Point Cloud Library (PCL)  1.9.1-dev
Namespaces | Classes | Typedefs | Enumerations | Functions
pcl::visualization Namespace Reference

Namespaces

 context_items
 

Classes

class  AreaPickingEvent
 /brief Class representing 3D area picking events. More...
 
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...
 
struct  FEllipticArc2D
 Class for storing EllipticArc; every ellipse , circle are covered by this. More...
 
struct  Figure2D
 Abstract class for storing figure information. More...
 
class  FloatImageUtils
 Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes More...
 
struct  FPoints2D
 Class for storing Points. More...
 
struct  FPolygon2D
 Class for Polygon. More...
 
struct  FPolyLine2D
 Class for PolyLine. More...
 
struct  FQuad2D
 Class for storing Quads. More...
 
class  ImageViewer
 ImageViewer is a class for 2D image visualization. More...
 
class  ImageViewerInteractorStyle
 An image viewer interactor style, tailored for ImageViewer. More...
 
class  KeyboardEvent
 /brief Class representing key hit/release events More...
 
class  MouseEvent
 
struct  PCLContextImageItem
 Struct PCLContextImageItem a specification of vtkContextItem, used to add an image to the scene in the ImageViewer class. More...
 
struct  PCLContextItem
 Struct PCLContextItem represents our own custom version of vtkContextItem, used by the ImageViewer class. More...
 
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  PCLPainter2D
 PCL Painter2D main class. More...
 
class  PCLPlotter
 PCL Plotter main class. More...
 
class  PCLSimpleBufferVisualizer
 PCL simple buffer visualizer main class. More...
 
class  PCLVisualizer
 PCL Visualizer main class. More...
 
class  PCLVisualizerInteractorStyle
 PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. More...
 
class  PointCloudColorHandler
 Base Handler class for PointCloud colors. More...
 
class  PointCloudColorHandler< pcl::PCLPointCloud2 >
 Base Handler class for PointCloud colors. More...
 
class  PointCloudColorHandlerCustom
 Handler for predefined user colors. More...
 
class  PointCloudColorHandlerCustom< pcl::PCLPointCloud2 >
 Handler for predefined user colors. More...
 
class  PointCloudColorHandlerGenericField
 Generic field handler class for colors. More...
 
class  PointCloudColorHandlerGenericField< pcl::PCLPointCloud2 >
 Generic field handler class for colors. More...
 
class  PointCloudColorHandlerHSVField
 HSV handler class for colors. More...
 
class  PointCloudColorHandlerHSVField< pcl::PCLPointCloud2 >
 HSV handler class for colors. More...
 
class  PointCloudColorHandlerLabelField
 Label field handler class for colors. More...
 
class  PointCloudColorHandlerLabelField< pcl::PCLPointCloud2 >
 Label field handler class for colors. More...
 
class  PointCloudColorHandlerRandom
 Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...
 
class  PointCloudColorHandlerRandom< pcl::PCLPointCloud2 >
 Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...
 
class  PointCloudColorHandlerRGBAField
 RGBA handler class for colors. More...
 
class  PointCloudColorHandlerRGBAField< pcl::PCLPointCloud2 >
 RGBA handler class for colors. More...
 
class  PointCloudColorHandlerRGBField
 RGB handler class for colors. More...
 
class  PointCloudColorHandlerRGBField< pcl::PCLPointCloud2 >
 RGB handler class for colors. More...
 
class  PointCloudColorHandlerRGBHack
 
class  PointCloudGeometryHandler
 Base handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandler< pcl::PCLPointCloud2 >
 Base handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandlerCustom
 Custom handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandlerCustom< pcl::PCLPointCloud2 >
 Custom handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandlerSurfaceNormal
 Surface normal handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandlerSurfaceNormal< pcl::PCLPointCloud2 >
 Surface normal handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandlerXYZ
 XYZ handler class for PointCloud geometry. More...
 
class  PointCloudGeometryHandlerXYZ< pcl::PCLPointCloud2 >
 XYZ handler class for PointCloud geometry. More...
 
class  PointPickingCallback
 
class  PointPickingEvent
 /brief Class representing 3D point picking events. More...
 
class  RangeImageVisualizer
 Range image visualizer class. More...
 
class  RenWinInteract
 
class  Window
 

Typedefs

typedef boost::unordered_map< std::string, CloudActorCloudActorMap
 
typedef boost::shared_ptr< CloudActorMapCloudActorMapPtr
 
typedef boost::unordered_map< std::string, vtkSmartPointer< vtkProp > > ShapeActorMap
 
typedef boost::shared_ptr< ShapeActorMapShapeActorMapPtr
 
typedef boost::unordered_map< std::string, vtkSmartPointer< vtkProp > > CoordinateActorMap
 
typedef boost::shared_ptr< CoordinateActorMapCoordinateActorMapPtr
 
typedef std::map< std::string, RenWinInteractRenWinInteractMap
 
typedef Eigen::Array< unsigned char, 3, 1 > Vector3ub
 

Enumerations

enum  FrustumCull { PCL_INSIDE_FRUSTUM, PCL_INTERSECT_FRUSTUM, PCL_OUTSIDE_FRUSTUM }
 
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, PCL_VISUALIZER_SHADING,
  PCL_VISUALIZER_LUT, PCL_VISUALIZER_LUT_RANGE
}
 Set of rendering properties. More...
 
enum  RenderingRepresentationProperties { PCL_VISUALIZER_REPRESENTATION_POINTS, PCL_VISUALIZER_REPRESENTATION_WIREFRAME, PCL_VISUALIZER_REPRESENTATION_SURFACE }
 
enum  ShadingRepresentationProperties { PCL_VISUALIZER_SHADING_FLAT, PCL_VISUALIZER_SHADING_GOURAUD, PCL_VISUALIZER_SHADING_PHONG }
 
enum  LookUpTableRepresentationProperties {
  PCL_VISUALIZER_LUT_JET, PCL_VISUALIZER_LUT_JET_INVERSE, PCL_VISUALIZER_LUT_HSV, PCL_VISUALIZER_LUT_HSV_INVERSE,
  PCL_VISUALIZER_LUT_GREY, PCL_VISUALIZER_LUT_BLUE2RED, PCL_VISUALIZER_LUT_RANGE_AUTO, PCL_VISUALIZER_LUT_VIRIDIS
}
 
enum  InteractorKeyboardModifier { INTERACTOR_KB_MOD_ALT, INTERACTOR_KB_MOD_CTRL, INTERACTOR_KB_MOD_SHIFT }
 A list of potential keyboard modifiers for pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle() Defaults to Alt. More...
 

Functions

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. More...
 
PCL_EXPORTS void getRandomColors (pcl::RGB &rgb, double min=0.2, double max=2.8)
 Get (good) random values for R/G/B. More...
 
PCL_EXPORTS Eigen::Matrix4d vtkToEigen (vtkMatrix4x4 *vtk_matrix)
 
PCL_EXPORTS Eigen::Vector2i worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
 
PCL_EXPORTS void getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24])
 
PCL_EXPORTS int cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
 
PCL_EXPORTS float viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
 
PCL_EXPORTS bool getColormapLUT (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer< vtkLookupTable > &table)
 Generate a lookup table for a colormap. More...
 
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. More...
 
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. More...
 
template<typename PointT >
vtkSmartPointer< vtkDataSet > createPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
 Create a 3d poly line from a set of points. More...
 
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. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2)
 Create a line shape from two points. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createSphere (const Eigen::Vector4f &center, double radius, int res=10)
 Create a sphere shape from a point and a radius. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCylinder (const pcl::ModelCoefficients &coefficients, int numsides=30)
 Create a cylinder shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createSphere (const pcl::ModelCoefficients &coefficients, int res=10)
 Create a sphere shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createLine (const pcl::ModelCoefficients &coefficients)
 Create a line shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createPlane (const pcl::ModelCoefficients &coefficients)
 Create a planar shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createPlane (const pcl::ModelCoefficients &coefficients, double x, double y, double z)
 Create a planar shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > create2DCircle (const pcl::ModelCoefficients &coefficients, double z=0.0)
 Create a 2d circle shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCone (const pcl::ModelCoefficients &coefficients)
 Create a cone shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCube (const pcl::ModelCoefficients &coefficients)
 Create a cube shape from a set of model coefficients. More...
 
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth)
 Create a cube shape from a set of model coefficients. More...
 
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. More...
 
PCL_EXPORTS void allocVtkUnstructuredGrid (vtkSmartPointer< vtkUnstructuredGrid > &polydata)
 Allocate a new unstructured grid smartpointer. More...
 
static const Vector3ub green_color (0, 255, 0)
 
static const Vector3ub red_color (255, 0, 0)
 
static const Vector3ub blue_color (0, 0, 255)
 

Typedef Documentation

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

Definition at line 99 of file actor_map.h.

Definition at line 100 of file actor_map.h.

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

Definition at line 105 of file actor_map.h.

Definition at line 106 of file actor_map.h.

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

Definition at line 77 of file ren_win_interact_map.h.

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

Definition at line 102 of file actor_map.h.

Definition at line 103 of file actor_map.h.

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

Definition at line 65 of file image_viewer.h.

Enumeration Type Documentation

Enumerator
PCL_INSIDE_FRUSTUM 
PCL_INTERSECT_FRUSTUM 
PCL_OUTSIDE_FRUSTUM 

Definition at line 83 of file common.h.

A list of potential keyboard modifiers for pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle() Defaults to Alt.

Enumerator
INTERACTOR_KB_MOD_ALT 
INTERACTOR_KB_MOD_CTRL 
INTERACTOR_KB_MOD_SHIFT 

Definition at line 70 of file interactor_style.h.

Colormap properties. See mathworks colormap page for image representations of the colormaps.

Enumerator
PCL_VISUALIZER_LUT_JET 

Jet colormap.

PCL_VISUALIZER_LUT_JET_INVERSE 

Inverse jet colormap.

PCL_VISUALIZER_LUT_HSV 

HSV colormap.

PCL_VISUALIZER_LUT_HSV_INVERSE 

Inverse HSV colormap.

PCL_VISUALIZER_LUT_GREY 

Grey colormap (black to white)

PCL_VISUALIZER_LUT_BLUE2RED 

Blue to red colormap (blue to white to red)

PCL_VISUALIZER_LUT_RANGE_AUTO 

Set LUT range to min and max values of the data.

PCL_VISUALIZER_LUT_VIRIDIS 

Viridis colormap.

Definition at line 126 of file common.h.

Set of rendering properties.

Enumerator
PCL_VISUALIZER_POINT_SIZE 

integer starting from 1

PCL_VISUALIZER_OPACITY 

Float going from 0.0 (transparent) to 1.0 (opaque)

PCL_VISUALIZER_LINE_WIDTH 

Integer starting from 1.

PCL_VISUALIZER_FONT_SIZE 
PCL_VISUALIZER_COLOR 

3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)

PCL_VISUALIZER_REPRESENTATION 
PCL_VISUALIZER_IMMEDIATE_RENDERING 
PCL_VISUALIZER_SHADING 
PCL_VISUALIZER_LUT 

colormap type pcl::visualization::LookUpTableRepresentationProperties

PCL_VISUALIZER_LUT_RANGE 

two doubles (min and max) or pcl::visualization::LookUpTableRepresentationProperties::PCL_VISUALIZER_LUT_RANGE_AUTO

Definition at line 97 of file common.h.

Enumerator
PCL_VISUALIZER_REPRESENTATION_POINTS 
PCL_VISUALIZER_REPRESENTATION_WIREFRAME 
PCL_VISUALIZER_REPRESENTATION_SURFACE 

Definition at line 111 of file common.h.

Enumerator
PCL_VISUALIZER_SHADING_FLAT 
PCL_VISUALIZER_SHADING_GOURAUD 
PCL_VISUALIZER_SHADING_PHONG 

Definition at line 118 of file common.h.

Function Documentation

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

Allocate a new unstructured grid smartpointer.

For internal use only.

Parameters
[out]polydatathe resultant unstructured grid.

Referenced by createPolygon().

static const Vector3ub pcl::visualization::blue_color ( ,
,
255   
)
static
PCL_EXPORTS 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
PCL_EXPORTS int pcl::visualization::cullFrustum ( double  planes[24],
const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb 
)
PCL_EXPORTS bool pcl::visualization::getColormapLUT ( LookUpTableRepresentationProperties  colormap_type,
vtkSmartPointer< vtkLookupTable > &  table 
)

Generate a lookup table for a colormap.

Parameters
[in]colormap_type
[out]tablea vtk lookup table
Note
The list of available colormaps can be found in pcl::visualization::LookUpTableRepresentationProperties.
PCL_EXPORTS 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
[out]rthe resultant R color value
[out]gthe resultant G color value
[out]bthe resultant B color value
[in]minminimum value for the colors
[in]maxmaximum value for the colors

Referenced by pcl::visualization::PointCloudColorHandlerRandom< PointT >::getColor(), and pcl::visualization::ImageViewer::showCorrespondences().

PCL_EXPORTS void pcl::visualization::getRandomColors ( pcl::RGB rgb,
double  min = 0.2,
double  max = 2.8 
)

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

Parameters
[out]rgbthe resultant RGB color value
[in]minminimum value for the colors
[in]maxmaximum value for the colors
PCL_EXPORTS void pcl::visualization::getViewFrustum ( const Eigen::Matrix4d &  view_projection_matrix,
double  planes[24] 
)
static const Vector3ub pcl::visualization::green_color ( ,
255  ,
 
)
static
static const Vector3ub pcl::visualization::red_color ( 255  ,
,
 
)
static
PCL_EXPORTS float pcl::visualization::viewScreenArea ( const Eigen::Vector3d &  eye,
const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
const Eigen::Matrix4d &  view_projection_matrix,
int  width,
int  height 
)
PCL_EXPORTS Eigen::Matrix4d pcl::visualization::vtkToEigen ( vtkMatrix4x4 *  vtk_matrix)
PCL_EXPORTS Eigen::Vector2i pcl::visualization::worldToView ( const Eigen::Vector4d &  world_pt,
const Eigen::Matrix4d &  view_projection_matrix,
int  width,
int  height 
)