pcl::visualization::PCLVisualizer Class Reference
[Module visualization]

PCL Visualizer main class. More...

#include <pcl/visualization/pcl_visualizer.h>

List of all members.

Classes
struct	ExitCallback
struct	ExitMainLoopTimerCallback
struct	FPSCallback
Public Types
typedef boost::shared_ptr < PCLVisualizer >	Ptr
typedef boost::shared_ptr < const PCLVisualizer >	ConstPtr
typedef PointCloudGeometryHandler < pcl::PCLPointCloud2 >	GeometryHandler
typedef GeometryHandler::Ptr	GeometryHandlerPtr
typedef GeometryHandler::ConstPtr	GeometryHandlerConstPtr
typedef PointCloudColorHandler < pcl::PCLPointCloud2 >	ColorHandler
typedef ColorHandler::Ptr	ColorHandlerPtr
typedef ColorHandler::ConstPtr	ColorHandlerConstPtr
Public Member Functions
	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.
virtual	~PCLVisualizer ()
	PCL Visualizer destructor.
void	setFullScreen (bool mode)
	Enables/Disabled the underlying window mode to full screen.
void	setWindowName (const std::string &name)
	Set the visualizer window name.
void	setWindowBorders (bool mode)
	Enables or disable the underlying window borders.
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.
boost::signals2::connection	registerAreaPickingCallback (boost::function< void(const pcl::visualization::AreaPickingEvent &)> cb)
	Register a callback function for area picking events.
boost::signals2::connection	registerAreaPickingCallback (void(*callback)(const pcl::visualization::AreaPickingEvent &, void *), void *cookie=NULL)
	Register a callback function for area picking events.
template<typename T >
boost::signals2::connection	registerAreaPickingCallback (void(T::*callback)(const pcl::visualization::AreaPickingEvent &, void *), T &instance, void *cookie=NULL)
	Register a callback function for area picking events.
void	spin ()
	Spin method.
void	spinOnce (int time=1, bool force_redraw=false)
	Spin once method.
void	addOrientationMarkerWidgetAxes (vtkRenderWindowInteractor *interactor)
	Adds a widget which shows an interactive axes display for orientation.
void	removeOrientationMarkerWidgetAxes ()
	Disables the Orientatation Marker Widget so it is removed from the renderer.
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.
bool	removeCoordinateSystem (int viewport=0)
	Removes a previously added 3D axes (coordinate system).
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.
bool	removeText3D (const std::string &id="cloud", int viewport=0)
	Removes an added 3D text from the scene, based on a given ID.
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.
void	setBackgroundColor (const double &r, const double &g, const double &b, int viewport=0)
	Set the viewport's background color.
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.
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	updateShapePose (const std::string &id, const Eigen::Affine3f &pose)
	Set the pose of an existing shape.
bool	updatePointCloudPose (const std::string &id, const Eigen::Affine3f &pose)
	Set the pose of an existing point cloud.
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.
template<typename PointNT >
bool	addPointCloudNormals (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, int level=100, float scale=0.02f, 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, float scale=0.02f, 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, float scale=1.0f, const std::string &id="cloud", int viewport=0)
	Add the estimated principal curvatures of a Point Cloud to screen.
template<typename PointT , typename GradientT >
bool	addPointCloudIntensityGradients (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const typename pcl::PointCloud< GradientT >::ConstPtr &gradients, int level=100, double scale=1e-6, const std::string &id="cloud", int viewport=0)
	Add the estimated surface intensity gradients of a Point Cloud to screen.
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	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.
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 pcl::PCLPointCloud2::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 pcl::PCLPointCloud2::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 pcl::PCLPointCloud2::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.
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.
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.
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	updatePolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polygon")
	Update a PolygonMesh object on 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	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, int nth, 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.
template<typename PointT >
bool	updateCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const pcl::Correspondences &correspondences, int nth, const std::string &id="correspondences")
	Update the specified correspondences to the display.
void	removeCorrespondences (const std::string &id="correspondences", int viewport=0)
	Remove the specified correspondences from the display.
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.
bool	updateColorHandlerIndex (const std::string &id, int index)
	Update/set the color index of a renderered PointCloud based on its ID.
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.
bool	getPointCloudRenderingProperties (int property, double &value, const std::string &id="cloud")
	Get the rendering properties of a PointCloud.
bool	setPointCloudSelected (const bool selected, const std::string &id="cloud")
	Set whether the point cloud is selected or not.
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).
bool	wasStopped () const
	Returns true when the user tried to close the window.
void	resetStoppedFlag ()
	Set the stopped flag back to false.
void	close ()
	Stop the interaction and close the visualizaton window.
void	createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport)
	Create a new viewport from [xmin,ymin] -> [xmax,ymax].
void	createViewPortCamera (const int viewport)
	Create a new separate camera for the given viewport.
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).
template<typename PointT >
bool	addPolygon (const pcl::PlanarPolygon< PointT > &polygon, double r, double g, double b, const std::string &id="polygon", int viewport=0)
	Add a planar polygon that represents the input point cloud (connects all points in order).
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.
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.
template<typename P1 , typename P2 >
bool	addArrow (const P1 &pt1, const P2 &pt2, double r_line, double g_line, double b_line, double r_text, double g_text, double b_text, const std::string &id="arrow", int viewport=0)
	Add a line arrow segment between two points, and display the distance between them in a given color.
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.
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	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	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	addCylinder (const pcl::ModelCoefficients &coefficients, const std::string &id="cylinder", int viewport=0)
	Add a cylinder from a set of given model coefficients.
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	addLine (const pcl::ModelCoefficients &coefficients, const std::string &id="line", int viewport=0)
	Add a line from a set of given model coefficients.
bool	addPlane (const pcl::ModelCoefficients &coefficients, const std::string &id="plane", int viewport=0)
	Add a plane from a set of given model coefficients.
bool	addPlane (const pcl::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id="plane", int viewport=0)
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.
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 (float x_min, float x_max, float y_min, float y_max, float z_min, float 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.
void	setRepresentationToSurfaceForAllActors ()
	Changes the visual representation for all actors to surface representation.
void	setRepresentationToPointsForAllActors ()
	Changes the visual representation for all actors to points representation.
void	setRepresentationToWireframeForAllActors ()
	Changes the visual representation for all actors to wireframe representation.
void	setShowFPS (bool show_fps)
	Sets whether the 2D overlay text showing the framerate of the window is displayed or not.
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.
void	renderViewTesselatedSphere (int xres, int yres, pcl::PointCloud< pcl::PointXYZ >::CloudVectorType &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.
void	initCameraParameters ()
	Initialize camera parameters with some default values.
bool	getCameraParameters (int argc, char **argv)
	Search for camera parameters at the command line and set them internally.
bool	cameraParamsSet () const
	Checks whether the camera parameters were manually loaded from file.
void	updateCamera ()
	Update camera parameters and render.
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	setCameraPosition (double pos_x, double pos_y, double pos_z, double view_x, double view_y, double view_z, double up_x, double up_y, double up_z, int viewport=0)
	Set the camera pose given by position, viewpoint and up vector.
void	setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z, int viewport=0)
	Set the camera location and viewup according to the given arguments.
void	setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport=0)
	Set the camera parameters via an intrinsics and and extrinsics matrix.
void	setCameraParameters (const Camera &camera, int viewport=0)
	Set the camera parameters by given a full camera data structure.
void	setCameraClipDistances (double near, double far, int viewport=0)
	Set the camera clipping distances.
void	setCameraFieldOfView (double fovy, int viewport=0)
	Set the camera vertical field of view.
void	getCameras (std::vector< Camera > &cameras)
	Get the current camera parameters.
Eigen::Affine3f	getViewerPose (int viewport=0)
	Get the current viewing pose.
void	saveScreenshot (const std::string &file)
	Save the current rendered image to disk, as a PNG screenshot.
vtkSmartPointer< vtkRenderWindow >	getRenderWindow ()
	Return a pointer to the underlying VTK Render Window used.
vtkSmartPointer < vtkRendererCollection >	getRendererCollection ()
	Return a pointer to the underlying VTK Renderer Collection.
CloudActorMapPtr	getCloudActorMap ()
	Return a pointer to the CloudActorMap this visualizer uses.
void	setPosition (int x, int y)
	Set the position in screen coordinates.
void	setSize (int xw, int yw)
	Set the window size in screen coordinates.
void	setUseVbos (bool use_vbos)
	Use Vertex Buffer Objects renderers.
void	createInteractor ()
	Create the internal Interactor object.
void	setupInteractor (vtkRenderWindowInteractor *iren, vtkRenderWindow *win)
	Set up our unique PCL interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow.
void	setupInteractor (vtkRenderWindowInteractor *iren, vtkRenderWindow *win, vtkInteractorStyle *style)
	Set up PCLVisualizer with custom interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow.
vtkSmartPointer < PCLVisualizerInteractorStyle >	getInteractorStyle ()
	Get a pointer to the current interactor style used.
Static Public Member Functions
static void	convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix)
	Convert Eigen::Matrix4f to vtkMatrix4x4.
static void	convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion< float > &orientation, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix)
	Convert origin and orientation to vtkMatrix4x4.
static void	convertToEigenMatrix (const vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix, Eigen::Matrix4f &m)
	Convert vtkMatrix4x4 to an Eigen4f.
Protected Attributes
vtkSmartPointer < vtkRenderWindowInteractor >	interactor_
	The render window interactor.

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Detailed Description

PCL Visualizer main class.

Author:

Radu B. Rusu

Note:

This class can NOT be used across multiple threads. Only call functions of objects of this class from the same thread that they were created in! Some methods, e.g. addPointCloud, will crash if called from other threads.

Definition at line 85 of file pcl_visualizer.h.

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Member Typedef Documentation

typedef PointCloudColorHandler<pcl::PCLPointCloud2> pcl::visualization::PCLVisualizer::ColorHandler

Definition at line 95 of file pcl_visualizer.h.

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

Definition at line 97 of file pcl_visualizer.h.

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

Definition at line 96 of file pcl_visualizer.h.

typedef boost::shared_ptr<const PCLVisualizer> pcl::visualization::PCLVisualizer::ConstPtr

Definition at line 89 of file pcl_visualizer.h.

typedef PointCloudGeometryHandler<pcl::PCLPointCloud2> pcl::visualization::PCLVisualizer::GeometryHandler

Definition at line 91 of file pcl_visualizer.h.

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

Definition at line 93 of file pcl_visualizer.h.

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

Definition at line 92 of file pcl_visualizer.h.

typedef boost::shared_ptr<PCLVisualizer> pcl::visualization::PCLVisualizer::Ptr

Definition at line 88 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

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

virtual pcl::visualization::PCLVisualizer::~PCLVisualizer

(

)

[virtual]

PCL Visualizer destructor.

---

Member Function Documentation

template<typename P1 , typename P2 >

bool pcl::visualization::PCLVisualizer::addArrow	(	const P1 &	pt1,
		const P2 &	pt2,
		double	r_line,
		double	g_line,
		double	b_line,
		double	r_text,
		double	g_text,
		double	b_text,
		const std::string &	id = "arrow",
		int	viewport = 0
	)			[inline]

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

Parameters:

[in]	pt1	the first (start) point on the line
[in]	pt2	the second (end) point on the line
[in]	r_line	the red channel of the color that the line should be rendered with
[in]	g_line	the green channel of the color that the line should be rendered with
[in]	b_line	the blue channel of the color that the line should be rendered with
[in]	r_text	the red channel of the color that the text should be rendered with
[in]	g_text	the green channel of the color that the text should be rendered with
[in]	b_text	the blue channel of the color that the text should be rendered with
[in]	id	the line id/name (default: "arrow")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 516 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
	)			[inline]

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 484 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,
		const std::string &	id = "arrow",
		int	viewport = 0
	)			[inline]

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 455 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);

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)

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

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)

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)

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
	)			[inline]

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 929 of file pcl_visualizer.h.

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,
		int	nth,
		const std::string &	id = "correspondences",
		int	viewport = 0
	)			[inline]

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]	nth	display only the Nth correspondence (e.g., skip the rest)
[in]	id	the polygon object id (default: "correspondences")
[in]	viewport	the view port where the correspondences should be added (default: all)

Definition at line 990 of file pcl_visualizer.hpp.

References pcl::visualization::getRandomColors(), and pcl::PointCloud< PointT >::points.

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
	)			[inline]

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 892 of file pcl_visualizer.hpp.

References pcl::visualization::getRandomColors(), and pcl::PointCloud< PointT >::points.

bool pcl::visualization::PCLVisualizer::addCube	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	z_min,
		float	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.

Parameters:

[in]	x_min	the min X coordinate
[in]	x_max	the max X coordinate
[in]	y_min	the min Y coordinate
[in]	y_max	the max Y coordinate
[in]	z_min	the min Z coordinate
[in]	z_max	the max Z coordinate
[in]	r	how much red (0.0 -> 1.0)
[in]	g	how much green (0.0 -> 1.0)
[in]	b	how much blue (0.0 -> 1.0)
[in]	id	the cube id/name (default: "cube")
[in]	viewport	(optional) the id of the new viewport (default: 0)

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)

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)

Referenced by pcl::people::PersonCluster< PointT >::drawTBoundingBox().

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);

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);

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
	)			[inline]

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 428 of file pcl_visualizer.hpp.

References pcl::visualization::createLine().

template<typename P1 , typename P2 >

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

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 550 of file pcl_visualizer.hpp.

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)

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)

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)

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)

void pcl::visualization::PCLVisualizer::addOrientationMarkerWidgetAxes

(

vtkRenderWindowInteractor *

interactor

)

Adds a widget which shows an interactive axes display for orientation.

Parameters:

[in]

interactor

- Pointer to the vtk interactor object used by the PCLVisualizer window

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

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);

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 794 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 781 of file pcl_visualizer.h.

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 768 of file pcl_visualizer.h.

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
	)			[inline]

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 188 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PCLPointCloud2::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)

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PCLPointCloud2::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)

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PCLPointCloud2::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)

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
	)			[inline]

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 167 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

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
	)			[inline]

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 146 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

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
	)			[inline]

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 121 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

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
	)			[inline]

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 98 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

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
	)			[inline]

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 77 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

template<typename PointT >

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

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 66 of file pcl_visualizer.hpp.

template<typename PointT , typename GradientT >

bool pcl::visualization::PCLVisualizer::addPointCloudIntensityGradients	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const typename pcl::PointCloud< GradientT >::ConstPtr &	gradients,
		int	level = 100,
		double	scale = 1e-6,
		const std::string &	id = "cloud",
		int	viewport = 0
	)			[inline]

Add the estimated surface intensity gradients of a Point Cloud to screen.

Parameters:

[in]	cloud	the input point cloud dataset containing the XYZ data
[in]	gradients	the input point cloud dataset containing the intensity gradient data
[in]	level	display only every level'th point (default: 100)
[in]	scale	the intensity gradient arrow scale (default: 1e-6m)
[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 817 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::points.

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,
		float	scale = 0.02f,
		const std::string &	id = "cloud",
		int	viewport = 0
	)			[inline]

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 705 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointNT >

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

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 696 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,
		float	scale = 1.0f,
		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)

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addPolygon	(	const pcl::PlanarPolygon< PointT > &	polygon,
		double	r,
		double	g,
		double	b,
		const std::string &	id = "polygon",
		int	viewport = 0
	)			[inline]

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

Parameters:

[in]	polygon	the polygon to draw
[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	the polygon id/name (default: "polygon")
[in]	viewport	(optional) the id of the new viewport (default: 0)

Definition at line 364 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
	)			[inline]

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 419 of file pcl_visualizer.hpp.

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
	)			[inline]

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 310 of file pcl_visualizer.hpp.

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
	)			[inline]

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 1522 of file pcl_visualizer.hpp.

References convertToVtkMatrix(), pcl::getFieldIndex(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::console::print_warn(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::size().

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)

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)

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);

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
	)			[inline]

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

Definition at line 557 of file pcl_visualizer.hpp.

template<typename PointT >

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

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 599 of file pcl_visualizer.hpp.

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)

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)

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)

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
	)			[inline]

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 630 of file pcl_visualizer.hpp.

References pcl::console::print_warn().

bool pcl::visualization::PCLVisualizer::cameraParamsSet

(

)

const

Checks whether the camera parameters were manually loaded from file.

void pcl::visualization::PCLVisualizer::close

(

)

Stop the interaction and close the visualizaton window.

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

Convert vtkMatrix4x4 to an Eigen4f.

Parameters:

[in]	vtk_matrix	the original VTK 4x4 matrix
[out]	m	the resultant Eigen 4x4 matrix

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

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

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

Convert Eigen::Matrix4f to vtkMatrix4x4.

Parameters:

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

Referenced by addPolygonMesh().

void pcl::visualization::PCLVisualizer::createInteractor

(

)

Create the internal Interactor object.

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.

void pcl::visualization::PCLVisualizer::createViewPortCamera

(

const int

viewport

)

Create a new separate camera for the given viewport.

Parameters:

[in]

viewport

the viewport to create a new camera for.

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

void pcl::visualization::PCLVisualizer::getCameras

(

std::vector< Camera > &

cameras

)

Get the current camera parameters.

CloudActorMapPtr pcl::visualization::PCLVisualizer::getCloudActorMap

(

)

[inline]

Return a pointer to the CloudActorMap this visualizer uses.

Definition at line 1624 of file pcl_visualizer.h.

int pcl::visualization::PCLVisualizer::getColorHandlerIndex

(

const std::string &

id

)

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

Parameters:

[in]

id

the point cloud object id

int pcl::visualization::PCLVisualizer::getGeometryHandlerIndex

(

const std::string &

id

)

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

Parameters:

[in]

id

the point cloud object id

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

(

)

[inline]

Get a pointer to the current interactor style used.

Definition at line 1676 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)

vtkSmartPointer<vtkRendererCollection> pcl::visualization::PCLVisualizer::getRendererCollection

(

)

[inline]

Return a pointer to the underlying VTK Renderer Collection.

Definition at line 1617 of file pcl_visualizer.h.

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

(

)

[inline]

Return a pointer to the underlying VTK Render Window used.

Definition at line 1610 of file pcl_visualizer.h.

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

(

int

viewport = 0

)

Get the current viewing pose.

void pcl::visualization::PCLVisualizer::initCameraParameters

(

)

Initialize camera parameters with some default values.

template<typename T >

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

Register a callback function for area picking events.

Parameters:

[in]	callback	the member function that will be registered as a callback for an area 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 249 of file pcl_visualizer.h.

boost::signals2::connection pcl::visualization::PCLVisualizer::registerAreaPickingCallback	(	void(*)(const pcl::visualization::AreaPickingEvent &, void *)	callback,
		void *	cookie = NULL
	)

Register a callback function for area picking events.

Parameters:

[in]	callback	the function that will be registered as a callback for an area picking event
[in]	cookie	user data that is passed to the callback

Returns:

a connection object that allows to disconnect the callback function.

boost::signals2::connection pcl::visualization::PCLVisualizer::registerAreaPickingCallback

(

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

cb

)

Register a callback function for area picking events.

Parameters:

[in]

cb

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

Returns:

a connection object that allows to disconnect the callback function.

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 165 of file pcl_visualizer.h.

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 153 of file pcl_visualizer.h.

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.

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 195 of file pcl_visualizer.h.

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 183 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.

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 222 of file pcl_visualizer.h.

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

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.

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.

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)

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)

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)

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

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)

void pcl::visualization::PCLVisualizer::removeOrientationMarkerWidgetAxes

(

)

Disables the Orientatation Marker Widget so it is removed from the renderer.

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

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 347 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)

Referenced by pcl::people::PersonCluster< PointT >::drawTBoundingBox().

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)

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

void pcl::visualization::PCLVisualizer::renderViewTesselatedSphere	(	int	xres,
		int	yres,
		pcl::PointCloud< pcl::PointXYZ >::CloudVectorType &	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

void pcl::visualization::PCLVisualizer::resetCamera

(

)

Reset camera parameters and render.

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)

void pcl::visualization::PCLVisualizer::resetStoppedFlag

(

)

Set the stopped flag back to false.

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

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)

void pcl::visualization::PCLVisualizer::setCameraClipDistances	(	double	near,
		double	far,
		int	viewport = 0
	)

Set the camera clipping distances.

Parameters:

[in]	near	the near clipping distance (no objects closer than this to the camera will be drawn)
[in]	far	the far clipping distance (no objects further away than this to the camera will be drawn)

void pcl::visualization::PCLVisualizer::setCameraFieldOfView	(	double	fovy,
		int	viewport = 0
	)

Set the camera vertical field of view.

Parameters:

[in]	fovy	vertical field of view in radians
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

void pcl::visualization::PCLVisualizer::setCameraParameters	(	const Camera &	camera,
		int	viewport = 0
	)

Set the camera parameters by given a full camera data structure.

Parameters:

[in]	camera	camera structure containing all the camera parameters.
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

void pcl::visualization::PCLVisualizer::setCameraParameters	(	const Eigen::Matrix3f &	intrinsics,
		const Eigen::Matrix4f &	extrinsics,
		int	viewport = 0
	)

Set the camera parameters via an intrinsics and and extrinsics matrix.

Note:

This assumes that the pixels are square and that the center of the image is at the center of the sensor.

Parameters:

[in]	intrinsics	the intrinsics that will be used to compute the VTK camera parameters
[in]	extrinsics	the extrinsics that will be used to compute the VTK camera parameters
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

void pcl::visualization::PCLVisualizer::setCameraPosition	(	double	pos_x,
		double	pos_y,
		double	pos_z,
		double	up_x,
		double	up_y,
		double	up_z,
		int	viewport = 0
	)

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

Parameters:

[in]	pos_x	the x coordinate of the camera location
[in]	pos_y	the y coordinate of the camera location
[in]	pos_z	the z coordinate of the camera location
[in]	up_x	the x component of the view up direction of the camera
[in]	up_y	the y component of the view up direction of the camera
[in]	up_z	the z component of the view up direction of the camera
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

void pcl::visualization::PCLVisualizer::setCameraPosition	(	double	pos_x,
		double	pos_y,
		double	pos_z,
		double	view_x,
		double	view_y,
		double	view_z,
		double	up_x,
		double	up_y,
		double	up_z,
		int	viewport = 0
	)

Set the camera pose given by position, viewpoint and up vector.

Parameters:

[in]	pos_x	the x coordinate of the camera location
[in]	pos_y	the y coordinate of the camera location
[in]	pos_z	the z coordinate of the camera location
[in]	view_x	the x component of the view point of the camera
[in]	view_y	the y component of the view point of the camera
[in]	view_z	the z component of the view point of the camera
[in]	up_x	the x component of the view up direction of the camera
[in]	up_y	the y component of the view up direction of the camera
[in]	up_z	the y component of the view up direction of the camera
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

void pcl::visualization::PCLVisualizer::setFullScreen

(

bool

mode

)

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

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)

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)

bool pcl::visualization::PCLVisualizer::setPointCloudSelected	(	const bool	selected,
		const std::string &	id = "cloud"
	)

Set whether the point cloud is selected or not.

Parameters:

[in]	selected	whether the cloud is selected or not (true = selected)
[in]	id	the point cloud object id (default: cloud)

void pcl::visualization::PCLVisualizer::setPosition	(	int	x,
		int	y
	)

Set the position in screen coordinates.

Parameters:

[in]	x	where to move the window to (X)
[in]	y	where to move the window to (Y)

void pcl::visualization::PCLVisualizer::setRepresentationToPointsForAllActors

(

)

Changes the visual representation for all actors to points representation.

void pcl::visualization::PCLVisualizer::setRepresentationToSurfaceForAllActors

(

)

Changes the visual representation for all actors to surface representation.

void pcl::visualization::PCLVisualizer::setRepresentationToWireframeForAllActors

(

)

Changes the visual representation for all actors to wireframe representation.

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)

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)

Referenced by pcl::people::PersonCluster< PointT >::drawTBoundingBox().

void pcl::visualization::PCLVisualizer::setShowFPS

(

bool

show_fps

)

Sets whether the 2D overlay text showing the framerate of the window is displayed or not.

Parameters:

[in]

show_fps

determines whether the fps text will be shown or not.

void pcl::visualization::PCLVisualizer::setSize	(	int	xw,
		int	yw
	)

Set the window size in screen coordinates.

Parameters:

[in]	xw	window size in horizontal (pixels)
[in]	yw	window size in vertical (pixels)

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

Set up PCLVisualizer with custom 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
[in,out]	style	a vtkInteractorStyle object

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

void pcl::visualization::PCLVisualizer::setUseVbos

(

bool

use_vbos

)

Use Vertex Buffer Objects renderers.

Parameters:

[in]

use_vbos

set to true to use VBOs

void pcl::visualization::PCLVisualizer::setWindowBorders

(

bool

mode

)

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

void pcl::visualization::PCLVisualizer::setWindowName

(

const std::string &

name

)

Set the visualizer window name.

Parameters:

[in]

name

the name of the window

void pcl::visualization::PCLVisualizer::spin

(

)

Spin method.

Calls the interactor and runs an internal loop.

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.

void pcl::visualization::PCLVisualizer::updateCamera

(

)

Update camera parameters and render.

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

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updateCorrespondences	(	const typename pcl::PointCloud< PointT >::ConstPtr &	source_points,
		const typename pcl::PointCloud< PointT >::ConstPtr &	target_points,
		const pcl::Correspondences &	correspondences,
		int	nth,
		const std::string &	id = "correspondences"
	)			[inline]

Update 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]	nth	display only the Nth correspondence (e.g., skip the rest)
[in]	id	the polygon object id (default: "correspondences")

Definition at line 1095 of file pcl_visualizer.hpp.

References pcl::visualization::getRandomColors(), and pcl::PointCloud< PointT >::points.

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 832 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 819 of file pcl_visualizer.h.

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 807 of file pcl_visualizer.h.

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"
	)			[inline]

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 1450 of file pcl_visualizer.hpp.

References pcl::visualization::PointCloudColorHandler< PointT >::getColor(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.

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"
	)			[inline]

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 1416 of file pcl_visualizer.hpp.

template<typename PointT >

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const typename pcl::PointCloud< PointT >::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 1385 of file pcl_visualizer.hpp.

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

Set the pose of an existing point cloud.

Returns false if the point cloud doesn't exist, true if the pose was successfully updated.

Parameters:

[in]	id	the point cloud object id (i.e., given on addPointCloud etc.)
[in]	pose	the new pose

Returns:

false if no point cloud with the specified ID was found

bool pcl::visualization::PCLVisualizer::updatePolygonMesh	(	const pcl::PolygonMesh &	polymesh,
		const std::string &	id = "polygon"
	)

Update a PolygonMesh object on screen.

Parameters:

[in]	polymesh	the polygonal mesh
[in]	id	the polygon object id (default: "polygon")

Returns:

false if no polygonmesh with the specified ID was found

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"
	)			[inline]

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 1698 of file pcl_visualizer.hpp.

References pcl::getFieldIndex(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::console::print_error(), and pcl::PointCloud< PointT >::size().

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 successfully 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

template<typename PointT >

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

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 606 of file pcl_visualizer.hpp.

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)

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)

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)

bool pcl::visualization::PCLVisualizer::wasStopped

(

)

const

Returns true when the user tried to close the window.

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Member Data Documentation

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

The render window interactor.

Definition at line 1685 of file pcl_visualizer.h.

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

• /builddir/build/BUILD/pcl-pcl-1.7.1/visualization/include/pcl/visualization/pcl_visualizer.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp