PCL Plotter main class. More...

#include <pcl/visualization/pcl_plotter.h>

Public Types
using	Ptr = shared_ptr< PCLPlotter >

using	ConstPtr = shared_ptr< const PCLPlotter >

using	PolynomialFunction = std::vector< double >
	A representation of polynomial function. More...

using	RationalFunction = std::pair< PolynomialFunction, PolynomialFunction >
	A representation of rational function, defined as the ratio of two polynomial functions. More...

Public Member Functions
	PCLPlotter (char const *name="PCL Plotter")
	PCL Plotter constructor. More...

	~PCLPlotter ()
	Destructor. More...

void	addPlotData (double const array_X, double const array_Y, unsigned long size, char const name="Y Axis", int type=vtkChart::LINE, char const color=nullptr)
	Adds a plot with correspondences in the arrays arrayX and arrayY. More...

void	addPlotData (std::vector< double > const &array_x, std::vector< double >const &array_y, char const *name="Y Axis", int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot with correspondences in vectors arrayX and arrayY. More...

void	addPlotData (std::vector< std::pair< double, double > > const &plot_data, char const *name="Y Axis", int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot with correspondences in vector of pairs. More...

void	addPlotData (PolynomialFunction const &p_function, double x_min, double x_max, char const *name="Y Axis", int num_points=100, int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot based on the given polynomial function and the range in X axis. More...

void	addPlotData (RationalFunction const &r_function, double x_min, double x_max, char const *name="Y Axis", int num_points=100, int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot based on the given rational function and the range in X axis. More...

void	addPlotData (double(function)(double), double x_min, double x_max, char const name="Y Axis", int num_points=100, int type=vtkChart::LINE, std::vector< char > const &color=std::vector< char >())
	Adds a plot based on a user defined callback function representing the function to plot. More...

void	addPlotData (char const *filename, int type=vtkChart::LINE)
	Adds a plot based on a space/tab delimited table provided in a file. More...

void	addHistogramData (std::vector< double > const &data, int const nbins=10, char const *name="Histogram", std::vector< char > const &color=std::vector< char >())
	Bins the elements in vector data into nbins equally spaced containers and plots the resulted histogram. 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...

void	plot ()
	Draws all the plots added by addPlotData() or addHistogramData() till now. More...

void	spinOnce (const int spin_time=1)
	Spins (runs the event loop) the interactor for spin_time amount of time. More...

void	spin ()
	Spins (runs the event loop) the interactor indefinitely. More...

void	clearPlots ()
	Remove all plots from the window. More...

void	setColorScheme (int scheme)
	Set method for the color scheme of the plot. More...

int	getColorScheme ()
	get the currently used color scheme More...

void	setBackgroundColor (const double r, const double g, const double b)
	set/get method for the viewport's background color. More...

void	setBackgroundColor (const double color[3])
	set/get method for the viewport's background color. More...

double *	getBackgroundColor ()
	set/get method for the viewport's background color. More...

void	setXRange (double min, double max)
	Set logical range of the X-Axis in plot coordinates. More...

void	setYRange (double min, double max)
	Set logical range of the Y-Axis in plot coordinates. More...

void	setTitle (const char *title)
	Set the main title of the plot. More...

void	setXTitle (const char *title)
	Set the title of the X-Axis. More...

void	setYTitle (const char *title)
	Set the title of the Y-Axis. More...

void	setShowLegend (bool flag)
	Shows the legend of the graph. More...

void	setWindowSize (int w, int h)
	set/get method for the window size. More...

void	setWindowPosition (int x, int y)
	Set the position in screen coordinates. More...

void	setWindowName (const std::string &name)
	Set the visualizer window name. More...

int *	getWindowSize () const
	set/get method for the window size. More...

vtkSmartPointer< vtkRenderWindow >	getRenderWindow ()
	Return a pointer to the underlying VTK RenderWindow used. More...

void	setViewInteractor (vtkSmartPointer< vtkRenderWindowInteractor > interactor)
	Set the view's interactor. More...

void	startInteractor ()
	Initialize and Start the view's interactor. More...

void	renderOnce ()
	Render the vtkWindow once. More...

bool	wasStopped () const
	Returns true when the user tried to close the window. More...

void	close ()
	Stop the interaction and close the visualization window. More...

Detailed Description

PCL Plotter main class.

Given point correspondences this class can be used to plot the data one against the other and display it on the screen. It also has methods for providing plot for important functions like histogram etc. Important functions of PCLHistogramVisualizer are redefined here so that this single class can take responsibility of all plotting related functionalities.

Author: Kripasindhu Sarkar

Definition at line 75 of file pcl_plotter.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 79 of file pcl_plotter.h.

◆ PolynomialFunction

using pcl::visualization::PCLPlotter::PolynomialFunction = std::vector<double>

A representation of polynomial function.

i'th element of the vector denotes the coefficient of x^i of the polynomial in variable x.

Definition at line 83 of file pcl_plotter.h.

◆ Ptr

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

Definition at line 78 of file pcl_plotter.h.

◆ RationalFunction

using pcl::visualization::PCLPlotter::RationalFunction = std::pair<PolynomialFunction, PolynomialFunction>

A representation of rational function, defined as the ratio of two polynomial functions.

pair::first denotes the numerator and pair::second denotes the denominator of the Rational function.

Definition at line 87 of file pcl_plotter.h.

Constructor & Destructor Documentation

◆ PCLPlotter()

pcl::visualization::PCLPlotter::PCLPlotter ( char const * name = "PCL Plotter" )

PCL Plotter constructor.

Parameters

[in] name Name of the window

◆ ~PCLPlotter()

pcl::visualization::PCLPlotter::~PCLPlotter ( )

Destructor.

Member Function Documentation

◆ addFeatureHistogram() [1/4]

bool pcl::visualization::PCLPlotter::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::PCLPlotter::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::PCLPlotter::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 69 of file pcl_plotter.hpp.

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

◆ addFeatureHistogram() [4/4]

template<typename PointT >

bool pcl::visualization::PCLPlotter::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 49 of file pcl_plotter.hpp.

References addPlotData(), and setWindowSize().

◆ addHistogramData()

void pcl::visualization::PCLPlotter::addHistogramData	(	std::vector< double > const &	data,
		int const	nbins = `10`,
		char const *	name = `"Histogram"`,
		std::vector< char > const &	color = `std::vector< char >()`
	)

Bins the elements in vector data into nbins equally spaced containers and plots the resulted histogram.

Parameters

[in]	data	the raw data
[in]	nbins	the number of bins for the histogram
[in]	name	name of this histogram which will appear on legends if toggled on
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or an empty vector is passed) the histogram is colored based on the current color scheme

◆ addPlotData() [1/7]

void pcl::visualization::PCLPlotter::addPlotData	(	char const *	filename,
		int	type = `vtkChart::LINE`
	)

Adds a plot based on a space/tab delimited table provided in a file.

Parameters

[in]	filename	name of the file containing the table. 1st column represents the values of X-Axis. Rest of the columns represent the corresponding values in Y-Axes. First row of the file is considered for naming/labeling of the plot. The plot-names should not contain any space in between.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot

◆ addPlotData() [2/7]

void pcl::visualization::PCLPlotter::addPlotData	(	double const *	array_X,
		double const *	array_Y,
		unsigned long	size,
		char const *	name = `"Y Axis"`,
		int	type = `vtkChart::LINE`,
		char const *	color = `nullptr`
	)

Adds a plot with correspondences in the arrays arrayX and arrayY.

Parameters

[in]	array_X	X coordinates of point correspondence array
[in]	array_Y	Y coordinates of point correspondence array
[in]	size	length of the array arrayX and arrayY
[in]	name	name of the plot which appears in the legend when toggled on
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

Referenced by addFeatureHistogram().

◆ addPlotData() [3/7]

void pcl::visualization::PCLPlotter::addPlotData	(	double(*)(double)	function,
		double	x_min,
		double	x_max,
		char const *	name = `"Y Axis"`,
		int	num_points = `100`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector< char >()`
	)

Adds a plot based on a user defined callback function representing the function to plot.

Parameters

[in]	function	a user defined callback function representing the relation y = function(x)
[in]	x_min	the left boundary of the range for displaying the plot
[in]	x_max	the right boundary of the range for displaying the plot
[in]	name	name of the plot which appears in the legend when toggled on
[in]	num_points	Number of points plotted to show the graph. More this number, more is the resolution.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

◆ addPlotData() [4/7]

void pcl::visualization::PCLPlotter::addPlotData	(	PolynomialFunction const &	p_function,
		double	x_min,
		double	x_max,
		char const *	name = `"Y Axis"`,
		int	num_points = `100`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector< char >()`
	)

Adds a plot based on the given polynomial function and the range in X axis.

Parameters

[in]	p_function	A polynomial function which is represented by a vector which stores the coefficients. See description on the typedef.
[in]	x_min	the left boundary of the range for displaying the plot
[in]	x_max	the right boundary of the range for displaying the plot
[in]	name	name of the plot which appears in the legend when toggled on
[in]	num_points	Number of points plotted to show the graph. More this number, more is the resolution.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

◆ addPlotData() [5/7]

void pcl::visualization::PCLPlotter::addPlotData	(	RationalFunction const &	r_function,
		double	x_min,
		double	x_max,
		char const *	name = `"Y Axis"`,
		int	num_points = `100`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector< char >()`
	)

Adds a plot based on the given rational function and the range in X axis.

Parameters

[in]	r_function	A rational function which is represented by the ratio of two polynomial functions. See description on the typedef for more details.
[in]	x_min	the left boundary of the range for displaying the plot
[in]	x_max	the right boundary of the range for displaying the plot
[in]	name	name of the plot which appears in the legend when toggled on
[in]	num_points	Number of points plotted to show the graph. More this number, more is the resolution.
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

◆ addPlotData() [6/7]

void pcl::visualization::PCLPlotter::addPlotData	(	std::vector< double > const &	array_x,
		std::vector< double >const &	array_y,
		char const *	name = `"Y Axis"`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector< char >()`
	)

Adds a plot with correspondences in vectors arrayX and arrayY.

This is the vector version of the addPlotData function.

Parameters

[in]	array_x	X coordinates of point correspondence array
[in]	array_y	Y coordinates of point correspondence array
[in]	name	name of the plot which appears in the legend when toggled on
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

◆ addPlotData() [7/7]

void pcl::visualization::PCLPlotter::addPlotData	(	std::vector< std::pair< double, double > > const &	plot_data,
		char const *	name = `"Y Axis"`,
		int	type = `vtkChart::LINE`,
		std::vector< char > const &	color = `std::vector< char >()`
	)

Adds a plot with correspondences in vector of pairs.

The the first and second field of the pairs of the vector forms the correspondence.

Parameters

	plot_data
[in]	name	name of the plot which appears in the legend when toggled on
[in]	type	type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
[in]	color	a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme

◆ clearPlots()

void pcl::visualization::PCLPlotter::clearPlots ( )

Remove all plots from the window.

◆ close()

void pcl::visualization::PCLPlotter::close ( )

Stop the interaction and close the visualization window.

◆ getBackgroundColor()

double* pcl::visualization::PCLPlotter::getBackgroundColor ( )

set/get method for the viewport's background color.

Returns: [out] color the array containing the 3 component of the RGB color

◆ getColorScheme()

int pcl::visualization::PCLPlotter::getColorScheme ( )

get the currently used color scheme

Returns: [out] the currently used color scheme. Values include WARM, COOL, BLUES, WILD_FLOWER, CITRUS, CUSTOM

◆ getRenderWindow()

vtkSmartPointer<vtkRenderWindow> pcl::visualization::PCLPlotter::getRenderWindow ( )

Return a pointer to the underlying VTK RenderWindow used.

◆ getWindowSize()

int* pcl::visualization::PCLPlotter::getWindowSize ( ) const

set/get method for the window size.

Returns: [in] array containing the width and height of the window

◆ plot()

void pcl::visualization::PCLPlotter::plot ( )

Draws all the plots added by addPlotData() or addHistogramData() till now.

◆ renderOnce()

void pcl::visualization::PCLPlotter::renderOnce ( )

Render the vtkWindow once.

◆ setBackgroundColor() [1/2]

void pcl::visualization::PCLPlotter::setBackgroundColor ( const double color[3] )

set/get method for the viewport's background color.

Parameters

[in] color the array containing the 3 component of the RGB color

◆ setBackgroundColor() [2/2]

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

set/get method for 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

◆ setColorScheme()

void pcl::visualization::PCLPlotter::setColorScheme ( int scheme )

Set method for the color scheme of the plot.

The plots gets autocolored differently based on the color scheme.

Parameters

[in] scheme the color scheme. Possible values are vtkColorSeries::SPECTRUM, vtkColorSeries::WARM, vtkColorSeries::COOL, vtkColorSeries::BLUES, vtkColorSeries::WILD_FLOWER, vtkColorSeries::CITRUS

◆ setShowLegend()

void pcl::visualization::PCLPlotter::setShowLegend ( bool flag )

Shows the legend of the graph.

Parameters

[in] flag pass flag = true for the display of the legend of the graph

◆ setTitle()

void pcl::visualization::PCLPlotter::setTitle ( const char * title )

Set the main title of the plot.

Parameters

[in] title the title to set

◆ setViewInteractor()

void pcl::visualization::PCLPlotter::setViewInteractor ( vtkSmartPointer< vtkRenderWindowInteractor > interactor )

Set the view's interactor.

◆ setWindowName()

void pcl::visualization::PCLPlotter::setWindowName ( const std::string & name )

Set the visualizer window name.

Parameters

[in] name the name of the window

◆ setWindowPosition()

void pcl::visualization::PCLPlotter::setWindowPosition	(	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)

◆ setWindowSize()

void pcl::visualization::PCLPlotter::setWindowSize	(	int	w,
		int	h
	)

set/get method for the window size.

Parameters

[in]	w	the width of the window
[in]	h	the height of the window

Referenced by addFeatureHistogram().

◆ setXRange()

void pcl::visualization::PCLPlotter::setXRange	(	double	min,
		double	max
	)

Set logical range of the X-Axis in plot coordinates.

Parameters

[in]	min	the left boundary of the range
[in]	max	the right boundary of the range

◆ setXTitle()

void pcl::visualization::PCLPlotter::setXTitle ( const char * title )

Set the title of the X-Axis.

Parameters

[in] title the title to set

◆ setYRange()

void pcl::visualization::PCLPlotter::setYRange	(	double	min,
		double	max
	)

Set logical range of the Y-Axis in plot coordinates.

Parameters

[in]	min	the left boundary of the range
[in]	max	the right boundary of the range

◆ setYTitle()

void pcl::visualization::PCLPlotter::setYTitle ( const char * title )

Set the title of the Y-Axis.

Parameters

[in] title the title to set

◆ spin()

void pcl::visualization::PCLPlotter::spin ( )

Spins (runs the event loop) the interactor indefinitely.

Same as plot() - added to retain the similarity between other existing visualization classes.

◆ spinOnce()

void pcl::visualization::PCLPlotter::spinOnce ( const int spin_time = 1 )

Spins (runs the event loop) the interactor for spin_time amount of time.

The name is confusing and will be probably obsolete in the future release with a single overloaded spin()/display() function.

Parameters

[in] spin_time - How long (in ms) should the visualization loop be allowed to run.

◆ startInteractor()

void pcl::visualization::PCLPlotter::startInteractor ( )

Initialize and Start the view's interactor.

◆ wasStopped()

bool pcl::visualization::PCLPlotter::wasStopped ( ) const

Returns true when the user tried to close the window.

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

pcl/visualization/pcl_plotter.h
pcl/visualization/impl/pcl_plotter.hpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PolynomialFunction

◆ Ptr

◆ RationalFunction

Constructor & Destructor Documentation

◆ PCLPlotter()

◆ ~PCLPlotter()

Member Function Documentation

◆ addFeatureHistogram() [1/4]

◆ addFeatureHistogram() [2/4]

◆ addFeatureHistogram() [3/4]

◆ addFeatureHistogram() [4/4]

◆ addHistogramData()

◆ addPlotData() [1/7]

◆ addPlotData() [2/7]

◆ addPlotData() [3/7]

◆ addPlotData() [4/7]

◆ addPlotData() [5/7]

◆ addPlotData() [6/7]

◆ addPlotData() [7/7]

◆ clearPlots()

◆ close()

◆ getBackgroundColor()

◆ getColorScheme()

◆ getRenderWindow()

◆ getWindowSize()

◆ plot()

◆ renderOnce()

◆ setBackgroundColor() [1/2]

◆ setBackgroundColor() [2/2]

◆ setColorScheme()

◆ setShowLegend()

◆ setTitle()

◆ setViewInteractor()

◆ setWindowName()

◆ setWindowPosition()

◆ setWindowSize()

◆ setXRange()

◆ setXTitle()

◆ setYRange()

◆ setYTitle()

◆ spin()

◆ spinOnce()

◆ startInteractor()

◆ wasStopped()