PCL histogram visualizer main class. More...

#include <pcl/visualization/histogram_visualizer.h>

Public Types
using	Ptr = shared_ptr< PCLHistogramVisualizer >

using	ConstPtr = shared_ptr< const PCLHistogramVisualizer >

Public Member Functions
	PCLHistogramVisualizer ()
	PCL histogram visualizer constructor. More...

virtual	~PCLHistogramVisualizer ()=default

void	spinOnce (int time=1)
	Spin once method. More...

void	spin ()
	Spin method. More...

void	setBackgroundColor (const double &r, const double &g, const double &b)
	Set the viewport's background color. More...

template<typename PointT >
bool	addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window, from a cloud containing a single histogram. More...

bool	addFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window from a cloud containing a single histogram. More...

template<typename PointT >
bool	addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window. More...

bool	addFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud", int win_width=640, int win_height=200)
	Add a histogram feature to screen as a separate window. More...

template<typename PointT >
bool	updateFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...

bool	updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...

template<typename PointT >
bool	updateFeatureHistogram (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...

bool	updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud")
	Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...

void	setGlobalYRange (float minp, float maxp)
	Set the Y range to minp-maxp for all histograms. More...

void	updateWindowPositions ()
	Update all window positions on screen so that they fit. More...

Protected Member Functions
void	createActor (const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract &renwinint, const std::string &id, const int win_width, const int win_height)
	Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen. More...

void	reCreateActor (const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract *renwinupd, const int hsize)
	Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen. More...

Detailed Description

PCL histogram visualizer main class.

Author: Radu Bogdan Rusu

Definition at line 56 of file histogram_visualizer.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::visualization::PCLHistogramVisualizer::ConstPtr = shared_ptr<const PCLHistogramVisualizer>

Definition at line 60 of file histogram_visualizer.h.

◆ Ptr

using pcl::visualization::PCLHistogramVisualizer::Ptr = shared_ptr<PCLHistogramVisualizer>

Definition at line 59 of file histogram_visualizer.h.

Constructor & Destructor Documentation

◆ PCLHistogramVisualizer()

pcl::visualization::PCLHistogramVisualizer::PCLHistogramVisualizer ( )

PCL histogram visualizer constructor.

◆ ~PCLHistogramVisualizer()

virtual pcl::visualization::PCLHistogramVisualizer::~PCLHistogramVisualizer ( )

virtualdefault

Member Function Documentation

◆ addFeatureHistogram() [1/4]

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const pcl::PCLPointCloud2 &	cloud,
		const std::string &	field_name,
		const pcl::index_t	index,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

◆ addFeatureHistogram() [2/4]

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const pcl::PCLPointCloud2 &	cloud,
		const std::string &	field_name,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window from a cloud containing a single histogram.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

◆ addFeatureHistogram() [3/4]

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		const std::string &	field_name,
		const pcl::index_t	index,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 86 of file histogram_visualizer.hpp.

References createActor(), and pcl::PointCloud< PointT >::size().

◆ addFeatureHistogram() [4/4]

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		int	hsize,
		const std::string &	id = `"cloud"`,
		int	win_width = `640`,
		int	win_height = `200`
	)

Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	hsize	the length of the histogram
[in]	id	the point cloud object id (default: cloud)
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Definition at line 52 of file histogram_visualizer.hpp.

References createActor().

◆ createActor()

void pcl::visualization::PCLHistogramVisualizer::createActor	(	const vtkSmartPointer< vtkDoubleArray > &	xy_array,
		RenWinInteract &	renwinint,
		const std::string &	id,
		const int	win_width,
		const int	win_height
	)

protected

Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.

Parameters

[in]	xy_array	the input vtkDoubleArray holding the histogram data
[out]	renwinint	the resultant render window interactor holding the rendered object
[in]	id	the point cloud object id
[in]	win_width	the width of the window
[in]	win_height	the height of the window

Referenced by addFeatureHistogram().

◆ reCreateActor()

void pcl::visualization::PCLHistogramVisualizer::reCreateActor	(	const vtkSmartPointer< vtkDoubleArray > &	xy_array,
		RenWinInteract *	renwinupd,
		const int	hsize
	)

protected

Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.

Parameters

[in]	xy_array	the input vtkDoubleArray holding the histogram data
[out]	renwinupd	the resultant render window interactor holding the rendered object
[in]	hsize	Histogram size

Referenced by updateFeatureHistogram().

◆ setBackgroundColor()

void pcl::visualization::PCLHistogramVisualizer::setBackgroundColor	(	const double &	r,
		const double &	g,
		const double &	b
	)

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

◆ setGlobalYRange()

void pcl::visualization::PCLHistogramVisualizer::setGlobalYRange	(	float	minp,
		float	maxp
	)

Set the Y range to minp-maxp for all histograms.

Parameters

[in]	minp	the minimum Y range
[in]	maxp	the maximum Y range

◆ spin()

void pcl::visualization::PCLHistogramVisualizer::spin ( )

Spin method.

Calls the interactor and runs an internal loop.

◆ spinOnce()

void pcl::visualization::PCLHistogramVisualizer::spinOnce ( int time = 1 )

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.

◆ updateFeatureHistogram() [1/4]

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const pcl::PCLPointCloud2 &	cloud,
		const std::string &	field_name,
		const pcl::index_t	index,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)

◆ updateFeatureHistogram() [2/4]

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const pcl::PCLPointCloud2 &	cloud,
		const std::string &	field_name,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	id	the point cloud object id (default: cloud)

◆ updateFeatureHistogram() [3/4]

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		const std::string &	field_name,
		const pcl::index_t	index,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	field_name	the field name containing the histogram
[in]	index	the point index to extract the histogram from
[in]	id	the point cloud object id (default: cloud)

Definition at line 170 of file histogram_visualizer.hpp.

References reCreateActor(), and pcl::PointCloud< PointT >::size().

◆ updateFeatureHistogram() [4/4]

template<typename PointT >

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram	(	const pcl::PointCloud< PointT > &	cloud,
		int	hsize,
		const std::string &	id = `"cloud"`
	)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters

[in]	cloud	the PointCloud dataset containing the histogram
[in]	hsize	the length of the histogram
[in]	id	the point cloud object id (default: cloud)

Definition at line 140 of file histogram_visualizer.hpp.

References reCreateActor().

◆ updateWindowPositions()

void pcl::visualization::PCLHistogramVisualizer::updateWindowPositions ( )

Update all window positions on screen so that they fit.

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

pcl/visualization/histogram_visualizer.h
pcl/visualization/impl/histogram_visualizer.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PCLHistogramVisualizer()

◆ ~PCLHistogramVisualizer()

Member Function Documentation

◆ addFeatureHistogram() [1/4]

◆ addFeatureHistogram() [2/4]

◆ addFeatureHistogram() [3/4]

◆ addFeatureHistogram() [4/4]

◆ createActor()

◆ reCreateActor()

◆ setBackgroundColor()

◆ setGlobalYRange()

◆ spin()

◆ spinOnce()

◆ updateFeatureHistogram() [1/4]

◆ updateFeatureHistogram() [2/4]

◆ updateFeatureHistogram() [3/4]

◆ updateFeatureHistogram() [4/4]

◆ updateWindowPositions()