartpointer. For internal use only.
static const Vector3ub	blue_color (0, 0, 255)
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	create2DCircle (const pcl::ModelCoefficients &coefficients, double z=0.0)
	Create a 2d circle shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createCone (const pcl::ModelCoefficients &coefficients)
	Create a cone shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createCube (const pcl::ModelCoefficients &coefficients)
	Creaet a cube shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth)
	Creaet a cube shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max)
	Create a cube from a set of bounding points.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createCylinder (const pcl::ModelCoefficients &coefficients, int numsides=30)
	Create a cylinder shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2)
	Create a line shape from two points.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createLine (const pcl::ModelCoefficients &coefficients)
	Create a line shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createPlane (const pcl::ModelCoefficients &coefficients)
	Create a planar shape from a set of model coefficients.
template<typename PointT >
vtkSmartPointer< vtkDataSet >	createPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Create a 3d poly line from a set of points.
template<typename PointT >
vtkSmartPointer< vtkDataSet >	createPolygon (const pcl::PlanarPolygon< PointT > &planar_polygon)
	Create a 3d poly line from a set of points on the boundary of a planar region.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createSphere (const Eigen::Vector4f &center, double radius, int res=10)
	Create a sphere shape from a point and a radius.
PCL_EXPORTS vtkSmartPointer < vtkDataSet >	createSphere (const pcl::ModelCoefficients &coefficients, int res=10)
	Create a sphere shape from a set of model coefficients.
PCL_EXPORTS void	getCorrespondingPointCloud (vtkPolyData *src, const pcl::PointCloud< pcl::PointXYZ > &tgt, std::vector< int > &indices)
	Obtain a list of corresponding indices, for a set of vtk points, from a pcl::PointCloud.
PCL_EXPORTS void	getRandomColors (double &r, double &g, double &b, double min=0.2, double max=2.8)
	Get (good) random values for R/G/B.
static const Vector3ub	green_color (0, 255, 0)
static const Vector3ub	red_color (255, 0, 0)
PCL_EXPORTS bool	savePointData (vtkPolyData *data, const std::string &out_file, const boost::shared_ptr< CloudActorMap > &actors)
	Saves the vtk-formatted Point Cloud data into a set of files, based on whether the data comes from previously loaded PCD files. The PCD files are matched using the a list of names for the actors on screen.
	vtkStandardNewMacro (PCLVisualizerInteractorStyle)
	vtkStandardNewMacro (PCLHistogramVisualizerInteractorStyle)

Typedef Documentation

typedef boost::unordered_map<std::string, CloudActor> pcl::visualization::CloudActorMap

Definition at line 92 of file actor_map.h.

typedef boost::shared_ptr<CloudActorMap> pcl::visualization::CloudActorMapPtr

Definition at line 93 of file actor_map.h.

typedef std::map<int, vtkSmartPointer<vtkProp> > pcl::visualization::CoordinateActorMap

Definition at line 98 of file actor_map.h.

typedef std::map<std::string, RenWinInteract> pcl::visualization::RenWinInteractMap

Definition at line 86 of file ren_win_interact_map.h.

typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > pcl::visualization::ShapeActorMap

Definition at line 95 of file actor_map.h.

typedef boost::shared_ptr<ShapeActorMap> pcl::visualization::ShapeActorMapPtr

Definition at line 96 of file actor_map.h.

typedef Eigen::Array<unsigned char, 3, 1> pcl::visualization::Vector3ub

Definition at line 54 of file image_viewer.h.

Enumeration Type Documentation

enum pcl::visualization::InteractorKeyboardModifier

A list of potential keyboard modifiers for PCLVisualizerInteractorStyle. Defaults to Alt.

Enumerator:

INTERACTOR_KB_MOD_ALT
INTERACTOR_KB_MOD_CTRL
INTERACTOR_KB_MOD_SHIFT

Definition at line 61 of file interactor_style.h.

enum pcl::visualization::RenderingProperties

Enumerator:

PCL_VISUALIZER_POINT_SIZE
PCL_VISUALIZER_OPACITY
PCL_VISUALIZER_LINE_WIDTH
PCL_VISUALIZER_FONT_SIZE
PCL_VISUALIZER_COLOR
PCL_VISUALIZER_REPRESENTATION
PCL_VISUALIZER_IMMEDIATE_RENDERING

Definition at line 59 of file visualization/include/pcl/visualization/common/common.h.

enum pcl::visualization::RenderingRepresentationProperties

Enumerator:

PCL_VISUALIZER_REPRESENTATION_POINTS
PCL_VISUALIZER_REPRESENTATION_WIREFRAME
PCL_VISUALIZER_REPRESENTATION_SURFACE

Definition at line 70 of file visualization/include/pcl/visualization/common/common.h.

Function Documentation

void pcl::visualization::allocVtkUnstructuredGrid ( vtkSmartPointer< vtkUnstructuredGrid > & polydata )

Allocate a new unstructured grid smartpointer. For internal use only.

Parameters:

[out] polydata the resultant unstructured grid.

Definition at line 260 of file shapes.cpp.

static const Vector3ub pcl::visualization::blue_color	(	0	,
		0	,
		255
	)		`[static]`

vtkSmartPointer< vtkDataSet > pcl::visualization::create2DCircle	(	const pcl::ModelCoefficients &	coefficients,
		double	z = `0.0`
	)

Create a 2d circle shape from a set of model coefficients.

Parameters:

[in]	coefficients	the model coefficients (x, y, radius)
[in]	z	(optional) specify a z value (default: 0)

 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
 // float x, y, radius;

 pcl::ModelCoefficients circle_coeff;
 circle_coeff.values.resize (3);    // We need 3 values
 circle_coeff.values[0] = x;
 circle_coeff.values[1] = y;
 circle_coeff.values[2] = radius;

 vtkSmartPointer<vtkDataSet> data = pcl::visualization::create2DCircle (circle_coeff, z);

Definition at line 172 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createCone ( const pcl::ModelCoefficients & coefficients )

Create a cone shape from a set of model coefficients.

Parameters:

[in] coefficients the cone coefficients (point_on_axis, axis_direction, radius)

Definition at line 210 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createCube ( const pcl::ModelCoefficients & coefficients )

Creaet a cube shape from a set of model coefficients.

Parameters:

[in] coefficients the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)

Definition at line 79 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createCube	(	const Eigen::Vector3f &	translation,
		const Eigen::Quaternionf &	rotation,
		double	width,
		double	height,
		double	depth
	)

Creaet a cube shape from a set of model coefficients.

Parameters:

[in]	translation	a translation to apply to the cube from 0,0,0
[in]	rotation	a quaternion-based rotation to apply to the cube
[in]	width	the cube's width
[in]	height	the cube's height
[in]	depth	the cube's depth

Definition at line 104 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createCube	(	double	x_min,
		double	x_max,
		double	y_min,
		double	y_max,
		double	z_min,
		double	z_max
	)

Create a cube from a set of bounding points.

Parameters:

[in]	x_min	is the minimum x value of the box
[in]	x_max	is the maximum x value of the box
[in]	y_min	is the minimum y value of the box
[in]	y_max	is the maximum y value of the box
[in]	z_min	is the minimum z value of the box
[in]	z_max	is the maximum z value of the box
[in]	id	the cube id/name (default: "cube")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 129 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createCylinder	(	const pcl::ModelCoefficients &	coefficients,
		int	numsides = `30`
	)

Create a cylinder shape from a set of model coefficients.

Parameters:

[in]	coefficients	the model coefficients (point_on_axis, axis_direction, radius)
[in]	numsides	(optional) the number of sides used for rendering the cylinder

 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)
 // Eigen::Vector3f pt_on_axis, axis_direction;
 // float radius;

 pcl::ModelCoefficients cylinder_coeff;
 cylinder_coeff.values.resize (7);    // We need 7 values
 cylinder_coeff.values[0] = pt_on_axis.x ();
 cylinder_coeff.values[1] = pt_on_axis.y ();
 cylinder_coeff.values[2] = pt_on_axis.z ();

 cylinder_coeff.values[3] = axis_direction.x ();
 cylinder_coeff.values[4] = axis_direction.y ();
 cylinder_coeff.values[5] = axis_direction.z ();

 cylinder_coeff.values[6] = radius;

 vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCylinder (cylinder_coeff, numsides);

Definition at line 42 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createLine	(	const Eigen::Vector4f &	pt1,
		const Eigen::Vector4f &	pt2
	)

Create a line shape from two points.

Parameters:

[in]	pt1	the first point on the line
[in]	pt2	the end point on the line

Definition at line 249 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createLine ( const pcl::ModelCoefficients & coefficients )

Create a line shape from a set of model coefficients.

Parameters:

[in] coefficients the model coefficients (point_on_line, line_direction)

 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelLine)
 // Eigen::Vector3f point_on_line, line_direction;

 pcl::ModelCoefficients line_coeff;
 line_coeff.values.resize (6);    // We need 6 values
 line_coeff.values[0] = point_on_line.x ();
 line_coeff.values[1] = point_on_line.y ();
 line_coeff.values[2] = point_on_line.z ();

 line_coeff.values[3] = line_direction.x ();
 line_coeff.values[4] = line_direction.y ();
 line_coeff.values[5] = line_direction.z ();

 vtkSmartPointer<vtkDataSet> data = pcl::visualization::createLine (line_coeff);

Definition at line 143 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createPlane ( const pcl::ModelCoefficients & coefficients )

Create a planar shape from a set of model coefficients.

Parameters:

[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)

 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
 // Eigen::Vector4f plane_parameters;

 pcl::ModelCoefficients plane_coeff;
 plane_coeff.values.resize (4);    // We need 4 values
 plane_coeff.values[0] = plane_parameters.x ();
 plane_coeff.values[1] = plane_parameters.y ();
 plane_coeff.values[2] = plane_parameters.z ();
 plane_coeff.values[3] = plane_parameters.w ();

 vtkSmartPointer<vtkDataSet> data = pcl::visualization::createPlane (plane_coeff);

Definition at line 157 of file shapes.cpp.

template<typename PointT >

vtkSmartPointer< vtkDataSet > pcl::visualization::createPolygon ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud ) [inline]

Create a 3d poly line from a set of points.

Parameters:

[in] cloud the set of points used to create the 3d polyline

Definition at line 40 of file shapes.hpp.

template<typename PointT >

vtkSmartPointer< vtkDataSet > pcl::visualization::createPolygon ( const pcl::PlanarPolygon< PointT > & planar_polygon ) [inline]

Create a 3d poly line from a set of points on the boundary of a planar region.

Parameters:

[in] planar_polygon the set of points used to create the 3d polyline

Definition at line 70 of file shapes.hpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createSphere	(	const Eigen::Vector4f &	center,
		double	radius,
		int	res = `10`
	)

Create a sphere shape from a point and a radius.

Parameters:

[in]	center	the center of the sphere (as an Eigen Vector4f, with only the first 3 coordinates used)
[in]	radius	the radius of the sphere
[in]	res	(optional) the resolution used for rendering the model

Definition at line 226 of file shapes.cpp.

vtkSmartPointer< vtkDataSet > pcl::visualization::createSphere	(	const pcl::ModelCoefficients &	coefficients,
		int	res = `10`
	)

Create a sphere shape from a set of model coefficients.

Parameters:

[in]	coefficients	the model coefficients (sphere center, radius)
[in]	res	(optional) the resolution used for rendering the model

 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelSphere)
 // Eigen::Vector3f sphere_center;
 // float radius;

 pcl::ModelCoefficients sphere_coeff;
 sphere_coeff.values.resize (4);    // We need 4 values
 sphere_coeff.values[0] = sphere_center.x ();
 sphere_coeff.values[1] = sphere_center.y ();
 sphere_coeff.values[2] = sphere_center.z ();

 sphere_coeff.values[3] = radius;

 vtkSmartPointer<vtkDataSet> data = pcl::visualization::createSphere (sphere_coeff, resolution);

Definition at line 58 of file shapes.cpp.

void pcl::visualization::getCorrespondingPointCloud	(	vtkPolyData *	src,
		const pcl::PointCloud< pcl::PointXYZ > &	tgt,
		std::vector< int > &	indices
	)

Obtain a list of corresponding indices, for a set of vtk points, from a pcl::PointCloud.

Parameters:

src	the set of vtk points
tgt	the target pcl::PointCloud that we need to obtain indices from
indices	the resultant list of indices

Definition at line 43 of file visualization/src/common/io.cpp.

void pcl::visualization::getRandomColors	(	double &	r,
		double &	g,
		double &	b,
		double	min = `0.2`,
		double	max = `2.8`
	)

Get (good) random values for R/G/B.

Parameters:

r	the resultant R color value
g	the resultant G color value
b	the resultant B color value
min	minimum value for the colors
max	maximum value for the colors

Definition at line 43 of file visualization/src/common/common.cpp.

static const Vector3ub pcl::visualization::green_color	(	0	,
		255	,
		0
	)		`[static]`

static const Vector3ub pcl::visualization::red_color	(	255	,
		0	,
		0
	)		`[static]`

bool pcl::visualization::savePointData	(	vtkPolyData *	data,
		const std::string &	out_file,
		const boost::shared_ptr< CloudActorMap > &	actors
	)

Saves the vtk-formatted Point Cloud data into a set of files, based on whether the data comes from previously loaded PCD files. The PCD files are matched using the a list of names for the actors on screen.

Parameters:

data	the vtk data
out_file	the output file (extra indices will be appended to it)
actors	the list of actors present on screen

Definition at line 81 of file visualization/src/common/io.cpp.

pcl::visualization::vtkStandardNewMacro ( PCLVisualizerInteractorStyle )

pcl::visualization::vtkStandardNewMacro ( PCLHistogramVisualizerInteractorStyle )

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

Enumeration Type Documentation

Function Documentation