Classes | Typedefs | Enumerations | Functions
pcl::visualization Namespace Reference

Classes

class  Camera
 Camera class holds a set of camera parameters together with the window pos/size. More...
class  CloudActor
class  CloudViewer
 Simple point cloud visualization class. More...
class  FloatImageUtils
class  FPSCallback
class  ImageViewer
 ImageViewer is a class for 2D image visualization. More...
class  KeyboardEvent
class  MouseEvent
class  PCLHistogramVisualizer
 PCL histogram visualizer main class. More...
class  PCLHistogramVisualizerInteractorStyle
 PCL histogram visualizer interactory style class. More...
class  PCLImageCanvasSource2D
 pclImageCanvasSource2D represents our own custom version of vtkImageCanvasSource2D, used by the ImageViewer class. More...
class  PCLVisualizer
 PCL Visualizer main class. More...
class  PCLVisualizerInteractor
 The PCLVisualizer interactor. More...
class  PCLVisualizerInteractorStyle
 PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. Besides defining the rendering style, we also create a list of custom actions that are triggered on different keys being pressed: More...
class  PointCloudColorHandler
 Base Handler class for PointCloud colors. More...
class  PointCloudColorHandler< sensor_msgs::PointCloud2 >
 Base Handler class for PointCloud colors. More...
class  PointCloudColorHandlerCustom
 Handler for predefined user colors. The color at each point will be drawn as the use given R, G, B values. More...
class  PointCloudColorHandlerCustom< sensor_msgs::PointCloud2 >
 Handler for predefined user colors. The color at each point will be drawn as the use given R, G, B values. More...
class  PointCloudColorHandlerGenericField
 Generic field handler class for colors. Uses an user given field to extract 1D data and display the color at each point using a min-max lookup table. More...
class  PointCloudColorHandlerGenericField< sensor_msgs::PointCloud2 >
 Generic field handler class for colors. Uses an user given field to extract 1D data and display the color at each point using a min-max lookup table. More...
class  PointCloudColorHandlerHSVField
 HSV handler class for colors. Uses the data present in the "h", "s", "v" fields as the color at each point. More...
class  PointCloudColorHandlerHSVField< sensor_msgs::PointCloud2 >
 HSV handler class for colors. Uses the data present in the "h", "s", "v" fields as the color at each point. More...
class  PointCloudColorHandlerRandom
 Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...
class  PointCloudColorHandlerRandom< sensor_msgs::PointCloud2 >
 Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...
class  PointCloudColorHandlerRGBField
 RGB handler class for colors. Uses the data present in the "rgb" or "rgba" fields as the color at each point. More...
class  PointCloudColorHandlerRGBField< sensor_msgs::PointCloud2 >
 RGB handler class for colors. Uses the data present in the "rgb" or "rgba" fields as the color at each point. More...
class  PointCloudGeometryHandler
 Base handler class for PointCloud geometry. More...
class  PointCloudGeometryHandler< sensor_msgs::PointCloud2 >
 Base handler class for PointCloud geometry. More...
class  PointCloudGeometryHandlerCustom
 Custom handler class for PointCloud geometry. Given an input dataset and three user defined fields, all data present in them is extracted and displayed on screen as XYZ data. More...
class  PointCloudGeometryHandlerCustom< sensor_msgs::PointCloud2 >
 Custom handler class for PointCloud geometry. Given an input dataset and three user defined fields, all data present in them is extracted and displayed on screen as XYZ data. More...
class  PointCloudGeometryHandlerSurfaceNormal
 Surface normal handler class for PointCloud geometry. Given an input dataset, all data present in fields "normal_x", "normal_y", and "normal_z" is extracted and dislayed on screen as XYZ data. More...
class  PointCloudGeometryHandlerSurfaceNormal< sensor_msgs::PointCloud2 >
 Surface normal handler class for PointCloud geometry. Given an input dataset, all data present in fields "normal_x", "normal_y", and "normal_z" is extracted and dislayed on screen as XYZ data. More...
class  PointCloudGeometryHandlerXYZ
 XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ data present in fields "x", "y", and "z" is extracted and displayed on screen. More...
class  PointCloudGeometryHandlerXYZ< sensor_msgs::PointCloud2 >
 XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ data present in fields "x", "y", and "z" is extracted and displayed on screen. More...
class  PointPickingCallback
class  PointPickingEvent
class  RangeImageVisualizer
 Range image visualizer class. More...
class  RenWinInteract
class  Window

Typedefs

typedef boost::unordered_map
< std::string, CloudActor
CloudActorMap
typedef boost::shared_ptr
< CloudActorMap
CloudActorMapPtr
typedef std::map< int,
vtkSmartPointer< vtkProp > > 
CoordinateActorMap
typedef std::map< std::string,
RenWinInteract
RenWinInteractMap
typedef boost::unordered_map
< std::string, vtkSmartPointer
< vtkProp > > 
ShapeActorMap
typedef boost::shared_ptr
< ShapeActorMap
ShapeActorMapPtr
typedef Eigen::Array< unsigned
char, 3, 1 > 
Vector3ub

Enumerations

enum  InteractorKeyboardModifier { INTERACTOR_KB_MOD_ALT, INTERACTOR_KB_MOD_CTRL, INTERACTOR_KB_MOD_SHIFT }
 A list of potential keyboard modifiers for PCLVisualizerInteractorStyle. Defaults to Alt. More...
enum  RenderingProperties {
  PCL_VISUALIZER_POINT_SIZE, PCL_VISUALIZER_OPACITY, PCL_VISUALIZER_LINE_WIDTH, PCL_VISUALIZER_FONT_SIZE,
  PCL_VISUALIZER_COLOR, PCL_VISUALIZER_REPRESENTATION, PCL_VISUALIZER_IMMEDIATE_RENDERING
}
enum  RenderingRepresentationProperties { PCL_VISUALIZER_REPRESENTATION_POINTS, PCL_VISUALIZER_REPRESENTATION_WIREFRAME, PCL_VISUALIZER_REPRESENTATION_SURFACE }

Functions

PCL_EXPORTS void allocVtkUnstructuredGrid (vtkSmartPointer< vtkUnstructuredGrid > &polydata)
 Allocate a new unstructured grid smartpointer. For internal use only.
static const Vector3ub blue_color (0, 0, 255)
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
create2DCircle (const pcl::ModelCoefficients &coefficients, double z=0.0)
 Create a 2d circle shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createCone (const pcl::ModelCoefficients &coefficients)
 Create a cone shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createCube (const pcl::ModelCoefficients &coefficients)
 Creaet a cube shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth)
 Creaet a cube shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max)
 Create a cube from a set of bounding points.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createCylinder (const pcl::ModelCoefficients &coefficients, int numsides=30)
 Create a cylinder shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2)
 Create a line shape from two points.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createLine (const pcl::ModelCoefficients &coefficients)
 Create a line shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createPlane (const pcl::ModelCoefficients &coefficients)
 Create a planar shape from a set of model coefficients.
template<typename PointT >
vtkSmartPointer< vtkDataSet > createPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
 Create a 3d poly line from a set of points.
template<typename PointT >
vtkSmartPointer< vtkDataSet > createPolygon (const pcl::PlanarPolygon< PointT > &planar_polygon)
 Create a 3d poly line from a set of points on the boundary of a planar region.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createSphere (const Eigen::Vector4f &center, double radius, int res=10)
 Create a sphere shape from a point and a radius.
PCL_EXPORTS vtkSmartPointer
< vtkDataSet > 
createSphere (const pcl::ModelCoefficients &coefficients, int res=10)
 Create a sphere shape from a set of model coefficients.
PCL_EXPORTS void getCorrespondingPointCloud (vtkPolyData *src, const pcl::PointCloud< pcl::PointXYZ > &tgt, std::vector< int > &indices)
 Obtain a list of corresponding indices, for a set of vtk points, from a pcl::PointCloud.
PCL_EXPORTS void getRandomColors (double &r, double &g, double &b, double min=0.2, double max=2.8)
 Get (good) random values for R/G/B.
static const Vector3ub green_color (0, 255, 0)
static const Vector3ub red_color (255, 0, 0)
PCL_EXPORTS bool savePointData (vtkPolyData *data, const std::string &out_file, const boost::shared_ptr< CloudActorMap > &actors)
 Saves the vtk-formatted Point Cloud data into a set of files, based on whether the data comes from previously loaded PCD files. The PCD files are matched using the a list of names for the actors on screen.
 vtkStandardNewMacro (PCLVisualizerInteractorStyle)
 vtkStandardNewMacro (PCLHistogramVisualizerInteractorStyle)

Typedef Documentation

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

Definition at line 92 of file actor_map.h.

Definition at line 93 of file actor_map.h.

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

Definition at line 98 of file actor_map.h.

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

Definition at line 86 of file ren_win_interact_map.h.

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

Definition at line 95 of file actor_map.h.

Definition at line 96 of file actor_map.h.

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

Definition at line 54 of file image_viewer.h.


Enumeration Type Documentation

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

Enumerator:
INTERACTOR_KB_MOD_ALT 
INTERACTOR_KB_MOD_CTRL 
INTERACTOR_KB_MOD_SHIFT 

Definition at line 61 of file interactor_style.h.

Enumerator:
PCL_VISUALIZER_POINT_SIZE 
PCL_VISUALIZER_OPACITY 
PCL_VISUALIZER_LINE_WIDTH 
PCL_VISUALIZER_FONT_SIZE 
PCL_VISUALIZER_COLOR 
PCL_VISUALIZER_REPRESENTATION 
PCL_VISUALIZER_IMMEDIATE_RENDERING 

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

Enumerator:
PCL_VISUALIZER_REPRESENTATION_POINTS 
PCL_VISUALIZER_REPRESENTATION_WIREFRAME 
PCL_VISUALIZER_REPRESENTATION_SURFACE 

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


Function Documentation

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

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

Parameters:
[out]polydatathe resultant unstructured grid.

Definition at line 260 of file shapes.cpp.

static const Vector3ub pcl::visualization::blue_color ( ,
,
255   
) [static]
vtkSmartPointer< vtkDataSet > pcl::visualization::create2DCircle ( const pcl::ModelCoefficients &  coefficients,
double  z = 0.0 
)

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

Parameters:
[in]coefficientsthe model coefficients (x, y, radius)
[in]z(optional) specify a z value (default: 0)
 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
 // float x, y, radius;

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

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

Definition at line 172 of file shapes.cpp.

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

Create a cone shape from a set of model coefficients.

Parameters:
[in]coefficientsthe cone coefficients (point_on_axis, axis_direction, radius)

Definition at line 210 of file shapes.cpp.

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

Creaet a cube shape from a set of model coefficients.

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

Definition at line 79 of file shapes.cpp.

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

Creaet a cube shape from a set of model coefficients.

Parameters:
[in]translationa translation to apply to the cube from 0,0,0
[in]rotationa quaternion-based rotation to apply to the cube
[in]widththe cube's width
[in]heightthe cube's height
[in]depththe cube's depth

Definition at line 104 of file shapes.cpp.

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

Create a cube from a set of bounding points.

Parameters:
[in]x_minis the minimum x value of the box
[in]x_maxis the maximum x value of the box
[in]y_minis the minimum y value of the box
[in]y_maxis the maximum y value of the box
[in]z_minis the minimum z value of the box
[in]z_maxis the maximum z value of the box
[in]idthe cube id/name (default: "cube")
[in]viewport(optional) the id of the new viewport (default: 0)

Definition at line 129 of file shapes.cpp.

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

Create a cylinder shape from a set of model coefficients.

Parameters:
[in]coefficientsthe model coefficients (point_on_axis, axis_direction, radius)
[in]numsides(optional) the number of sides used for rendering the cylinder
 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)
 // Eigen::Vector3f pt_on_axis, axis_direction;
 // float radius;

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

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

 cylinder_coeff.values[6] = radius;

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

Definition at line 42 of file shapes.cpp.

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

Create a line shape from two points.

Parameters:
[in]pt1the first point on the line
[in]pt2the end point on the line

Definition at line 249 of file shapes.cpp.

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

Create a line shape from a set of model coefficients.

Parameters:
[in]coefficientsthe model coefficients (point_on_line, line_direction)
 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelLine)
 // Eigen::Vector3f point_on_line, line_direction;

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

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

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

Definition at line 143 of file shapes.cpp.

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

Create a planar shape from a set of model coefficients.

Parameters:
[in]coefficientsthe model coefficients (a, b, c, d with ax+by+cz+d=0)
 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
 // Eigen::Vector4f plane_parameters;

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

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

Definition at line 157 of file shapes.cpp.

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

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

Parameters:
[in]cloudthe set of points used to create the 3d polyline

Definition at line 40 of file shapes.hpp.

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

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

Parameters:
[in]planar_polygonthe set of points used to create the 3d polyline

Definition at line 70 of file shapes.hpp.

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

Create a sphere shape from a point and a radius.

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

Definition at line 226 of file shapes.cpp.

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

Create a sphere shape from a set of model coefficients.

Parameters:
[in]coefficientsthe model coefficients (sphere center, radius)
[in]res(optional) the resolution used for rendering the model
 // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelSphere)
 // Eigen::Vector3f sphere_center;
 // float radius;

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

 sphere_coeff.values[3] = radius;

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

Definition at line 58 of file shapes.cpp.

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

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

Parameters:
srcthe set of vtk points
tgtthe target pcl::PointCloud that we need to obtain indices from
indicesthe resultant list of indices

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

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

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

Parameters:
rthe resultant R color value
gthe resultant G color value
bthe resultant B color value
minminimum value for the colors
maxmaximum value for the colors

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

static const Vector3ub pcl::visualization::green_color ( ,
255  ,
 
) [static]
static const Vector3ub pcl::visualization::red_color ( 255  ,
,
 
) [static]
bool pcl::visualization::savePointData ( vtkPolyData *  data,
const std::string &  out_file,
const boost::shared_ptr< CloudActorMap > &  actors 
)

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

Parameters:
datathe vtk data
out_filethe output file (extra indices will be appended to it)
actorsthe list of actors present on screen

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

pcl::visualization::vtkStandardNewMacro ( PCLVisualizerInteractorStyle  )
pcl::visualization::vtkStandardNewMacro ( PCLHistogramVisualizerInteractorStyle  )


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:33