Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Member Functions | Static Public Member Functions | Protected Attributes
pcl::visualization::RangeImageVisualizer Class Reference

Range image visualizer class. More...

#include <pcl/visualization/range_image_visualizer.h>

+ Inheritance diagram for pcl::visualization::RangeImageVisualizer:

Public Member Functions

 RangeImageVisualizer (const std::string &name="Range Image")
 Constructor. More...
 
 ~RangeImageVisualizer ()
 Destructor. More...
 
void visualizeBorders (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions)
 Visualize the given range image and the detected borders in it. More...
 
void showRangeImage (const pcl::RangeImage &range_image, float min_value=-std::numeric_limits< float >::infinity(), float max_value=std::numeric_limits< float >::infinity(), bool grayscale=false)
 Visualize a range image. More...
 
- Public Member Functions inherited from pcl::visualization::ImageViewer
 ImageViewer (const std::string &window_title="")
 Constructor. More...
 
virtual ~ImageViewer ()
 Destructor. More...
 
void showMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
 Show a monochrome 2D image on screen. More...
 
void addMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
 Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showMonoImage (const pcl::PointCloud< pcl::Intensity >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Show a monochrome 2D image on screen. More...
 
void addMonoImage (const pcl::PointCloud< pcl::Intensity >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showMonoImage (const pcl::PointCloud< pcl::Intensity > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Show a monochrome 2D image on screen. More...
 
void addMonoImage (const pcl::PointCloud< pcl::Intensity > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showMonoImage (const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Show a monochrome 2D image on screen. More...
 
void addMonoImage (const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showMonoImage (const pcl::PointCloud< pcl::Intensity8u > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Show a monochrome 2D image on screen. More...
 
void addMonoImage (const pcl::PointCloud< pcl::Intensity8u > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
 Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0)
 Show a 2D RGB image on screen. More...
 
void addRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0)
 Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
template<typename T >
void showRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
 Show a 2D image on screen, obtained from the RGB channel of a point cloud. More...
 
template<typename T >
void addRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
 Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
template<typename T >
void showRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
 Show a 2D image on screen, obtained from the RGB channel of a point cloud. More...
 
template<typename T >
void addRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
 Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false, const std::string &layer_id="float_image", double opacity=1.0)
 Show a 2D image (float) on screen. More...
 
void addFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false, const std::string &layer_id="float_image", double opacity=1.0)
 Add a float 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false, const std::string &layer_id="short_image", double opacity=1.0)
 Show a 2D image (unsigned short) on screen. More...
 
void addShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false, const std::string &layer_id="short_image", double opacity=1.0)
 Add a short 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
 Show a 2D image on screen representing angle data. More...
 
void addAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
 Add an angle 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void showHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
 Show a 2D image on screen representing half angle data. More...
 
void addHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
 Add a half angle 2D image layer, but do not render it (use spin/spinOnce to update). More...
 
void markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color=red_color, double radius=3.0, const std::string &layer_id="points", double opacity=1.0)
 Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. More...
 
void markPoints (const std::vector< int > &uv, Vector3ub fg_color, Vector3ub bg_color=red_color, double size=3.0, const std::string &layer_id="markers", double opacity=1.0)
 Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. More...
 
void markPoints (const std::vector< float > &uv, Vector3ub fg_color, Vector3ub bg_color=red_color, double size=3.0, const std::string &layer_id="markers", double opacity=1.0)
 Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another (float coordinates version). More...
 
void setWindowTitle (const std::string &name)
 Set the window title name. More...
 
void spin ()
 Spin method. More...
 
void spinOnce (int time=1, bool force_redraw=true)
 Spin once method. More...
 
boost::signals2::connection registerKeyboardCallback (void(*callback)(const pcl::visualization::KeyboardEvent &, void *), void *cookie=NULL)
 Register a callback function for keyboard events. More...
 
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. More...
 
boost::signals2::connection registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
 Register a callback boost::function for keyboard events. More...
 
boost::signals2::connection registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=NULL)
 Register a callback boost::function for mouse events. More...
 
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. More...
 
boost::signals2::connection registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
 Register a callback function for mouse events. More...
 
void setPosition (int x, int y)
 Set the position in screen coordinates. More...
 
void setSize (int xw, int yw)
 Set the window size in screen coordinates. More...
 
int * getSize ()
 Return the window size in pixels. More...
 
bool wasStopped () const
 Returns true when the user tried to close the window. More...
 
void close ()
 Stop the interaction and close the visualizaton window. More...
 
bool addCircle (unsigned int x, unsigned int y, double radius, const std::string &layer_id="circles", double opacity=1.0)
 Add a circle shape from a point and a radius. More...
 
bool addCircle (unsigned int x, unsigned int y, double radius, double r, double g, double b, const std::string &layer_id="circles", double opacity=1.0)
 Add a circle shape from a point and a radius. More...
 
bool addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box and color its edges with a given color. More...
 
bool addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box and color its edges with a given color. More...
 
bool addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box and color its edges with a given color. More...
 
bool addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box and color its edges with a given color. More...
 
template<typename T >
bool addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box and color its edges with a given color. More...
 
template<typename T >
bool addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box and color its edges with a given color. More...
 
template<typename T >
bool addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
 Add a 2D box that contains a given image mask and color its edges. More...
 
template<typename T >
bool addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=1.0)
 Add a 2D box that contains a given image mask and color its edges in red. More...
 
bool addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="boxes", double opacity=0.5)
 Add a 2D box and fill it in with a given color. More...
 
bool addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="boxes", double opacity=0.5)
 Add a 2D box and fill it in with a given color. More...
 
bool addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
 Add a 2D line with a given color. More...
 
bool addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, const std::string &layer_id="line", double opacity=1.0)
 Add a 2D line with a given color. More...
 
bool addText (unsigned int x, unsigned int y, const std::string &text, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
 Add a 2D text with a given color. More...
 
bool addText (unsigned int x, unsigned int y, const std::string &text, const std::string &layer_id="line", double opacity=1.0)
 Add a 2D text with a given color. More...
 
template<typename T >
bool addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="image_mask", double opacity=0.5)
 Add a generic 2D mask to an image. More...
 
template<typename T >
bool addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=0.5)
 Add a generic 2D mask to an image (colored in red) More...
 
template<typename T >
bool addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, double r, double g, double b, const std::string &layer_id="planar_polygon", double opacity=1.0)
 Add a generic 2D planar polygon to an image. More...
 
template<typename T >
bool addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, const std::string &layer_id="planar_polygon", double opacity=1.0)
 Add a generic 2D planar polygon to an image. More...
 
bool addLayer (const std::string &layer_id, int width, int height, double opacity=0.5)
 Add a new 2D rendering layer to the viewer. More...
 
void removeLayer (const std::string &layer_id)
 Remove a 2D layer given by its ID. More...
 
template<typename PointT >
bool showCorrespondences (const pcl::PointCloud< PointT > &source_img, const pcl::PointCloud< PointT > &target_img, const pcl::Correspondences &correspondences, int nth=1, const std::string &layer_id="correspondences")
 Add the specified correspondences to the display. More...
 

Static Public Member Functions

static RangeImageVisualizergetRangeImageWidget (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const std::string &name="Range image")
 Get a widget visualizing the given range image. More...
 
static RangeImageVisualizergetRangeImageBordersWidget (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions, const std::string &name="Range image with borders")
 Same as above, but returning a new widget. More...
 
static RangeImageVisualizergetAnglesWidget (const pcl::RangeImage &range_image, float *angles_image, const std::string &name)
 Get a widget visualizing the given angle image (assuming values in (-PI, PI]). More...
 
static RangeImageVisualizergetHalfAnglesWidget (const pcl::RangeImage &range_image, float *angles_image, const std::string &name)
 Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]). More...
 
static RangeImageVisualizergetInterestPointsWidget (const pcl::RangeImage &range_image, const float *interest_image, float min_value, float max_value, const pcl::PointCloud< pcl::InterestPoint > &interest_points, const std::string &name)
 Get a widget visualizing the interest values and extracted interest points. More...
 

Protected Attributes

std::string name_
 

Additional Inherited Members

- Public Types inherited from pcl::visualization::ImageViewer
typedef boost::shared_ptr
< ImageViewer
Ptr
 
- Protected Member Functions inherited from pcl::visualization::ImageViewer
void render ()
 Trigger a render call. More...
 
void convertIntensityCloudToUChar (const pcl::PointCloud< pcl::Intensity > &cloud, boost::shared_array< unsigned char > data)
 Convert the Intensity information in a PointCloud<Intensity> to an unsigned char array. More...
 
void convertIntensityCloud8uToUChar (const pcl::PointCloud< pcl::Intensity8u > &cloud, boost::shared_array< unsigned char > data)
 Convert the Intensity8u information in a PointCloud<Intensity8u> to an unsigned char array. More...
 
template<typename T >
void convertRGBCloudToUChar (const pcl::PointCloud< T > &cloud, boost::shared_array< unsigned char > &data)
 Convert the RGB information in a PointCloud<T> to an unsigned char array. More...
 
void resetStoppedFlag ()
 Set the stopped flag back to false. More...
 
void emitMouseEvent (unsigned long event_id)
 Fire up a mouse event with a specified event ID. More...
 
void emitKeyboardEvent (unsigned long event_id)
 Fire up a keyboard event with a specified event ID. More...
 
- Static Protected Member Functions inherited from pcl::visualization::ImageViewer
static void MouseCallback (vtkObject *, unsigned long eid, void *clientdata, void *calldata)
 
static void KeyboardCallback (vtkObject *, unsigned long eid, void *clientdata, void *calldata)
 

Detailed Description

Range image visualizer class.

Author
Bastian Steder

Definition at line 54 of file range_image_visualizer.h.

Constructor & Destructor Documentation

pcl::visualization::RangeImageVisualizer::RangeImageVisualizer ( const std::string &  name = "Range Image")

Constructor.

pcl::visualization::RangeImageVisualizer::~RangeImageVisualizer ( )

Destructor.

Member Function Documentation

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getAnglesWidget ( const pcl::RangeImage range_image,
float *  angles_image,
const std::string &  name 
)
static

Get a widget visualizing the given angle image (assuming values in (-PI, PI]).

-PI and PI will return the same color You are responsible for deleting it after usage!

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getHalfAnglesWidget ( const pcl::RangeImage range_image,
float *  angles_image,
const std::string &  name 
)
static

Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).

-PI/2 and PI/2 will return the same color You are responsible for deleting it after usage!

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getInterestPointsWidget ( const pcl::RangeImage range_image,
const float *  interest_image,
float  min_value,
float  max_value,
const pcl::PointCloud< pcl::InterestPoint > &  interest_points,
const std::string &  name 
)
static

Get a widget visualizing the interest values and extracted interest points.

The interest points will be marked green. You are responsible for deleting it after usage!

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget ( const pcl::RangeImage range_image,
float  min_value,
float  max_value,
bool  grayscale,
const pcl::PointCloud< pcl::BorderDescription > &  border_descriptions,
const std::string &  name = "Range image with borders" 
)
static

Same as above, but returning a new widget.

You are responsible for deleting it after usage!

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getRangeImageWidget ( const pcl::RangeImage range_image,
float  min_value,
float  max_value,
bool  grayscale,
const std::string &  name = "Range image" 
)
static

Get a widget visualizing the given range image.

You are responsible for deleting it after usage!

void pcl::visualization::RangeImageVisualizer::showRangeImage ( const pcl::RangeImage range_image,
float  min_value = -std::numeric_limits< float >::infinity(),
float  max_value = std::numeric_limits< float >::infinity(),
bool  grayscale = false 
)

Visualize a range image.

void pcl::visualization::RangeImageVisualizer::visualizeBorders ( const pcl::RangeImage range_image,
float  min_value,
float  max_value,
bool  grayscale,
const pcl::PointCloud< pcl::BorderDescription > &  border_descriptions 
)

Visualize the given range image and the detected borders in it.

Borders on the obstacles are marked green, borders on the background are marked bright blue.

Member Data Documentation

std::string pcl::visualization::RangeImageVisualizer::name_
protected

Definition at line 112 of file range_image_visualizer.h.


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