pcl::visualization::PCLVisualizer Class Reference

PCL Visualizer main class. More...

#include <pcl_visualizer.h>

List of all members.

Classes
struct	ExitCallback
struct	ExitMainLoopTimerCallback
Public Types
typedef PointCloudColorHandler < sensor_msgs::PointCloud2 >	ColorHandler
typedef ColorHandler::ConstPtr	ColorHandlerConstPtr
typedef ColorHandler::Ptr	ColorHandlerPtr
typedef PointCloudGeometryHandler < sensor_msgs::PointCloud2 >	GeometryHandler
typedef GeometryHandler::ConstPtr	GeometryHandlerConstPtr
typedef GeometryHandler::Ptr	GeometryHandlerPtr
Public Member Functions
template<typename P1 , typename P2 >
bool	addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id="arrow", int viewport=0)
	Add a line arrow segment between two points, and display the distance between them.
template<typename P1 , typename P2 >
bool	addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, bool display_length, const std::string &id="arrow", int viewport=0)
	Add a line arrow segment between two points, and display the distance between them.
bool	addCircle (const pcl::ModelCoefficients &coefficients, const std::string &id="circle", int viewport=0)
	Add a circle from a set of given model coefficients.
bool	addCone (const pcl::ModelCoefficients &coefficients, const std::string &id="cone", int viewport=0)
	Add a cone from a set of given model coefficients.
void	addCoordinateSystem (double scale=1.0, int viewport=0)
	Adds 3D axes describing a coordinate system to screen at 0,0,0.
void	addCoordinateSystem (double scale, float x, float y, float z, int viewport=0)
	Adds 3D axes describing a coordinate system to screen at x, y, z.
void	addCoordinateSystem (double scale, const Eigen::Affine3f &t, int viewport=0)
	Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw.
template<typename PointT >
bool	addCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const std::vector< int > &correspondences, const std::string &id="correspondences", int viewport=0)
	Add the specified correspondences to the display.
template<typename PointT >
bool	addCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const pcl::Correspondences &correspondences, const std::string &id="correspondences", int viewport=0)
	Add the specified correspondences to the display.
bool	addCube (const pcl::ModelCoefficients &coefficients, const std::string &id="cube", int viewport=0)
	Add a cube from a set of given model coefficients.
bool	addCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth, const std::string &id="cube", int viewport=0)
	Add a cube from a set of given model coefficients.
bool	addCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max, double r=1.0, double g=1.0, double b=1.0, const std::string &id="cube", int viewport=0)
	Add a cube from a set of bounding points.
bool	addCylinder (const pcl::ModelCoefficients &coefficients, const std::string &id="cylinder", int viewport=0)
	Add a cylinder from a set of given model coefficients.
template<typename P1 , typename P2 >
bool	addLine (const P1 &pt1, const P2 &pt2, const std::string &id="line", int viewport=0)
	Add a line segment from two points.
template<typename P1 , typename P2 >
bool	addLine (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id="line", int viewport=0)
	Add a line segment from two points.
bool	addLine (const pcl::ModelCoefficients &coefficients, const std::string &id="line", int viewport=0)
	Add a line from a set of given model coefficients.
bool	addModelFromPLYFile (const std::string &filename, const std::string &id="PLYModel", int viewport=0)
	Add a PLYmodel as a mesh.
bool	addModelFromPLYFile (const std::string &filename, vtkSmartPointer< vtkTransform > transform, const std::string &id="PLYModel", int viewport=0)
	Add a PLYmodel as a mesh and applies given transformation.
bool	addModelFromPolyData (vtkSmartPointer< vtkPolyData > polydata, const std::string &id="PolyData", int viewport=0)
	Add a vtkPolydata as a mesh.
bool	addModelFromPolyData (vtkSmartPointer< vtkPolyData > polydata, vtkSmartPointer< vtkTransform > transform, const std::string &id="PolyData", int viewport=0)
	Add a vtkPolydata as a mesh.
bool	addPlane (const pcl::ModelCoefficients &coefficients, const std::string &id="plane", int viewport=0)
	Add a plane from a set of given model coefficients.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudGeometryHandler< PointT > &geometry_handler, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudColorHandler< PointT > &color_handler, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const ColorHandlerConstPtr &color_handler, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const ColorHandlerConstPtr &color_handler, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
bool	addPointCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const ColorHandlerConstPtr &color_handler, const Eigen::Vector4f &sensor_origin, const Eigen::Quaternion< float > &sensor_orientation, const std::string &id="cloud", int viewport=0)
	Add a binary blob Point Cloud to screen.
bool	addPointCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const Eigen::Vector4f &sensor_origin, const Eigen::Quaternion< float > &sensor_orientation, const std::string &id="cloud", int viewport=0)
	Add a binary blob Point Cloud to screen.
bool	addPointCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud, const ColorHandlerConstPtr &color_handler, const Eigen::Vector4f &sensor_origin, const Eigen::Quaternion< float > &sensor_orientation, const std::string &id="cloud", int viewport=0)
	Add a binary blob Point Cloud to screen.
template<typename PointT >
bool	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudColorHandler< PointT > &color_handler, const PointCloudGeometryHandler< PointT > &geometry_handler, const std::string &id="cloud", int viewport=0)
	Add a Point Cloud (templated) to screen.
bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZ Point Cloud to screen.
bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZRGB Point Cloud to screen.
bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZRGBA Point Cloud to screen.
template<typename PointNT >
bool	addPointCloudNormals (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, int level=100, double scale=0.02, const std::string &id="cloud", int viewport=0)
	Add the estimated surface normals of a Point Cloud to screen.
template<typename PointT , typename PointNT >
bool	addPointCloudNormals (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const typename pcl::PointCloud< PointNT >::ConstPtr &normals, int level=100, double scale=0.02, const std::string &id="cloud", int viewport=0)
	Add the estimated surface normals of a Point Cloud to screen.
bool	addPointCloudPrincipalCurvatures (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud, const pcl::PointCloud< pcl::Normal >::ConstPtr &normals, const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &pcs, int level=100, double scale=1.0, const std::string &id="cloud", int viewport=0)
	Add the estimated principal curvatures of a Point Cloud to screen.
template<typename PointT >
bool	addPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, double r, double g, double b, const std::string &id="polygon", int viewport=0)
	Add a polygon (polyline) that represents the input point cloud (connects all points in order)
template<typename PointT >
bool	addPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="polygon", int viewport=0)
	Add a polygon (polyline) that represents the input point cloud (connects all points in order)
bool	addPolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polygon", int viewport=0)
	Add a PolygonMesh object to screen.
template<typename PointT >
bool	addPolygonMesh (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::vector< pcl::Vertices > &vertices, const std::string &id="polygon", int viewport=0)
	Add a PolygonMesh object to screen.
bool	addPolylineFromPolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polyline", int viewport=0)
	Add a Polygonline from a polygonMesh object to screen.
template<typename PointT >
bool	addSphere (const PointT &center, double radius, const std::string &id="sphere", int viewport=0)
	Add a sphere shape from a point and a radius.
template<typename PointT >
bool	addSphere (const PointT &center, double radius, double r, double g, double b, const std::string &id="sphere", int viewport=0)
	Add a sphere shape from a point and a radius.
bool	addSphere (const pcl::ModelCoefficients &coefficients, const std::string &id="sphere", int viewport=0)
	Add a sphere from a set of given model coefficients.
bool	addText (const std::string &text, int xpos, int ypos, const std::string &id="", int viewport=0)
	Add a text to screen.
bool	addText (const std::string &text, int xpos, int ypos, double r, double g, double b, const std::string &id="", int viewport=0)
	Add a text to screen.
bool	addText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b, const std::string &id="", int viewport=0)
	Add a text to screen.
template<typename PointT >
bool	addText3D (const std::string &text, const PointT &position, double textScale=1.0, double r=1.0, double g=1.0, double b=1.0, const std::string &id="", int viewport=0)
	Add a 3d text to the scene.
bool	cameraParamsSet () const
	Checks whether the camera parameters were manually loaded from file.
void	close ()
	Stop the interaction and close the visualizaton window.
void	createInteractor ()
	Create the internal Interactor object.
void	createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport)
	Create a new viewport from [xmin,ymin] -> [xmax,ymax].
bool	getCameraParameters (int argc, char **argv)
	Search for camera parameters at the command line and set them internally.
void	getCameras (std::vector< Camera > &cameras)
	Get the current camera parameters.
int	getColorHandlerIndex (const std::string &id)
	Get the color handler index of a rendered PointCloud based on its ID.
int	getGeometryHandlerIndex (const std::string &id)
	Get the geometry handler index of a rendered PointCloud based on its ID.
vtkSmartPointer < PCLVisualizerInteractorStyle >	getInteractorStyle ()
	Get a pointer to the current interactor style used.
bool	getPointCloudRenderingProperties (int property, double &value, const std::string &id="cloud")
	Get the rendering properties of a PointCloud.
vtkSmartPointer< vtkRenderWindow >	getRenderWindow ()
	Return a pointer to the underlying VTK Render Window used.
Eigen::Affine3f	getViewerPose ()
	Get the current viewing pose.
void	initCameraParameters ()
	Initialize camera parameters with some default values.
	PCLVisualizer (const std::string &name="", const bool create_interactor=true)
	PCL Visualizer constructor.
	PCLVisualizer (int &argc, char **argv, const std::string &name="", PCLVisualizerInteractorStyle *style=PCLVisualizerInteractorStyle::New(), const bool create_interactor=true)
	PCL Visualizer constructor.
boost::signals2::connection	registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback boost::function for keyboard events.
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	registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register a callback function for mouse events.
boost::signals2::connection	registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=NULL)
	Register a callback 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	registerPointPickingCallback (boost::function< void(const pcl::visualization::PointPickingEvent &)> cb)
	Register a callback function for point picking events.
boost::signals2::connection	registerPointPickingCallback (void(*callback)(const pcl::visualization::PointPickingEvent &, void *), void *cookie=NULL)
	Register a callback function for point picking events.
template<typename T >
boost::signals2::connection	registerPointPickingCallback (void(T::*callback)(const pcl::visualization::PointPickingEvent &, void *), T &instance, void *cookie=NULL)
	Register a callback function for point picking events.
bool	removeAllPointClouds (int viewport=0)
	Remove all point cloud data on screen from the given viewport.
bool	removeAllShapes (int viewport=0)
	Remove all 3D shape data on screen from the given viewport.
bool	removeCoordinateSystem (int viewport=0)
	Removes a previously added 3D axes (coordinate system)
void	removeCorrespondences (const std::string &id="correspondences", int viewport=0)
	Remove the specified correspondences from the display.
bool	removePointCloud (const std::string &id="cloud", int viewport=0)
	Removes a Point Cloud from screen, based on a given ID.
bool	removePolygonMesh (const std::string &id="polygon", int viewport=0)
	Removes a PolygonMesh from screen, based on a given ID.
bool	removeShape (const std::string &id="cloud", int viewport=0)
	Removes an added shape from screen (line, polygon, etc.), based on a given ID.
bool	removeText3D (const std::string &id="cloud", int viewport=0)
	Removes an added 3D text from the scene, based on a given ID.
void	renderView (int xres, int yres, pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
	Renders a virtual scene as seen from the camera viewpoint and returns the rendered point cloud. ATT: This method will only render the scene if only on viewport exists. Otherwise, returns an empty point cloud and exits immediately.
void	renderViewTesselatedSphere (int xres, int yres, std::vector< pcl::PointCloud< pcl::PointXYZ >, Eigen::aligned_allocator< pcl::PointCloud< pcl::PointXYZ > > > &cloud, std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &poses, std::vector< float > &enthropies, int tesselation_level, float view_angle=45, float radius_sphere=1, bool use_vertices=true)
	The purpose of this method is to render a CAD model added to the visualizer from different viewpoints in order to simulate partial views of model. The viewpoint locations are the vertices of a tesselated sphere build from an icosaheadron. The tesselation paremeter controls how many times the triangles of the original icosahedron are divided to approximate the sphere and thus the number of partial view generated for a model, with a tesselation_level of 0, 12 views are generated if use_vertices=true and 20 views if use_vertices=false.
void	resetCamera ()
	Reset camera parameters and render.
void	resetCameraViewpoint (const std::string &id="cloud")
	Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
void	resetStoppedFlag ()
	Set the stopped flag back to false.
void	saveScreenshot (const std::string &file)
	Save the current rendered image to disk, as a PNG screenshot.
void	setBackgroundColor (const double &r, const double &g, const double &b, int viewport=0)
	Set the viewport's background color.
void	setCameraPose (double posX, double posY, double posZ, double viewX, double viewY, double viewZ, double upX, double upY, double upZ, int viewport=0)
	sets the camera pose given by position, viewpoint and up vector
void	setCameraPosition (double posX, double posY, double posZ, double viewX, double viewY, double viewZ, int viewport=0)
	Set the camera location and viewup according to the given arguments.
void	setFullScreen (bool mode)
	Enables/Disabled the underlying window mode to full screen.
bool	setPointCloudRenderingProperties (int property, double val1, double val2, double val3, const std::string &id="cloud", int viewport=0)
	Set the rendering properties of a PointCloud (3x values - e.g., RGB)
bool	setPointCloudRenderingProperties (int property, double value, const std::string &id="cloud", int viewport=0)
	Set the rendering properties of a PointCloud.
void	setRepresentationToPointsForAllActors ()
	Changes the visual representation for all actors to points representation.
void	setRepresentationToSurfaceForAllActors ()
	Changes the visual representation for all actors to surface representation.
void	setRepresentationToWireframeForAllActors ()
	Changes the visual representation for all actors to wireframe representation.
bool	setShapeRenderingProperties (int property, double value, const std::string &id, int viewport=0)
	Set the rendering properties of a shape.
bool	setShapeRenderingProperties (int property, double val1, double val2, double val3, const std::string &id, int viewport=0)
	Set the rendering properties of a shape (3x values - e.g., RGB)
void	setupInteractor (vtkRenderWindowInteractor *iren, vtkRenderWindow *win)
	Set up our unique PCL interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow.
void	setWindowBorders (bool mode)
	Enables or disable the underlying window borders.
void	spin ()
	Spin method. Calls the interactor and runs an internal loop.
void	spinOnce (int time=1, bool force_redraw=false)
	Spin once method. Calls the interactor and updates the screen once.
void	updateCamera ()
	Update camera parameters and render.
bool	updateColorHandlerIndex (const std::string &id, int index)
	Update/set the color index of a renderered PointCloud based on its ID.
template<typename PointT >
bool	updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="cloud")
	Updates the XYZ data for an existing cloud object id on screen.
template<typename PointT >
bool	updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudGeometryHandler< PointT > &geometry_handler, const std::string &id="cloud")
	Updates the XYZ data for an existing cloud object id on screen.
template<typename PointT >
bool	updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudColorHandler< PointT > &color_handler, const std::string &id="cloud")
	Updates the XYZ data for an existing cloud object id on screen.
bool	updatePointCloud (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud, const std::string &id="cloud")
	Updates the XYZ data for an existing cloud object id on screen.
bool	updatePointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const std::string &id="cloud")
	Updates the XYZRGB data for an existing cloud object id on screen.
bool	updatePointCloud (const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &cloud, const std::string &id="cloud")
	Updates the XYZRGBA data for an existing cloud object id on screen.
template<typename PointT >
bool	updatePolygonMesh (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::vector< pcl::Vertices > &vertices, const std::string &id="polygon")
	Update a PolygonMesh object on screen.
bool	updateShapePose (const std::string &id, const Eigen::Affine3f &pose)
	Set the pose of an existing shape.
template<typename PointT >
bool	updateSphere (const PointT &center, double radius, double r, double g, double b, const std::string &id="sphere")
	Update an existing sphere shape from a point and a radius.
bool	updateText (const std::string &text, int xpos, int ypos, const std::string &id="")
	Update a text to screen.
bool	updateText (const std::string &text, int xpos, int ypos, double r, double g, double b, const std::string &id="")
	Update a text to screen.
bool	updateText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b, const std::string &id="")
	Update a text to screen.
bool	wasStopped () const
	Returns true when the user tried to close the window.
virtual	~PCLVisualizer ()
	PCL Visualizer destructor.
Public Attributes
Camera	camera_
	Camera view, window position and size.
Protected Attributes
vtkSmartPointer < vtkRenderWindowInteractor >	interactor_
	The render window interactor.
Private Member Functions
void	addActorToRenderer (const vtkSmartPointer< vtkProp > &actor, int viewport=0)
	Internal method. Adds a vtk actor to screen.
void	allocVtkPolyData (vtkSmartPointer< vtkAppendPolyData > &polydata)
	Allocate a new polydata smartpointer. Internal.
void	allocVtkPolyData (vtkSmartPointer< vtkPolyData > &polydata)
	Allocate a new polydata smartpointer. Internal.
void	allocVtkUnstructuredGrid (vtkSmartPointer< vtkUnstructuredGrid > &polydata)
	Allocate a new unstructured grid smartpointer. Internal.
template<typename PointT >
void	convertPointCloudToVTKPolyData (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, vtkSmartPointer< vtkPolyData > &polydata, vtkSmartPointer< vtkIdTypeArray > &initcells)
	Converts a PCL templated PointCloud object to a vtk polydata object.
template<typename PointT >
void	convertPointCloudToVTKPolyData (const PointCloudGeometryHandler< PointT > &geometry_handler, vtkSmartPointer< vtkPolyData > &polydata, vtkSmartPointer< vtkIdTypeArray > &initcells)
	Converts a PCL templated PointCloud object to a vtk polydata object.
void	convertPointCloudToVTKPolyData (const GeometryHandlerConstPtr &geometry_handler, vtkSmartPointer< vtkPolyData > &polydata, vtkSmartPointer< vtkIdTypeArray > &initcells)
	Converts a PCL templated PointCloud object to a vtk polydata object.
void	convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix)
	Convert Eigen::Matrix4f to vtkMatrix4x4.
void	convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion< float > &orientation, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix)
	Convert origin and orientation to vtkMatrix4x4.
void	createActorFromVTKDataSet (const vtkSmartPointer< vtkDataSet > &data, vtkSmartPointer< vtkLODActor > &actor, bool use_scalars=true)
	Internal method. Creates a vtk actor from a vtk polydata object.
template<typename PointT >
bool	fromHandlersToScreen (const PointCloudGeometryHandler< PointT > &geometry_handler, const PointCloudColorHandler< PointT > &color_handler, const std::string &id, int viewport, const Eigen::Vector4f &sensor_origin=Eigen::Vector4f(0, 0, 0, 0), const Eigen::Quaternion< float > &sensor_orientation=Eigen::Quaternion< float >(1, 0, 0, 0))
	Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.
template<typename PointT >
bool	fromHandlersToScreen (const PointCloudGeometryHandler< PointT > &geometry_handler, const ColorHandlerConstPtr &color_handler, const std::string &id, int viewport, const Eigen::Vector4f &sensor_origin=Eigen::Vector4f(0, 0, 0, 0), const Eigen::Quaternion< float > &sensor_orientation=Eigen::Quaternion< float >(1, 0, 0, 0))
	Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.
bool	fromHandlersToScreen (const GeometryHandlerConstPtr &geometry_handler, const ColorHandlerConstPtr &color_handler, const std::string &id, int viewport, const Eigen::Vector4f &sensor_origin=Eigen::Vector4f(0, 0, 0, 0), const Eigen::Quaternion< float > &sensor_orientation=Eigen::Quaternion< float >(1, 0, 0, 0))
	Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.
template<typename PointT >
bool	fromHandlersToScreen (const GeometryHandlerConstPtr &geometry_handler, const PointCloudColorHandler< PointT > &color_handler, const std::string &id, int viewport, const Eigen::Vector4f &sensor_origin=Eigen::Vector4f(0, 0, 0, 0), const Eigen::Quaternion< float > &sensor_orientation=Eigen::Quaternion< float >(1, 0, 0, 0))
	Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.
void	getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion< float > &orientation, Eigen::Matrix4f &transformation)
	Transform the point cloud viewpoint to a transformation matrix.
bool	removeActorFromRenderer (const vtkSmartPointer< vtkLODActor > &actor, int viewport=0)
	Internal method. Removes a vtk actor from the screen.
bool	removeActorFromRenderer (const vtkSmartPointer< vtkProp > &actor, int viewport=0)
	Internal method. Adds a vtk actor to screen.
void	updateCells (vtkSmartPointer< vtkIdTypeArray > &cells, vtkSmartPointer< vtkIdTypeArray > &initcells, vtkIdType nr_points)
	Updates a set of cells (vtkIdTypeArray) if the number of points in a cloud changes.
Private Attributes
bool	camera_set_
	Boolean that holds whether or not the camera parameters were manually initialized.
CloudActorMapPtr	cloud_actor_map_
	Internal list with actor pointers and name IDs for point clouds.
CoordinateActorMap	coordinate_actor_map_
	Internal list with actor pointers and viewpoint for coordinates.
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 < vtkRendererCollection >	rens_
	The collection of renderers used.
ShapeActorMapPtr	shape_actor_map_
	Internal list with actor pointers and name IDs for shapes.
bool	stopped_
	Set to false if the interaction loop is running.
vtkSmartPointer < PCLVisualizerInteractorStyle >	style_
	The render window interactor style.
int	timer_id_
	Global timer ID. Used in destructor only.
vtkSmartPointer< vtkRenderWindow >	win_
	The render window.

---

Detailed Description

PCL Visualizer main class.

Author:

Radu Bogdan Rusu

Definition at line 85 of file pcl_visualizer.h.

---

Member Typedef Documentation

typedef PointCloudColorHandler<sensor_msgs::PointCloud2> pcl::visualization::PCLVisualizer::ColorHandler

Definition at line 92 of file pcl_visualizer.h.

typedef ColorHandler::ConstPtr pcl::visualization::PCLVisualizer::ColorHandlerConstPtr

Definition at line 94 of file pcl_visualizer.h.

typedef ColorHandler::Ptr pcl::visualization::PCLVisualizer::ColorHandlerPtr

Definition at line 93 of file pcl_visualizer.h.

typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2> pcl::visualization::PCLVisualizer::GeometryHandler

Definition at line 88 of file pcl_visualizer.h.

typedef GeometryHandler::ConstPtr pcl::visualization::PCLVisualizer::GeometryHandlerConstPtr

Definition at line 90 of file pcl_visualizer.h.

typedef GeometryHandler::Ptr pcl::visualization::PCLVisualizer::GeometryHandlerPtr

Definition at line 89 of file pcl_visualizer.h.

---

Constructor & Destructor Documentation

pcl::visualization::PCLVisualizer::PCLVisualizer	(	const std::string &	name = "",
		const bool	create_interactor = true
	)

PCL Visualizer constructor.

Parameters:

[in]	name	the window name (empty by default)
[in]	create_interactor	if true (default), create an interactor, false otherwise

Definition at line 55 of file pcl_visualizer.cpp.

pcl::visualization::PCLVisualizer::PCLVisualizer	(	int &	argc,
		char **	argv,
		const std::string &	name = "",
		PCLVisualizerInteractorStyle *	style = PCLVisualizerInteractorStyle::New (),
		const bool	create_interactor = true
	)

PCL Visualizer constructor.

Parameters:

[in]	argc
[in]	argv
[in]	name	the window name (empty by default)
[in]	style	interactor style (defaults to PCLVisualizerInteractorStyle)
[in]	create_interactor	if true (default), create an interactor, false otherwise

Definition at line 101 of file pcl_visualizer.cpp.

pcl::visualization::PCLVisualizer::~PCLVisualizer

(

)

[virtual]

PCL Visualizer destructor.

Definition at line 249 of file pcl_visualizer.cpp.

---

Member Function Documentation

void pcl::visualization::PCLVisualizer::addActorToRenderer	(	const vtkSmartPointer< vtkProp > &	actor,
		int	viewport = 0
	)		[private]

Internal method. Adds a vtk actor to screen.

Parameters:

[in]	actor	a pointer to the vtk actor object
[in]	viewport	the view port where the actor should be added to (default: all)

Definition at line 754 of file pcl_visualizer.cpp.

template<typename P1 , typename P2 >

bool pcl::visualization::PCLVisualizer::addArrow	(	const P1 &	pt1,
		const P2 &	pt2,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "arrow",
		int	viewport = 0
	)

Add a line arrow segment between two points, and display the distance between them.

Parameters:

[in]	pt1	the first (start) point on the line
[in]	pt2	the second (end) point on the line
[in]	r	the red channel of the color that the line should be rendered with
[in]	g	the green channel of the color that the line should be rendered with
[in]	b	the blue channel of the color that the line should be rendered with
[in]	id	the arrow id/name (default: "arrow")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 364 of file pcl_visualizer.hpp.

template<typename P1 , typename P2 >

bool pcl::visualization::PCLVisualizer::addArrow	(	const P1 &	pt1,
		const P2 &	pt2,
		double	r,
		double	g,
		double	b,
		bool	display_length,
		const std::string &	id = "arrow",
		int	viewport = 0
	)

Add a line arrow segment between two points, and display the distance between them.

Parameters:

[in]	pt1	the first (start) point on the line
[in]	pt2	the second (end) point on the line
[in]	r	the red channel of the color that the line should be rendered with
[in]	g	the green channel of the color that the line should be rendered with
[in]	b	the blue channel of the color that the line should be rendered with
[in]	display_length	true if the length should be displayed on the arrow as text
[in]	id	the line id/name (default: "arrow")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 393 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addCircle	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "circle",
		int	viewport = 0
	)

Add a circle from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (x, y, radius)
[in]	id	the circle id/name (default: "circle")
[in]	viewport	(optional) the id of the new viewport (default: 0)

 // The following are given (or computed using sample consensus techniques)
 // See SampleConsensusModelCircle2D for more information
 // 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 1868 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addCone	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "cone",
		int	viewport = 0
	)

Add a cone from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (point_on_axis, axis_direction, radiu)
[in]	id	the cone id/name (default: "cone")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1893 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::addCoordinateSystem	(	double	scale = 1.0,
		int	viewport = 0
	)

Adds 3D axes describing a coordinate system to screen at 0,0,0.

Parameters:

[in]	scale	the scale of the axes (default: 1)
[in]	viewport	the view port where the 3D axes should be added (default: all)

Definition at line 320 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::addCoordinateSystem	(	double	scale,
		float	x,
		float	y,
		float	z,
		int	viewport = 0
	)

Adds 3D axes describing a coordinate system to screen at x, y, z.

Parameters:

[in]	scale	the scale of the axes (default: 1)
[in]	x	the X position of the axes
[in]	y	the Y position of the axes
[in]	z	the Z position of the axes
[in]	viewport	the view port where the 3D axes should be added (default: all)

Definition at line 359 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::addCoordinateSystem	(	double	scale,
		const Eigen::Affine3f &	t,
		int	viewport = 0
	)

Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw.

Parameters:

[in]	scale	the scale of the axes (default: 1)
[in]	t	transformation matrix
[in]	viewport	the view port where the 3D axes should be added (default: all)

RPY Angles Rotate the reference frame by the angle roll about axis x Rotate the reference frame by the angle pitch about axis y Rotate the reference frame by the angle yaw about axis z

Description: Sets the orientation of the Prop3D. Orientation is specified as X,Y and Z rotations in that order, but they are performed as RotateZ, RotateX, and finally RotateY.

All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen. z \ \ \ -----------> x | | | | | | y

Definition at line 399 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addCorrespondences	(	const typename pcl::PointCloud< PointT >::ConstPtr &	source_points,
		const typename pcl::PointCloud< PointT >::ConstPtr &	target_points,
		const std::vector< int > &	correspondences,
		const std::string &	id = "correspondences",
		int	viewport = 0
	)

Add the specified correspondences to the display.

Parameters:

[in]	source_points	The source points
[in]	target_points	The target points
[in]	correspondences	The mapping from source points to target points. Each element must be an index into target_points
[in]	id	the polygon object id (default: "correspondences")
[in]	viewport	the view port where the correspondences should be added (default: all)

Definition at line 699 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addCorrespondences	(	const typename pcl::PointCloud< PointT >::ConstPtr &	source_points,
		const typename pcl::PointCloud< PointT >::ConstPtr &	target_points,
		const pcl::Correspondences &	correspondences,
		const std::string &	id = "correspondences",
		int	viewport = 0
	)

Add the specified correspondences to the display.

Parameters:

[in]	source_points	The source points
[in]	target_points	The target points
[in]	correspondences	The mapping from source points to target points. Each element must be an index into target_points
[in]	id	the polygon object id (default: "correspondences")
[in]	viewport	the view port where the correspondences should be added (default: all)

Definition at line 758 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addCube	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "cube",
		int	viewport = 0
	)

Add a cube from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
[in]	id	the cube id/name (default: "cube")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1586 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addCube	(	const Eigen::Vector3f &	translation,
		const Eigen::Quaternionf &	rotation,
		double	width,
		double	height,
		double	depth,
		const std::string &	id = "cube",
		int	viewport = 0
	)

Add a cube from a set of given 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
[in]	id	the cube id/name (default: "cube")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1612 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addCube	(	double	x_min,
		double	x_max,
		double	y_min,
		double	y_max,
		double	z_min,
		double	z_max,
		double	r = 1.0,
		double	g = 1.0,
		double	b = 1.0,
		const std::string &	id = "cube",
		int	viewport = 0
	)

Add 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]	r	the red color value (default: 1.0)
[in]	g	the green color value (default: 1.0)
[in]	b	the blue color vlaue (default: 1.0)
[in]	id	the cube id/name (default: "cube")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1640 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addCylinder	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "cylinder",
		int	viewport = 0
	)

Add a cylinder from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (point_on_axis, axis_direction, radius)
[in]	id	the cylinder id/name (default: "cylinder")
[in]	viewport	(optional) the id of the new viewport (default: 0)

 // The following are given (or computed using sample consensus techniques)
 // See SampleConsensusModelCylinder for more information.
 // 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;

 addCylinder (cylinder_coeff);

Definition at line 1560 of file pcl_visualizer.cpp.

template<typename P1 , typename P2 >

bool pcl::visualization::PCLVisualizer::addLine	(	const P1 &	pt1,
		const P2 &	pt2,
		const std::string &	id = "line",
		int	viewport = 0
	)

Add a line segment from two points.

Parameters:

[in]	pt1	the first (start) point on the line
[in]	pt2	the second (end) point on the line
[in]	id	the line id/name (default: "line")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 426 of file pcl_visualizer.hpp.

template<typename P1 , typename P2 >

bool pcl::visualization::PCLVisualizer::addLine	(	const P1 &	pt1,
		const P2 &	pt2,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "line",
		int	viewport = 0
	)

Add a line segment from two points.

Parameters:

[in]	pt1	the first (start) point on the line
[in]	pt2	the second (end) point on the line
[in]	r	the red channel of the color that the line should be rendered with
[in]	g	the green channel of the color that the line should be rendered with
[in]	b	the blue channel of the color that the line should be rendered with
[in]	id	the line id/name (default: "line")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 337 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addLine	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "line",
		int	viewport = 0
	)

Add a line from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (point_on_line, direction)
[in]	id	the line id/name (default: "line")
[in]	viewport	(optional) the id of the new viewport (default: 0)

 // The following are given (or computed using sample consensus techniques)
 // See SampleConsensusModelLine for more information
 // 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 ();

 addLine (line_coeff);

Definition at line 1813 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addModelFromPLYFile	(	const std::string &	filename,
		const std::string &	id = "PLYModel",
		int	viewport = 0
	)

Add a PLYmodel as a mesh.

Parameters:

[in]	filename	of the ply file
[in]	id	the model id/name (default: "PLYModel")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1751 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addModelFromPLYFile	(	const std::string &	filename,
		vtkSmartPointer< vtkTransform >	transform,
		const std::string &	id = "PLYModel",
		int	viewport = 0
	)

Add a PLYmodel as a mesh and applies given transformation.

Parameters:

[in]	filename	of the ply file
[in]	transform	transformation to apply
[in]	id	the model id/name (default: "PLYModel")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1779 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addModelFromPolyData	(	vtkSmartPointer< vtkPolyData >	polydata,
		const std::string &	id = "PolyData",
		int	viewport = 0
	)

Add a vtkPolydata as a mesh.

Parameters:

[in]	polydata	vtkPolyData
[in]	id	the model id/name (default: "PolyData")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1696 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addModelFromPolyData	(	vtkSmartPointer< vtkPolyData >	polydata,
		vtkSmartPointer< vtkTransform >	transform,
		const std::string &	id = "PolyData",
		int	viewport = 0
	)

Add a vtkPolydata as a mesh.

Parameters:

[in]	polydata	vtkPolyData
[in]	transform	transformation to apply
[in]	id	the model id/name (default: "PolyData")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1720 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addPlane	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "plane",
		int	viewport = 0
	)

Add a plane from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (a, b, c, d with ax+by+cz+d=0)
[in]	id	the plane id/name (default: "plane")
[in]	viewport	(optional) the id of the new viewport (default: 0)

 // The following are given (or computed using sample consensus techniques)
 // See SampleConsensusModelPlane for more information
 // 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 ();

 addPlane (plane_coeff);

Parameters:

coefficients	the model coefficients (a, b, c, d with ax+by+cz+d=0)
id	the plane id/name (default: "plane")
viewport	(optional) the id of the new viewport (default: 0)

Definition at line 1843 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id (default: cloud)
	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 54 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const PointCloudGeometryHandler< PointT > &	geometry_handler,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	geometry_handler	use a geometry handler object to extract the XYZ data
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 65 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const GeometryHandlerConstPtr &	geometry_handler,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Because the geometry handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active geometric handler. This makes it possible to switch between different geometric handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using Alt+0..9).

Parameters:

[in]	cloud	the input point cloud dataset
[in]	geometry_handler	use a geometry handler object to extract the XYZ data
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 86 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const PointCloudColorHandler< PointT > &	color_handler,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	color_handler	a specific PointCloud visualizer handler for colors
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 109 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const ColorHandlerConstPtr &	color_handler,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Because the color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active color handler. This makes it possible to switch between different color handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using 0..9).

Parameters:

[in]	cloud	the input point cloud dataset
[in]	color_handler	a specific PointCloud visualizer handler for colors
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 134 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const GeometryHandlerConstPtr &	geometry_handler,
		const ColorHandlerConstPtr &	color_handler,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).

Parameters:

[in]	cloud	the input point cloud dataset
[in]	geometry_handler	a specific PointCloud visualizer handler for geometry
[in]	color_handler	a specific PointCloud visualizer handler for colors
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 155 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud,
		const GeometryHandlerConstPtr &	geometry_handler,
		const ColorHandlerConstPtr &	color_handler,
		const Eigen::Vector4f &	sensor_origin,
		const Eigen::Quaternion< float > &	sensor_orientation,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a binary blob Point Cloud to screen.

Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).

Parameters:

[in]	cloud	the input point cloud dataset
[in]	geometry_handler	a specific PointCloud visualizer handler for geometry
[in]	color_handler	a specific PointCloud visualizer handler for colors
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 3085 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud,
		const GeometryHandlerConstPtr &	geometry_handler,
		const Eigen::Vector4f &	sensor_origin,
		const Eigen::Quaternion< float > &	sensor_orientation,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a binary blob Point Cloud to screen.

Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).

Parameters:

[in]	cloud	the input point cloud dataset
[in]	geometry_handler	a specific PointCloud visualizer handler for geometry
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 3108 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud,
		const ColorHandlerConstPtr &	color_handler,
		const Eigen::Vector4f &	sensor_origin,
		const Eigen::Quaternion< float > &	sensor_orientation,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a binary blob Point Cloud to screen.

Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).

Parameters:

[in]	cloud	the input point cloud dataset
[in]	color_handler	a specific PointCloud visualizer handler for colors
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 3132 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const PointCloudColorHandler< PointT > &	color_handler,
		const PointCloudGeometryHandler< PointT > &	geometry_handler,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add a Point Cloud (templated) to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	color_handler	a specific PointCloud visualizer handler for colors
[in]	geometry_handler	use a geometry handler object to extract the XYZ data
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 176 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud,
		const std::string &	id = "cloud",
		int	viewport = 0
	)		[inline]

Add a PointXYZ Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 711 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const std::string &	id = "cloud",
		int	viewport = 0
	)		[inline]

Add a PointXYZRGB Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 724 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &	cloud,
		const std::string &	id = "cloud",
		int	viewport = 0
	)		[inline]

Add a PointXYZRGBA Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 737 of file pcl_visualizer.h.

template<typename PointNT >

bool pcl::visualization::PCLVisualizer::addPointCloudNormals	(	const typename pcl::PointCloud< PointNT >::ConstPtr &	cloud,
		int	level = 100,
		double	scale = 0.02,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add the estimated surface normals of a Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset containing XYZ data and normals
[in]	level	display only every level'th point (default: 100)
[in]	scale	the normal arrow scale (default: 0.02m)
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 615 of file pcl_visualizer.hpp.

template<typename PointT , typename PointNT >

bool pcl::visualization::PCLVisualizer::addPointCloudNormals	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const typename pcl::PointCloud< PointNT >::ConstPtr &	normals,
		int	level = 100,
		double	scale = 0.02,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add the estimated surface normals of a Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset containing the XYZ data
[in]	normals	the input point cloud dataset containing the normal data
[in]	level	display only every level'th point (default: 100)
[in]	scale	the normal arrow scale (default: 0.02m)
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 624 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud,
		const pcl::PointCloud< pcl::Normal >::ConstPtr &	normals,
		const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &	pcs,
		int	level = 100,
		double	scale = 1.0,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Add the estimated principal curvatures of a Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset containing the XYZ data
[in]	normals	the input point cloud dataset containing the normal data
[in]	pcs	the input point cloud dataset containing the principal curvatures data
[in]	level	display only every level'th point. Default: 100
[in]	scale	the normal arrow scale. Default: 1.0
[in]	id	the point cloud object id. Default: "cloud"
[in]	viewport	the view port where the Point Cloud should be added (default: all)

Definition at line 611 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPolygon	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "polygon",
		int	viewport = 0
	)

Add a polygon (polyline) that represents the input point cloud (connects all points in order)

Parameters:

[in]	cloud	the point cloud dataset representing the polygon
[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]	id	(optional) the polygon id/name (default: "polygon")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 298 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPolygon	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const std::string &	id = "polygon",
		int	viewport = 0
	)

Add a polygon (polyline) that represents the input point cloud (connects all points in order)

Parameters:

[in]	cloud	the point cloud dataset representing the polygon
[in]	id	the polygon id/name (default: "polygon")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 327 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addPolygonMesh	(	const pcl::PolygonMesh &	polymesh,
		const std::string &	id = "polygon",
		int	viewport = 0
	)

Add a PolygonMesh object to screen.

Parameters:

[in]	polymesh	the polygonal mesh
[in]	id	the polygon object id (default: "polygon")
[in]	viewport	the view port where the PolygonMesh should be added (default: all)

Definition at line 2176 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPolygonMesh	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const std::vector< pcl::Vertices > &	vertices,
		const std::string &	id = "polygon",
		int	viewport = 0
	)

Add a PolygonMesh object to screen.

Parameters:

[in]	cloud	the polygonal mesh point cloud
[in]	vertices	the polygonal mesh vertices
[in]	id	the polygon object id (default: "polygon")
[in]	viewport	the view port where the PolygonMesh should be added (default: all)

Definition at line 1125 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addPolylineFromPolygonMesh	(	const pcl::PolygonMesh &	polymesh,
		const std::string &	id = "polyline",
		int	viewport = 0
	)

Add a Polygonline from a polygonMesh object to screen.

Parameters:

[in]	polymesh	the polygonal mesh from where the polylines will be extracted
[in]	id	the polygon object id (default: "polygon")
[in]	viewport	the view port where the PolygonMesh should be added (default: all)

Definition at line 2287 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addSphere	(	const PointT &	center,
		double	radius,
		const std::string &	id = "sphere",
		int	viewport = 0
	)

Add a sphere shape from a point and a radius.

Parameters:

[in]	center	the center of the sphere
[in]	radius	the radius of the sphere
[in]	id	the sphere id/name (default: "sphere")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 518 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addSphere	(	const PointT &	center,
		double	radius,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "sphere",
		int	viewport = 0
	)

Add a sphere shape from a point and a radius.

Parameters:

[in]	center	the center of the sphere
[in]	radius	the radius of the sphere
[in]	r	the red channel of the color that the sphere should be rendered with
[in]	g	the green channel of the color that the sphere should be rendered with
[in]	b	the blue channel of the color that the sphere should be rendered with
[in]	id	the line id/name (default: "sphere")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 478 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::addSphere	(	const pcl::ModelCoefficients &	coefficients,
		const std::string &	id = "sphere",
		int	viewport = 0
	)

Add a sphere from a set of given model coefficients.

Parameters:

[in]	coefficients	the model coefficients (sphere center, radius)
[in]	id	the sphere id/name (default: "sphere")
[in]	viewport	(optional) the id of the new viewport (default: 0)

 // The following are given (or computed using sample consensus techniques)
 // See SampleConsensusModelSphere for more information
 // 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;

 addSphere (sphere_coeff);

Definition at line 1670 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addText	(	const std::string &	text,
		int	xpos,
		int	ypos,
		const std::string &	id = "",
		int	viewport = 0
	)

Add a text to screen.

Parameters:

[in]	text	the text to add
[in]	xpos	the X position on screen where the text should be added
[in]	ypos	the Y position on screen where the text should be added
[in]	id	the text object id (default: equal to the "text" parameter)
[in]	viewport	the view port (default: all)

Definition at line 1942 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addText	(	const std::string &	text,
		int	xpos,
		int	ypos,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "",
		int	viewport = 0
	)

Add a text to screen.

Parameters:

[in]	text	the text to add
[in]	xpos	the X position on screen where the text should be added
[in]	ypos	the Y position on screen where the text should be added
[in]	r	the red color value
[in]	g	the green color value
[in]	b	the blue color vlaue
[in]	id	the text object id (default: equal to the "text" parameter)
[in]	viewport	the view port (default: all)

Definition at line 1978 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::addText	(	const std::string &	text,
		int	xpos,
		int	ypos,
		int	fontsize,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "",
		int	viewport = 0
	)

Add a text to screen.

Parameters:

[in]	text	the text to add
[in]	xpos	the X position on screen where the text should be added
[in]	ypos	the Y position on screen where the text should be added
[in]	fontsize	the fontsize of the text
[in]	r	the red color value
[in]	g	the green color value
[in]	b	the blue color vlaue
[in]	id	the text object id (default: equal to the "text" parameter)
[in]	viewport	the view port (default: all)

Definition at line 2014 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addText3D	(	const std::string &	text,
		const PointT &	position,
		double	textScale = 1.0,
		double	r = 1.0,
		double	g = 1.0,
		double	b = 1.0,
		const std::string &	id = "",
		int	viewport = 0
	)

Add a 3d text to the scene.

Parameters:

[in]	text	the text to add
[in]	position	the world position where the text should be added
[in]	textScale	the scale of the text to render
[in]	r	the red color value
[in]	g	the green color value
[in]	b	the blue color value
[in]	id	the text object id (default: equal to the "text" parameter)
[in]	viewport	the view port (default: all)

Definition at line 549 of file pcl_visualizer.hpp.

void pcl::visualization::PCLVisualizer::allocVtkPolyData

(

vtkSmartPointer< vtkAppendPolyData > &

polydata

)

[private]

Allocate a new polydata smartpointer. Internal.

Parameters:

[out]

polydata

the resultant poly data

Definition at line 3023 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::allocVtkPolyData

(

vtkSmartPointer< vtkPolyData > &

polydata

)

[private]

Allocate a new polydata smartpointer. Internal.

Parameters:

[out]

polydata

the resultant poly data

Definition at line 3029 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::allocVtkUnstructuredGrid

(

vtkSmartPointer< vtkUnstructuredGrid > &

polydata

)

[private]

Allocate a new unstructured grid smartpointer. Internal.

Parameters:

[out]

polydata

the resultant poly data

Definition at line 3035 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::cameraParamsSet

(

)

const

Checks whether the camera parameters were manually loaded from file.

Definition at line 1180 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::close

(

)

[inline]

Stop the interaction and close the visualizaton window.

Definition at line 969 of file pcl_visualizer.h.

template<typename PointT >

void pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		vtkSmartPointer< vtkPolyData > &	polydata,
		vtkSmartPointer< vtkIdTypeArray > &	initcells
	)		[private]

Converts a PCL templated PointCloud object to a vtk polydata object.

Parameters:

[in]	cloud	the input PCL PointCloud dataset
[out]	polydata	the resultant polydata containing the cloud
[out]	initcells	a list of cell indices used for the conversion. This can be set once and then passed around to speed up the conversion.

Definition at line 200 of file pcl_visualizer.hpp.

template<typename PointT >

void pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData	(	const PointCloudGeometryHandler< PointT > &	geometry_handler,
		vtkSmartPointer< vtkPolyData > &	polydata,
		vtkSmartPointer< vtkIdTypeArray > &	initcells
	)		[private]

Converts a PCL templated PointCloud object to a vtk polydata object.

Parameters:

[in]	geometry_handler	the geometry handler object used to extract the XYZ data
[out]	polydata	the resultant polydata containing the cloud
[out]	initcells	a list of cell indices used for the conversion. This can be set once and then passed around to speed up the conversion.

Definition at line 265 of file pcl_visualizer.hpp.

void pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData	(	const GeometryHandlerConstPtr &	geometry_handler,
		vtkSmartPointer< vtkPolyData > &	polydata,
		vtkSmartPointer< vtkIdTypeArray > &	initcells
	)		[private]

Converts a PCL templated PointCloud object to a vtk polydata object.

Parameters:

[in]	geometry_handler	the geometry handler object used to extract the XYZ data
[out]	polydata	the resultant polydata containing the cloud
[out]	initcells	a list of cell indices used for the conversion. This can be set once and then passed around to speed up the conversion.

Definition at line 859 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::convertToVtkMatrix	(	const Eigen::Matrix4f &	m,
		vtkSmartPointer< vtkMatrix4x4 > &	vtk_matrix
	)		[private]

Convert Eigen::Matrix4f to vtkMatrix4x4.

Parameters:

[in]	m	the input Eigen matrix
[out]	vtk_matrix	the resultant VTK matrix

Definition at line 3074 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::convertToVtkMatrix	(	const Eigen::Vector4f &	origin,
		const Eigen::Quaternion< float > &	orientation,
		vtkSmartPointer< vtkMatrix4x4 > &	vtk_matrix
	)		[private]

Convert origin and orientation to vtkMatrix4x4.

Parameters:

[in]	origin	the point cloud origin
[in]	orientation	the point cloud orientation
[out]	vtk_matrix	the resultant VTK 4x4 matrix

Definition at line 3054 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::createActorFromVTKDataSet	(	const vtkSmartPointer< vtkDataSet > &	data,
		vtkSmartPointer< vtkLODActor > &	actor,
		bool	use_scalars = true
	)		[private]

Internal method. Creates a vtk actor from a vtk polydata object.

Parameters:

[in]	data	the vtk polydata object to create an actor for
[out]	actor	the resultant vtk actor object
[in]	use_scalars	set scalar properties to the mapper if it exists in the data. Default: true.

FIXME disabling backface culling due to known VTK bug: vtkTextActors are not shown when there is a vtkActor with backface culling on present in the scene Please see VTK bug tracker for more details: http://www.vtk.org/Bug/view.php?id=12588

Definition at line 819 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::createInteractor

(

)

Create the internal Interactor object.

Definition at line 159 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::createViewPort	(	double	xmin,
		double	ymin,
		double	xmax,
		double	ymax,
		int &	viewport
	)

Create a new viewport from [xmin,ymin] -> [xmax,ymax].

Parameters:

[in]	xmin	the minimum X coordinate for the viewport (0.0 <= 1.0)
[in]	ymin	the minimum Y coordinate for the viewport (0.0 <= 1.0)
[in]	xmax	the maximum X coordinate for the viewport (0.0 <= 1.0)
[in]	ymax	the maximum Y coordinate for the viewport (0.0 <= 1.0)
[in]	viewport	the id of the new viewport

Note:

If no renderer for the current window exists, one will be created, and the viewport will be set to 0 ('all'). In case one or multiple renderers do exist, the viewport ID will be set to the total number of renderers - 1.

Definition at line 1918 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::fromHandlersToScreen	(	const PointCloudGeometryHandler< PointT > &	geometry_handler,
		const PointCloudColorHandler< PointT > &	color_handler,
		const std::string &	id,
		int	viewport,
		const Eigen::Vector4f &	sensor_origin = Eigen::Vector4f (0, 0, 0, 0),
		const Eigen::Quaternion< float > &	sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)
	)		[private]

Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.

Parameters:

[in]	geometry_handler	the geometric handler that contains the XYZ data
[in]	color_handler	the color handler that contains the "RGB" (scalar) data
[in]	id	the point cloud object id
[in]	viewport	the view port where the Point Cloud should be added
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)

Definition at line 817 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::fromHandlersToScreen	(	const PointCloudGeometryHandler< PointT > &	geometry_handler,
		const ColorHandlerConstPtr &	color_handler,
		const std::string &	id,
		int	viewport,
		const Eigen::Vector4f &	sensor_origin = Eigen::Vector4f (0, 0, 0, 0),
		const Eigen::Quaternion< float > &	sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)
	)		[private]

Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.

Parameters:

[in]	geometry_handler	the geometric handler that contains the XYZ data
[in]	color_handler	the color handler that contains the "RGB" (scalar) data
[in]	id	the point cloud object id
[in]	viewport	the view port where the Point Cloud should be added
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)

Definition at line 873 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::fromHandlersToScreen	(	const GeometryHandlerConstPtr &	geometry_handler,
		const ColorHandlerConstPtr &	color_handler,
		const std::string &	id,
		int	viewport,
		const Eigen::Vector4f &	sensor_origin = Eigen::Vector4f (0, 0, 0, 0),
		const Eigen::Quaternion< float > &	sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)
	)		[private]

Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.

Parameters:

[in]	geometry_handler	the geometric handler that contains the XYZ data
[in]	color_handler	the color handler that contains the "RGB" (scalar) data
[in]	id	the point cloud object id
[in]	viewport	the view port where the Point Cloud should be added
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)

Definition at line 2919 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::fromHandlersToScreen	(	const GeometryHandlerConstPtr &	geometry_handler,
		const PointCloudColorHandler< PointT > &	color_handler,
		const std::string &	id,
		int	viewport,
		const Eigen::Vector4f &	sensor_origin = Eigen::Vector4f (0, 0, 0, 0),
		const Eigen::Quaternion< float > &	sensor_orientation = Eigen::Quaternion<float> (1, 0, 0 ,0)
	)		[private]

Internal function which converts the information present in the geometric and color handlers into VTK PolyData+Scalars, constructs a vtkActor object, and adds all the required information to the internal cloud_actor_map_ object.

Parameters:

[in]	geometry_handler	the geometric handler that contains the XYZ data
[in]	color_handler	the color handler that contains the "RGB" (scalar) data
[in]	id	the point cloud object id
[in]	viewport	the view port where the Point Cloud should be added
[in]	sensor_origin	the origin of the cloud data in global coordinates (defaults to 0,0,0)
[in]	sensor_orientation	the orientation of the cloud data in global coordinates (defaults to 1,0,0,0)

Definition at line 931 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::getCameraParameters	(	int	argc,
		char **	argv
	)

Search for camera parameters at the command line and set them internally.

Parameters:

[in]	argc
[in]	argv

Definition at line 1432 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::getCameras

(

std::vector< Camera > &

cameras

)

Get the current camera parameters.

Definition at line 1226 of file pcl_visualizer.cpp.

int pcl::visualization::PCLVisualizer::getColorHandlerIndex

(

const std::string &

id

)

[inline]

Get the color handler index of a rendered PointCloud based on its ID.

Parameters:

[in]

id

the point cloud object id

Definition at line 867 of file pcl_visualizer.h.

int pcl::visualization::PCLVisualizer::getGeometryHandlerIndex

(

const std::string &

id

)

[inline]

Get the geometry handler index of a rendered PointCloud based on its ID.

Parameters:

[in]

id

the point cloud object id

Definition at line 880 of file pcl_visualizer.h.

vtkSmartPointer<PCLVisualizerInteractorStyle> pcl::visualization::PCLVisualizer::getInteractorStyle

(

)

[inline]

Get a pointer to the current interactor style used.

Definition at line 1485 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties	(	int	property,
		double &	value,
		const std::string &	id = "cloud"
	)

Get the rendering properties of a PointCloud.

Parameters:

[in]	property	the property type
[in]	value	the resultant property value
[in]	id	the point cloud object id (default: cloud)

Definition at line 952 of file pcl_visualizer.cpp.

vtkSmartPointer<vtkRenderWindow> pcl::visualization::PCLVisualizer::getRenderWindow

(

)

[inline]

Return a pointer to the underlying VTK Render Window used.

Definition at line 1465 of file pcl_visualizer.h.

void pcl::visualization::PCLVisualizer::getTransformationMatrix	(	const Eigen::Vector4f &	origin,
		const Eigen::Quaternion< float > &	orientation,
		Eigen::Matrix4f &	transformation
	)		[private]

Transform the point cloud viewpoint to a transformation matrix.

Parameters:

[in]	origin	the camera origin
[in]	orientation	the camera orientation
[out]	transformation	the camera transformation matrix

Definition at line 3042 of file pcl_visualizer.cpp.

Eigen::Affine3f pcl::visualization::PCLVisualizer::getViewerPose

(

)

Get the current viewing pose.

Definition at line 1255 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::initCameraParameters

(

)

Initialize camera parameters with some default values.

Definition at line 1169 of file pcl_visualizer.cpp.

boost::signals2::connection pcl::visualization::PCLVisualizer::registerKeyboardCallback

(

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

cb

)

Register a callback boost::function for keyboard events.

Parameters:

[in]

cb

a 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 270 of file pcl_visualizer.cpp.

boost::signals2::connection pcl::visualization::PCLVisualizer::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 151 of file pcl_visualizer.h.

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::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 163 of file pcl_visualizer.h.

boost::signals2::connection pcl::visualization::PCLVisualizer::registerMouseCallback

(

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

cb

)

Register a callback function for mouse events.

Parameters:

[in]

cb

a 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 277 of file pcl_visualizer.cpp.

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

Register a callback 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 181 of file pcl_visualizer.h.

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::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 193 of file pcl_visualizer.h.

boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback

(

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

cb

)

Register a callback function for point picking events.

Parameters:

[in]

cb

a boost function that will be registered as a callback for a point picking event

Returns:

a connection object that allows to disconnect the callback function.

Definition at line 284 of file pcl_visualizer.cpp.

boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback	(	void(*)(const pcl::visualization::PointPickingEvent &, void *)	callback,
		void *	cookie = NULL
	)		[inline]

Register a callback function for point picking events.

Parameters:

[in]	callback	the function that will be registered as a callback for a point picking 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 211 of file pcl_visualizer.h.

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback	(	void(T::*)(const pcl::visualization::PointPickingEvent &, void *)	callback,
		T &	instance,
		void *	cookie = NULL
	)		[inline]

Register a callback function for point picking events.

Parameters:

[in]	callback	the member function that will be registered as a callback for a point picking 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 223 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::removeActorFromRenderer	(	const vtkSmartPointer< vtkLODActor > &	actor,
		int	viewport = 0
	)		[private]

Internal method. Removes a vtk actor from the screen.

Parameters:

[in]	actor	a pointer to the vtk actor object
[in]	viewport	the view port where the actor should be removed from (default: all)

Definition at line 714 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::removeActorFromRenderer	(	const vtkSmartPointer< vtkProp > &	actor,
		int	viewport = 0
	)		[private]

Internal method. Adds a vtk actor to screen.

Parameters:

[in]	actor	a pointer to the vtk actor object
[in]	viewport	the view port where the actor should be added to (default: all)

Definition at line 779 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::removeAllPointClouds

(

int

viewport = 0

)

Remove all point cloud data on screen from the given viewport.

Parameters:

[in]

viewport

view port from where the clouds should be removed (default: all)

Definition at line 579 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::removeAllShapes

(

int

viewport = 0

)

Remove all 3D shape data on screen from the given viewport.

Parameters:

[in]

viewport

view port from where the shapes should be removed (default: all)

Definition at line 595 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::removeCoordinateSystem

(

int

viewport = 0

)

Removes a previously added 3D axes (coordinate system)

Parameters:

[in]

viewport

view port where the 3D axes should be removed from (default: all)

Definition at line 476 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::removeCorrespondences	(	const std::string &	id = "correspondences",
		int	viewport = 0
	)		[inline]

Remove the specified correspondences from the display.

Parameters:

[in]	id	the polygon correspondences object id (i.e., given on addCorrespondences)
[in]	viewport	view port from where the correspondences should be removed (default: all)

Definition at line 858 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::removePointCloud	(	const std::string &	id = "cloud",
		int	viewport = 0
	)

Removes a Point Cloud from screen, based on a given ID.

Parameters:

[in]	id	the point cloud object id (i.e., given on addPointCloud)
[in]	viewport	view port from where the Point Cloud should be removed (default: all)

Returns:

true if the point cloud is successfully removed and false if the point cloud is not actually displayed

Definition at line 496 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::removePolygonMesh	(	const std::string &	id = "polygon",
		int	viewport = 0
	)		[inline]

Removes a PolygonMesh from screen, based on a given ID.

Parameters:

[in]	id	the polygon object id (i.e., given on addPolygonMesh)
[in]	viewport	view port from where the PolygonMesh should be removed (default: all)

Definition at line 311 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::removeShape	(	const std::string &	id = "cloud",
		int	viewport = 0
	)

Removes an added shape from screen (line, polygon, etc.), based on a given ID.

Note:

This methods also removes PolygonMesh objects and PointClouds, if they match the ID

Parameters:

[in]	id	the shape object id (i.e., given on addLine etc.)
[in]	viewport	view port from where the Point Cloud should be removed (default: all)

Definition at line 516 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::removeText3D	(	const std::string &	id = "cloud",
		int	viewport = 0
	)

Removes an added 3D text from the scene, based on a given ID.

Parameters:

[in]	id	the 3D text id (i.e., given on addText3D etc.)
[in]	viewport	view port from where the 3D text should be removed (default: all)

Definition at line 556 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::renderView	(	int	xres,
		int	yres,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud
	)

Renders a virtual scene as seen from the camera viewpoint and returns the rendered point cloud. ATT: This method will only render the scene if only on viewport exists. Otherwise, returns an empty point cloud and exits immediately.

Parameters:

[in]	xres	is the size of the window (X) used to render the scene
[in]	yres	is the size of the window (Y) used to render the scene
[in]	cloud	is the rendered point cloud

Definition at line 2845 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::renderViewTesselatedSphere	(	int	xres,
		int	yres,
		std::vector< pcl::PointCloud< pcl::PointXYZ >, Eigen::aligned_allocator< pcl::PointCloud< pcl::PointXYZ > > > &	cloud,
		std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &	poses,
		std::vector< float > &	enthropies,
		int	tesselation_level,
		float	view_angle = 45,
		float	radius_sphere = 1,
		bool	use_vertices = true
	)

The purpose of this method is to render a CAD model added to the visualizer from different viewpoints in order to simulate partial views of model. The viewpoint locations are the vertices of a tesselated sphere build from an icosaheadron. The tesselation paremeter controls how many times the triangles of the original icosahedron are divided to approximate the sphere and thus the number of partial view generated for a model, with a tesselation_level of 0, 12 views are generated if use_vertices=true and 20 views if use_vertices=false.

Parameters:

[in]	xres	the size of the window (X) used to render the partial view of the object
[in]	yres	the size of the window (Y) used to render the partial view of the object
[in]	cloud	is a vector of pointcloud with XYZ information that represent the model as seen from the respective viewpoints.
[out]	poses	represent the transformation from object coordinates to camera coordinates for the respective viewpoint.
[out]	enthropies	are values between 0 and 1 representing which percentage of the model is seen from the respective viewpoint.
[in]	tesselation_level	represents the number of subdivisions applied to the triangles of original icosahedron.
[in]	view_angle	field of view of the virtual camera. Default: 45
[in]	radius_sphere	the tesselated sphere radius. Default: 1
[in]	use_vertices	if true, use the vertices of tesselated icosahedron (12,42,...) or if false, use the faces of tesselated icosahedron (20,80,...). Default: true

Definition at line 2407 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::resetCamera

(

)

Reset camera parameters and render.

Definition at line 1275 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::resetCameraViewpoint

(

const std::string &

id = "cloud"

)

Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.

Parameters:

[in]

id

the point cloud object id (default: cloud)

Definition at line 1337 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::resetStoppedFlag

(

)

[inline]

Set the stopped flag back to false.

Definition at line 964 of file pcl_visualizer.h.

void pcl::visualization::PCLVisualizer::saveScreenshot

(

const std::string &

file

)

Save the current rendered image to disk, as a PNG screenshot.

Parameters:

[in]

file

the name of the PNG file

Definition at line 263 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::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 893 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setCameraPose	(	double	posX,
		double	posY,
		double	posZ,
		double	viewX,
		double	viewY,
		double	viewZ,
		double	upX,
		double	upY,
		double	upZ,
		int	viewport = 0
	)

sets the camera pose given by position, viewpoint and up vector

Parameters:

posX	the x co-ordinate of the camera location
posY	the y co-ordinate of the camera location
posZ	the z co-ordinate of the camera location
viewX	the x component of the view upoint of the camera
viewY	the y component of the view point of the camera
viewZ	the z component of the view point of the camera
upX	the x component of the view up direction of the camera
upY	the y component of the view up direction of the camera
upZ	the y component of the view up direction of the camera
viewport	the viewport to modify camera of, if 0, modifies all cameras

Definition at line 1289 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setCameraPosition	(	double	posX,
		double	posY,
		double	posZ,
		double	viewX,
		double	viewY,
		double	viewZ,
		int	viewport = 0
	)

Set the camera location and viewup according to the given arguments.

Parameters:

[in]	posX	the x co-ordinate of the camera location
[in]	posY	the y co-ordinate of the camera location
[in]	posZ	the z co-ordinate of the camera location
[in]	viewX	the x component of the view up direction of the camera
[in]	viewY	the y component of the view up direction of the camera
[in]	viewZ	the z component of the view up direction of the camera
[in]	viewport	the viewport to modify camera of, if 0, modifies all cameras

Definition at line 1313 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setFullScreen

(

bool

mode

)

[inline]

Enables/Disabled the underlying window mode to full screen.

Note:

This might or might not work, depending on your window manager. See the VTK documentation for additional details.

Parameters:

[in]

mode

true for full screen, false otherwise

Definition at line 120 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties	(	int	property,
		double	val1,
		double	val2,
		double	val3,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Set the rendering properties of a PointCloud (3x values - e.g., RGB)

Parameters:

[in]	property	the property type
[in]	val1	the first value to be set
[in]	val2	the second value to be set
[in]	val3	the third value to be set
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud's rendering properties should be modified (default: all)

Definition at line 918 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties	(	int	property,
		double	value,
		const std::string &	id = "cloud",
		int	viewport = 0
	)

Set the rendering properties of a PointCloud.

Parameters:

[in]	property	the property type
[in]	value	the value to be set
[in]	id	the point cloud object id (default: cloud)
[in]	viewport	the view port where the Point Cloud's rendering properties should be modified (default: all)

Definition at line 993 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setRepresentationToPointsForAllActors

(

)

Changes the visual representation for all actors to points representation.

Definition at line 2369 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setRepresentationToSurfaceForAllActors

(

)

Changes the visual representation for all actors to surface representation.

Definition at line 2350 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setRepresentationToWireframeForAllActors

(

)

Changes the visual representation for all actors to wireframe representation.

Definition at line 2388 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::setShapeRenderingProperties	(	int	property,
		double	value,
		const std::string &	id,
		int	viewport = 0
	)

Set the rendering properties of a shape.

Parameters:

[in]	property	the property type
[in]	value	the value to be set
[in]	id	the shape object id
[in]	viewport	the view port where the shape's properties should be modified (default: all)

Definition at line 1093 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::setShapeRenderingProperties	(	int	property,
		double	val1,
		double	val2,
		double	val3,
		const std::string &	id,
		int	viewport = 0
	)

Set the rendering properties of a shape (3x values - e.g., RGB)

Parameters:

[in]	property	the property type
[in]	val1	the first value to be set
[in]	val2	the second value to be set
[in]	val3	the third value to be set
[in]	id	the shape object id
[in]	viewport	the view port where the shape's properties should be modified (default: all)

Definition at line 1049 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setupInteractor	(	vtkRenderWindowInteractor *	iren,
		vtkRenderWindow *	win
	)

Set up our unique PCL interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow.

Parameters:

[in,out]	iren	the vtkRenderWindowInteractor object to set up
[in,out]	win	a vtkRenderWindow object that the interactor is attached to

Definition at line 208 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::setWindowBorders

(

bool

mode

)

[inline]

Enables or disable the underlying window borders.

Note:

This might or might not work, depending on your window manager. See the VTK documentation for additional details.

Parameters:

[in]

mode

true for borders, false otherwise

Definition at line 132 of file pcl_visualizer.h.

void pcl::visualization::PCLVisualizer::spin

(

)

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

Definition at line 291 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::spinOnce	(	int	time = 1,
		bool	force_redraw = false
	)

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 301 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::updateCamera

(

)

Update camera parameters and render.

Definition at line 1187 of file pcl_visualizer.cpp.

void pcl::visualization::PCLVisualizer::updateCells	(	vtkSmartPointer< vtkIdTypeArray > &	cells,
		vtkSmartPointer< vtkIdTypeArray > &	initcells,
		vtkIdType	nr_points
	)		[private]

Updates a set of cells (vtkIdTypeArray) if the number of points in a cloud changes.

Parameters:

[out]	cells	the vtkIdTypeArray object (set of cells) to update
[out]	initcells	a previously saved set of cells. If the number of points in the current cloud is higher than the number of cells in cells, and initcells contains enough data, then a copy from it will be made instead of regenerating the entire array.
[in]	nr_points	the number of points in the new cloud. This dictates how many cells we need to generate

Definition at line 2977 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::updateColorHandlerIndex	(	const std::string &	id,
		int	index
	)

Update/set the color index of a renderered PointCloud based on its ID.

Parameters:

[in]	id	the point cloud object id
[in]	index	the color handler index to use

Definition at line 2132 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const std::string &	id = "cloud"
	)

Updates the XYZ data for an existing cloud object id on screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id to update (default: cloud)

Returns:

false if no cloud with the specified ID was found

Definition at line 988 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const PointCloudGeometryHandler< PointT > &	geometry_handler,
		const std::string &	id = "cloud"
	)

Updates the XYZ data for an existing cloud object id on screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	geometry_handler	the geometry handler to use
[in]	id	the point cloud object id to update (default: cloud)

Returns:

false if no cloud with the specified ID was found

Definition at line 1019 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const PointCloudColorHandler< PointT > &	color_handler,
		const std::string &	id = "cloud"
	)

Updates the XYZ data for an existing cloud object id on screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	color_handler	the color handler to use
[in]	id	the point cloud object id to update (default: cloud)

Returns:

false if no cloud with the specified ID was found

Definition at line 1053 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud,
		const std::string &	id = "cloud"
	)		[inline]

Updates the XYZ data for an existing cloud object id on screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id to update (default: cloud)

Returns:

false if no cloud with the specified ID was found

Definition at line 750 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const std::string &	id = "cloud"
	)		[inline]

Updates the XYZRGB data for an existing cloud object id on screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id to update (default: cloud)

Returns:

false if no cloud with the specified ID was found

Definition at line 762 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &	cloud,
		const std::string &	id = "cloud"
	)		[inline]

Updates the XYZRGBA data for an existing cloud object id on screen.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	id	the point cloud object id to update (default: cloud)

Returns:

false if no cloud with the specified ID was found

Definition at line 775 of file pcl_visualizer.h.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updatePolygonMesh	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const std::vector< pcl::Vertices > &	vertices,
		const std::string &	id = "polygon"
	)

Update a PolygonMesh object on screen.

Parameters:

[in]	cloud	the polygonal mesh point cloud
[in]	vertices	the polygonal mesh vertices
[in]	id	the polygon object id (default: "polygon")

Returns:

false if no polygonmesh with the specified ID was found

Definition at line 1264 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::updateShapePose	(	const std::string &	id,
		const Eigen::Affine3f &	pose
	)

Set the pose of an existing shape.

Returns false if the shape doesn't exist, true if the pose was succesfully updated.

Parameters:

[in]	id	the shape or cloud object id (i.e., given on addLine etc.)
[in]	pose	the new pose

Returns:

false if no shape or cloud with the specified ID was found

Definition at line 1203 of file pcl_visualizer.cpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updateSphere	(	const PointT &	center,
		double	radius,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "sphere"
	)

Update an existing sphere shape from a point and a radius.

Parameters:

[in]	center	the center of the sphere
[in]	radius	the radius of the sphere
[in]	r	the red channel of the color that the sphere should be rendered with
[in]	g	the green channel of the color that the sphere should be rendered with
[in]	b	the blue channel of the color that the sphere should be rendered with
[in]	id	the sphere id/name (default: "sphere")

Definition at line 525 of file pcl_visualizer.hpp.

bool pcl::visualization::PCLVisualizer::updateText	(	const std::string &	text,
		int	xpos,
		int	ypos,
		const std::string &	id = ""
	)

Update a text to screen.

Parameters:

[in]	text	the text to update
[in]	xpos	the new X position on screen
[in]	ypos	the new Y position on screen
[in]	id	the text object id (default: equal to the "text" parameter)

Definition at line 2050 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::updateText	(	const std::string &	text,
		int	xpos,
		int	ypos,
		double	r,
		double	g,
		double	b,
		const std::string &	id = ""
	)

Update a text to screen.

Parameters:

[in]	text	the text to update
[in]	xpos	the new X position on screen
[in]	ypos	the new Y position on screen
[in]	r	the red color value
[in]	g	the green color value
[in]	b	the blue color vlaue
[in]	id	the text object id (default: equal to the "text" parameter)

Definition at line 2075 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::updateText	(	const std::string &	text,
		int	xpos,
		int	ypos,
		int	fontsize,
		double	r,
		double	g,
		double	b,
		const std::string &	id = ""
	)

Update a text to screen.

Parameters:

[in]	text	the text to update
[in]	xpos	the new X position on screen
[in]	ypos	the new Y position on screen
[in]	fontsize	the fontsize of the text
[in]	r	the red color value
[in]	g	the green color value
[in]	b	the blue color vlaue
[in]	id	the text object id (default: equal to the "text" parameter)

Definition at line 2102 of file pcl_visualizer.cpp.

bool pcl::visualization::PCLVisualizer::wasStopped

(

)

const [inline]

Returns true when the user tried to close the window.

Definition at line 960 of file pcl_visualizer.h.

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Member Data Documentation

Camera pcl::visualization::PCLVisualizer::camera_

Camera view, window position and size.

Definition at line 1388 of file pcl_visualizer.h.

bool pcl::visualization::PCLVisualizer::camera_set_ [private]

Boolean that holds whether or not the camera parameters were manually initialized.

Definition at line 1574 of file pcl_visualizer.h.

CloudActorMapPtr pcl::visualization::PCLVisualizer::cloud_actor_map_ [private]

Internal list with actor pointers and name IDs for point clouds.

Definition at line 1565 of file pcl_visualizer.h.

CoordinateActorMap pcl::visualization::PCLVisualizer::coordinate_actor_map_ [private]

Internal list with actor pointers and viewpoint for coordinates.

Definition at line 1571 of file pcl_visualizer.h.

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

Definition at line 1553 of file pcl_visualizer.h.

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

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

Definition at line 1552 of file pcl_visualizer.h.

vtkSmartPointer<vtkRenderWindowInteractor> pcl::visualization::PCLVisualizer::interactor_ [protected]

The render window interactor.

Definition at line 1494 of file pcl_visualizer.h.

vtkSmartPointer<vtkRendererCollection> pcl::visualization::PCLVisualizer::rens_ [private]

The collection of renderers used.

Definition at line 1556 of file pcl_visualizer.h.

ShapeActorMapPtr pcl::visualization::PCLVisualizer::shape_actor_map_ [private]

Internal list with actor pointers and name IDs for shapes.

Definition at line 1568 of file pcl_visualizer.h.

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

Set to false if the interaction loop is running.

Definition at line 1546 of file pcl_visualizer.h.

vtkSmartPointer<PCLVisualizerInteractorStyle> pcl::visualization::PCLVisualizer::style_ [private]

The render window interactor style.

Definition at line 1562 of file pcl_visualizer.h.

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

Global timer ID. Used in destructor only.

Definition at line 1549 of file pcl_visualizer.h.

vtkSmartPointer<vtkRenderWindow> pcl::visualization::PCLVisualizer::win_ [private]

The render window.

Definition at line 1559 of file pcl_visualizer.h.

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

• pcl_visualizer.h
• pcl_visualizer.hpp
• pcl_visualizer.cpp