PCL Plotter main class. Given point correspondences this class can be used to plot the data one against the other and display it on the screen. It also has methods for providing plot for important functions like histogram etc. Important functions of PCLHistogramVisualizer are redefined here so that this single class can take responsibility of all plotting related functionalities. More...

#include <pcl_plotter.h>

Classes
struct	ExitCallback
struct	ExitMainLoopTimerCallback
Public Types
typedef std::vector< double >	PolynomialFunction
	A representation of polynomial function. i'th element of the vector denotes the coefficient of x^i of the polynomial in variable x.
typedef std::pair < PolynomialFunction, PolynomialFunction >	RationalFunction
	A representation of rational function, defined as the ratio of two polynomial functions. pair::first denotes the numerator and pair::second denotes the denominator of the Rational function.
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 pcl::PCLPointCloud2 &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 pcl::PCLPointCloud2 &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.
void	addHistogramData (std::vector< double > const &data, int const nbins=10, char const *name="Histogram", std::vector< char > const &color=std::vector< char >())
	Bins the elements in vector data into nbins equally spaced containers and plots the resulted histogram.
void	addPlotData (double const array_X, double const array_Y, unsigned long size, char const name="Y Axis", int type=vtkChart::LINE, char const color=NULL)
	Adds a plot with correspondences in the arrays arrayX and arrayY.
void	addPlotData (std::vector< double > const &array_X, std::vector< double >const &array_Y, char const *name="Y Axis", int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot with correspondences in vectors arrayX and arrayY. This is the vector version of the addPlotData function.
void	addPlotData (std::vector< std::pair< double, double > > const &plot_data, char const *name="Y Axis", int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot with correspondences in vector of pairs. The the first and second field of the pairs of the vector forms the correspondence.
void	addPlotData (PolynomialFunction const &p_function, double x_min, double x_max, char const *name="Y Axis", int num_points=100, int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot based on the given polynomial function and the range in X axis.
void	addPlotData (RationalFunction const &r_function, double x_min, double x_max, char const *name="Y Axis", int num_points=100, int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot based on the given rational function and the range in X axis.
void	addPlotData (double(function)(double), double x_min, double x_max, char const name="Y Axis", int num_points=100, int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot based on a user defined callback function representing the function to plot.
void	addPlotData (char const *filename, int type=vtkChart::LINE)
	Adds a plot based on a space/tab delimited table provided in a file.
void	clearPlots ()
	Remove all plots from the window.
void	close ()
	Stop the interaction and close the visualizaton window.
double *	getBackgroundColor ()
	set/get method for the viewport's background color.
int	getColorScheme ()
	get the currently used color scheme
vtkSmartPointer< vtkRenderWindow >	getRenderWindow ()
	Return a pointer to the underlying VTK RenderWindow used.
int *	getWindowSize ()
	set/get method for the window size.
	PCLPlotter (char const *name="PCL Plotter")
	PCL Plotter constructor.
void	plot ()
	Draws all the plots added by addPlotData() or addHistogramData() till now.
void	renderOnce ()
	Render the vtkWindow once.
void	setBackgroundColor (const double r, const double g, const double b)
	set/get method for the viewport's background color.
void	setBackgroundColor (const double color[3])
	set/get method for the viewport's background color.
void	setColorScheme (int scheme)
	Set method for the color scheme of the plot. The plots gets autocolored differently based on the color scheme.
void	setShowLegend (bool flag)
	Shows the legend of the graph.
void	setTitle (const char *title)
	Set the main title of the plot.
void	setViewInteractor (vtkSmartPointer< vtkRenderWindowInteractor > interactor)
	Set the view's interactor.
void	setWindowSize (int w, int h)
	set/get method for the window size.
void	setXRange (double min, double max)
	Set logical range of the X-Axis in plot coordinates.
void	setXTitle (const char *title)
	Set the title of the X-Axis.
void	setYRange (double min, double max)
	Set logical range of the Y-Axis in plot coordinates.
void	setYTitle (const char *title)
	Set the title of the Y-Axis.
void	spin ()
	Spins (runs the event loop) the interactor indefinitely. Same as plot() - added to retain the similarity between other existing visualization classes.
void	spinOnce (const int spin_time=1)
	Spins (runs the event loop) the interactor for spin_time amount of time. The name is confusing and will be probably obsolete in the future release with a single overloaded spin()/display() function.
void	startInteractor ()
	Initialize and Start the view's interactor.
bool	wasStopped () const
	Returns true when the user tried to close the window.
	~PCLPlotter ()
	Destructor.
Private Member Functions
double	compute (PolynomialFunction const &p_function, double val)
	computes the value of the polynomial function at val
double	compute (RationalFunction const &r_function, double val)
	computes the value of the rational function at val
void	computeHistogram (std::vector< double > const &data, int const nbins, std::vector< std::pair< double, double > > &histogram)
	bins the elements in vector data into nbins equally spaced containers and returns the histogram form, ie, computes the histogram for 'data'
Private Attributes
double	bkg_color_ [3]
vtkSmartPointer< vtkChartXY >	chart_
vtkSmartPointer< vtkColorSeries >	color_series_
int	current_plot_
vtkSmartPointer< ExitCallback >	exit_callback_
vtkSmartPointer < ExitMainLoopTimerCallback >	exit_loop_timer_
	Callback object enabling us to leave the main loop, when a timer fires.
bool	stopped_
	Set to false if the interaction loop is running.
vtkSmartPointer< vtkContextView >	view_
int	win_height_
int	win_width_

Detailed Description

PCL Plotter main class. Given point correspondences this class can be used to plot the data one against the other and display it on the screen. It also has methods for providing plot for important functions like histogram etc. Important functions of PCLHistogramVisualizer are redefined here so that this single class can take responsibility of all plotting related functionalities.

Author:: Kripasindhu Sarkar

Definition at line 76 of file pcl_plotter.h.

Member Typedef Documentation

typedef std::vector<double> pcl::visualization::PCLPlotter::PolynomialFunction

A representation of polynomial function. i'th element of the vector denotes the coefficient of x^i of the polynomial in variable x.

Definition at line 82 of file pcl_plotter.h.

typedef std::pair<PolynomialFunction, PolynomialFunction> pcl::visualization::PCLPlotter::RationalFunction

A representation of rational function, defined as the ratio of two polynomial functions. pair::first denotes the numerator and pair::second denotes the denominator of the Rational function.

Definition at line 86 of file pcl_plotter.h.

Constructor & Destructor Documentation

pcl::visualization::PCLPlotter::PCLPlotter ( char const * name = "PCL Plotter" )

PCL Plotter constructor.

Parameters:

[in] name Name of the window

Definition at line 63 of file pcl_plotter.cpp.

pcl::visualization::PCLPlotter::~PCLPlotter ( )

Destructor.

Definition at line 89 of file pcl_plotter.cpp.

Member Function Documentation

template<typename PointT >

bool pcl::visualization::PCLPlotter::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 42 of file pcl_plotter.hpp.

bool pcl::visualization::PCLPlotter::addFeatureHistogram	(	const pcl::PCLPointCloud2 &	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 298 of file pcl_plotter.cpp.

template<typename PointT >

bool pcl::visualization::PCLPlotter::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 62 of file pcl_plotter.hpp.

bool pcl::visualization::PCLPlotter::addFeatureHistogram	(	const pcl::PCLPointCloud2 &	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 330 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addHistogramData	(	std::vector< double > const &	data,
		int const	nbins = `10`,
		char const *	name = `"Histogram"`,
		std::vector< char > const &	color = `std::vector<char>()`
	)

Bins the elements in vector data into nbins equally spaced containers and plots the resulted histogram.

Parameters:

[in]	data	the raw data
[in]	nbins	the number of bins for the histogram
[in]	name	name of this histogram which will appear on legends if toggled on
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or an empty vector is passed) the histogram is colored based on the current color scheme

Definition at line 285 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	double const *	array_X,
		double const *	array_Y,
		unsigned long	size,
		char const *	name = `"Y Axis"`,
		int	type = `vtkChart::LINE`,
		char const *	color = `NULL`
	)

Adds a plot with correspondences in the arrays arrayX and arrayY.

Parameters:

[in]	array_X	X coordinates of point correspondence array
[in]	array_Y	Y coordinates of point correspondence array
[in]	size	length of the array arrayX and arrayY
[in]	name	name of the plot which appears in the legend when toggled on
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Definition at line 93 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	std::vector< double > const &	array_X,
		std::vector< double >const &	array_Y,
		char const *	name = `"Y Axis"`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector<char> ()`
	)

Adds a plot with correspondences in vectors arrayX and arrayY. This is the vector version of the addPlotData function.

Parameters:

[in]	array_X	X coordinates of point correspondence array
[in]	array_Y	Y coordinates of point correspondence array
[in]	size	length of the array arrayX and arrayY
[in]	name	name of the plot which appears in the legend when toggled on
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Definition at line 137 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	std::vector< std::pair< double, double > > const &	plot_data,
		char const *	name = `"Y Axis"`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector<char>()`
	)

Adds a plot with correspondences in vector of pairs. The the first and second field of the pairs of the vector forms the correspondence.

Parameters:

[in]	name	name of the plot which appears in the legend when toggled on
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Definition at line 149 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	PolynomialFunction const &	p_function,
		double	x_min,
		double	x_max,
		char const *	name = `"Y Axis"`,
		int	num_points = `100`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector<char>()`
	)

Adds a plot based on the given polynomial function and the range in X axis.

Parameters:

[in]	p_function	A polynomial function which is represented by a vector which stores the coefficients. See description on the typedef.
[in]	x_min	the left boundary of the range for displaying the plot
[in]	x_max	the right boundary of the range for displaying the plot
[in]	name	name of the plot which appears in the legend when toggled on
[in]	num_points	Number of points plotted to show the graph. More this number, more is the resolution.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Definition at line 168 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	RationalFunction const &	r_function,
		double	x_min,
		double	x_max,
		char const *	name = `"Y Axis"`,
		int	num_points = `100`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector<char>()`
	)

Adds a plot based on the given rational function and the range in X axis.

Parameters:

[in]	r_function	A rational function which is represented by the ratio of two polynomial functions. See description on the typedef for more details.
[in]	x_min	the left boundary of the range for displaying the plot
[in]	x_max	the right boundary of the range for displaying the plot
[in]	name	name of the plot which appears in the legend when toggled on
[in]	num_points	Number of points plotted to show the graph. More this number, more is the resolution.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Definition at line 191 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	double(*)(double)	function,
		double	x_min,
		double	x_max,
		char const *	name = `"Y Axis"`,
		int	num_points = `100`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector<char>()`
	)

Adds a plot based on a user defined callback function representing the function to plot.

Parameters:

[in]	function	a user defined callback function representing the relation y = function(x)
[in]	x_min	the left boundary of the range for displaying the plot
[in]	x_max	the right boundary of the range for displaying the plot
[in]	name	name of the plot which appears in the legend when toggled on
[in]	num_points	Number of points plotted to show the graph. More this number, more is the resolution.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Definition at line 217 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::addPlotData	(	char const *	filename,
		int	type = `vtkChart::LINE`
	)

Adds a plot based on a space/tab delimited table provided in a file.

Parameters:

[in]	filename	name of the file containing the table. 1st column represents the values of X-Axis. Rest of the columns represent the corresponding values in Y-Axes. First row of the file is concidered for naming/labling of the plot. The plot-names should not contain any space in between.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot

Definition at line 239 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::clearPlots ( )

Remove all plots from the window.

Definition at line 447 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::close ( )

Stop the interaction and close the visualizaton window.

Definition at line 636 of file pcl_plotter.cpp.

double pcl::visualization::PCLPlotter::compute	(	PolynomialFunction const &	p_function,
		double	val
	)		`[private]`

computes the value of the polynomial function at val

Parameters:

[in]	p_function	polynomial function
[in]	value	the value at which the function is to be computed

Definition at line 594 of file pcl_plotter.cpp.

double pcl::visualization::PCLPlotter::compute	(	RationalFunction const &	r_function,
		double	val
	)		`[private]`

computes the value of the rational function at val

Parameters:

[in]	r_function	the rational function
[in]	value	the value at which the function is to be computed

Definition at line 606 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::computeHistogram	(	std::vector< double > const &	data,
		int const	nbins,
		std::vector< std::pair< double, double > > &	histogram
	)		`[private]`

bins the elements in vector data into nbins equally spaced containers and returns the histogram form, ie, computes the histogram for 'data'

Parameters:

[in]	data	data who's frequency distribution is to be found
[in]	nbins	number of bins for the histogram
[out]	histogram	vector of pairs containing the histogram. The first field of the pair represent the middle value of the corresponding bin. The second field denotes the frequency of data in that bin.

Definition at line 557 of file pcl_plotter.cpp.

double * pcl::visualization::PCLPlotter::getBackgroundColor ( )

set/get method for the viewport's background color.

Returns:: [out] color the array containing the 3 component of the RGB color

Definition at line 473 of file pcl_plotter.cpp.

int pcl::visualization::PCLPlotter::getColorScheme ( )

get the currently used color scheme

Returns:: [out] the currently used color scheme. Values include WARM, COOL, BLUES, WILD_FLOWER, CITRUS, CUSTOM

Definition at line 385 of file pcl_plotter.cpp.

vtkSmartPointer< vtkRenderWindow > pcl::visualization::PCLPlotter::getRenderWindow ( )

Return a pointer to the underlying VTK RenderWindow used.

Definition at line 645 of file pcl_plotter.cpp.

int * pcl::visualization::PCLPlotter::getWindowSize ( )

set/get method for the window size.

Returns:: [in] array containing the width and height of the window

Definition at line 539 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::plot ( )

Draws all the plots added by addPlotData() or addHistogramData() till now.

Definition at line 392 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::renderOnce ( )

Render the vtkWindow once.

Definition at line 427 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setBackgroundColor	(	const double	r,
		const double	g,
		const double	b
	)

set/get method for 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

Definition at line 455 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setBackgroundColor ( const double color[3] )

set/get method for the viewport's background color.

Parameters:

[in] color the array containing the 3 component of the RGB color

Definition at line 464 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setColorScheme ( int scheme )

Set method for the color scheme of the plot. The plots gets autocolored differently based on the color scheme.

Parameters:

[in] scheme the color scheme. Possible values are vtkColorSeries::SPECTRUM, vtkColorSeries::WARM, vtkColorSeries::COOL, vtkColorSeries::BLUES, vtkColorSeries::WILD_FLOWER, vtkColorSeries::CITRUS

Definition at line 378 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setShowLegend ( bool flag )

Shows the legend of the graph.

Parameters:

[in] flag pass flag = true for the display of the legend of the graph

Definition at line 524 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setTitle ( const char * title )

Set the main title of the plot.

Parameters:

[in] title the title to set

Definition at line 500 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setViewInteractor ( vtkSmartPointer< vtkRenderWindowInteractor > interactor )

Set the view's interactor.

Definition at line 618 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setWindowSize	(	int	w,
		int	h
	)

set/get method for the window size.

Parameters:

[in]	w	the width of the window
[in]	h	the height of the window

Definition at line 531 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setXRange	(	double	min,
		double	max
	)

Set logical range of the X-Axis in plot coordinates.

Parameters:

[in]	min	the left boundary of the range
[in]	max	the right boundary of the range

Definition at line 492 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setXTitle ( const char * title )

Set the title of the X-Axis.

Parameters:

[in] title the title to set

Definition at line 508 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setYRange	(	double	min,
		double	max
	)

Set logical range of the Y-Axis in plot coordinates.

Parameters:

[in]	min	the left boundary of the range
[in]	max	the right boundary of the range

Definition at line 484 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::setYTitle ( const char * title )

Set the title of the Y-Axis.

Parameters:

[in] title the title to set

Definition at line 516 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::spin ( )

Spins (runs the event loop) the interactor indefinitely. Same as plot() - added to retain the similarity between other existing visualization classes.

Definition at line 440 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::spinOnce ( const int spin_time = 1 )

Spins (runs the event loop) the interactor for spin_time amount of time. The name is confusing and will be probably obsolete in the future release with a single overloaded spin()/display() function.

Parameters:

[in] spin_time - How long (in ms) should the visualization loop be allowed to run.

Definition at line 405 of file pcl_plotter.cpp.

void pcl::visualization::PCLPlotter::startInteractor ( )

Initialize and Start the view's interactor.

Definition at line 549 of file pcl_plotter.cpp.

bool pcl::visualization::PCLPlotter::wasStopped ( ) const

Returns true when the user tried to close the window.

Definition at line 626 of file pcl_plotter.cpp.