PCL Visualizer main class. More...

#include <pcl/visualization/pcl_visualizer.h>

Collaboration diagram for pcl::visualization::PCLVisualizer:

Public Types
using	Ptr = shared_ptr< PCLVisualizer >

using	ConstPtr = shared_ptr< const PCLVisualizer >

using	GeometryHandler = PointCloudGeometryHandler< pcl::PCLPointCloud2 >

using	GeometryHandlerPtr = GeometryHandler::Ptr

using	GeometryHandlerConstPtr = GeometryHandler::ConstPtr

using	ColorHandler = PointCloudColorHandler< pcl::PCLPointCloud2 >

using	ColorHandlerPtr = ColorHandler::Ptr

using	ColorHandlerConstPtr = ColorHandler::ConstPtr

Public Member Functions
	PCLVisualizer (const std::string &name="", const bool create_interactor=true)
	PCL Visualizer constructor. More...

	PCLVisualizer (int &argc, char *argv, const std::string &name="", PCLVisualizerInteractorStyle style=PCLVisualizerInteractorStyle::New(), const bool create_interactor=true)
	PCL Visualizer constructor. More...

	PCLVisualizer (vtkSmartPointer< vtkRenderer > ren, vtkSmartPointer< vtkRenderWindow > wind, const std::string &name="", const bool create_interactor=true)
	PCL Visualizer constructor. More...

	PCLVisualizer (int &argc, char *argv, vtkSmartPointer< vtkRenderer > ren, vtkSmartPointer< vtkRenderWindow > wind, const std::string &name="", PCLVisualizerInteractorStyle style=PCLVisualizerInteractorStyle::New(), const bool create_interactor=true)
	PCL Visualizer constructor. More...

virtual	~PCLVisualizer ()
	PCL Visualizer destructor. More...

void	setFullScreen (bool mode)
	Enables/Disabled the underlying window mode to full screen. More...

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

void	setWindowBorders (bool mode)
	Enables or disable the underlying window borders. More...

boost::signals2::connection	registerKeyboardCallback (std::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback std::function for keyboard events. More...

boost::signals2::connection	registerKeyboardCallback (void(callback)(const pcl::visualization::KeyboardEvent &, void ), void *cookie=nullptr)
	Register a callback function for keyboard events. More...

template<typename T >
boost::signals2::connection	registerKeyboardCallback (void(T::callback)(const pcl::visualization::KeyboardEvent &, void ), T &instance, void *cookie=nullptr)
	Register a callback function for keyboard events. More...

boost::signals2::connection	registerMouseCallback (std::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register a callback function for mouse events. More...

boost::signals2::connection	registerMouseCallback (void(callback)(const pcl::visualization::MouseEvent &, void ), void *cookie=nullptr)
	Register a callback function for mouse events. More...

template<typename T >
boost::signals2::connection	registerMouseCallback (void(T::callback)(const pcl::visualization::MouseEvent &, void ), T &instance, void *cookie=nullptr)
	Register a callback function for mouse events. More...

boost::signals2::connection	registerPointPickingCallback (std::function< void(const pcl::visualization::PointPickingEvent &)> cb)
	Register a callback function for point picking events. More...

boost::signals2::connection	registerPointPickingCallback (void(callback)(const pcl::visualization::PointPickingEvent &, void ), void *cookie=nullptr)
	Register a callback function for point picking events. More...

template<typename T >
boost::signals2::connection	registerPointPickingCallback (void(T::callback)(const pcl::visualization::PointPickingEvent &, void ), T &instance, void *cookie=nullptr)
	Register a callback function for point picking events. More...

boost::signals2::connection	registerAreaPickingCallback (std::function< void(const pcl::visualization::AreaPickingEvent &)> cb)
	Register a callback function for area picking events. More...

boost::signals2::connection	registerAreaPickingCallback (void(callback)(const pcl::visualization::AreaPickingEvent &, void ), void *cookie=nullptr)
	Register a callback function for area picking events. More...

template<typename T >
boost::signals2::connection	registerAreaPickingCallback (void(T::callback)(const pcl::visualization::AreaPickingEvent &, void ), T &instance, void *cookie=nullptr)
	Register a callback function for area picking events. More...

void	spin ()
	Spin method. More...

void	spinOnce (int time=1, bool force_redraw=false)
	Spin once method. More...

void	addOrientationMarkerWidgetAxes (vtkRenderWindowInteractor *interactor)
	Adds a widget which shows an interactive axes display for orientation. More...

void	removeOrientationMarkerWidgetAxes ()
	Disables the Orientatation Marker Widget so it is removed from the renderer. More...

void	addCoordinateSystem (double scale=1.0, const std::string &id="reference", int viewport=0)
	Adds 3D axes describing a coordinate system to screen at 0,0,0. More...

void	addCoordinateSystem (double scale, float x, float y, float z, const std::string &id="reference", int viewport=0)
	Adds 3D axes describing a coordinate system to screen at x, y, z. More...

void	addCoordinateSystem (double scale, const Eigen::Affine3f &t, const std::string &id="reference", int viewport=0)
	Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw. More...

bool	removeCoordinateSystem (const std::string &id="reference", int viewport=0)
	Removes a previously added 3D axes (coordinate system) More...

bool	removePointCloud (const std::string &id="cloud", int viewport=0)
	Removes a Point Cloud from screen, based on a given ID. More...

bool	removePolygonMesh (const std::string &id="polygon", int viewport=0)
	Removes a PolygonMesh from screen, based on a given ID. More...

bool	removeShape (const std::string &id="cloud", int viewport=0)
	Removes an added shape from screen (line, polygon, etc.), based on a given ID. More...

bool	removeText3D (const std::string &id="cloud", int viewport=0)
	Removes an added 3D text from the scene, based on a given ID. More...

bool	removeAllPointClouds (int viewport=0)
	Remove all point cloud data on screen from the given viewport. More...

bool	removeAllShapes (int viewport=0)
	Remove all 3D shape data on screen from the given viewport. More...

bool	removeAllCoordinateSystems (int viewport=0)
	Removes all existing 3D axes (coordinate systems) More...

void	setBackgroundColor (const double &r, const double &g, const double &b, int viewport=0)
	Set the viewport's background color. More...

bool	addText (const std::string &text, int xpos, int ypos, const std::string &id="", int viewport=0)
	Add a text to screen. More...

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. More...

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. More...

bool	updateText (const std::string &text, int xpos, int ypos, const std::string &id="")
	Update a text to screen. More...

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. More...

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. More...

bool	updateShapePose (const std::string &id, const Eigen::Affine3f &pose)
	Set the pose of an existing shape. More...

bool	updateCoordinateSystemPose (const std::string &id, const Eigen::Affine3f &pose)
	Set the pose of an existing coordinate system. More...

bool	updatePointCloudPose (const std::string &id, const Eigen::Affine3f &pose)
	Set the pose of an existing point cloud. More...

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. More...

template<typename PointT >
bool	addText3D (const std::string &text, const PointT &position, double orientation[3], 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. More...

bool	contains (const std::string &id) const
	Check if the cloud, shape, or coordinate with the given id was already added to this visualizer. More...

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. More...

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. More...

template<typename PointNT >
bool	addPointCloudPrincipalCurvatures (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, const typename 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. More...

template<typename PointT , typename PointNT >
bool	addPointCloudPrincipalCurvatures (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const typename pcl::PointCloud< PointNT >::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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZ Point Cloud to screen. More...

bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZRGB Point Cloud to screen. More...

bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZRGBA Point Cloud to screen. More...

bool	addPointCloud (const pcl::PointCloud< pcl::PointXYZL >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)
	Add a PointXYZL Point Cloud to screen. More...

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. More...

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. More...

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. More...

bool	updatePointCloud (const pcl::PointCloud< pcl::PointXYZL >::ConstPtr &cloud, const std::string &id="cloud")
	Updates the XYZL data for an existing cloud object id on screen. More...

bool	addPolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polygon", int viewport=0)
	Add a PolygonMesh object to screen. More...

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. More...

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. More...

bool	updatePolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polygon")
	Update a PolygonMesh object on screen. More...

bool	addPolylineFromPolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polyline", int viewport=0)
	Add a Polygonline from a polygonMesh object to screen. More...

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. More...

bool	addTextureMesh (const pcl::TextureMesh &polymesh, const std::string &id="texture", int viewport=0)
	Add a TextureMesh object to screen. More...

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, bool overwrite=false)
	Add the specified correspondences to the display. More...

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. More...

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", int viewport=0)
	Update the specified correspondences to the display. More...

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, const std::string &id="correspondences", int viewport=0)
	Update the specified correspondences to the display. More...

void	removeCorrespondences (const std::string &id="correspondences", int viewport=0)
	Remove the specified correspondences from the display. More...

int	getColorHandlerIndex (const std::string &id)
	Get the color handler index of a rendered PointCloud based on its ID. More...

int	getGeometryHandlerIndex (const std::string &id)
	Get the geometry handler index of a rendered PointCloud based on its ID. More...

bool	updateColorHandlerIndex (const std::string &id, int index)
	Update/set the color index of a rendered PointCloud based on its ID. More...

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) More...

bool	setPointCloudRenderingProperties (int property, double val1, double val2, const std::string &id="cloud", int viewport=0)
	Set the rendering properties of a PointCloud (2x values - e.g., LUT minmax values) More...

bool	setPointCloudRenderingProperties (int property, double value, const std::string &id="cloud", int viewport=0)
	Set the rendering properties of a PointCloud. More...

bool	getPointCloudRenderingProperties (int property, double &value, const std::string &id="cloud")
	Get the rendering properties of a PointCloud. More...

bool	getPointCloudRenderingProperties (RenderingProperties property, double &val1, double &val2, double &val3, const std::string &id="cloud")
	Get the rendering properties of a PointCloud. More...

bool	setPointCloudSelected (const bool selected, const std::string &id="cloud")
	Set whether the point cloud is selected or not. More...

bool	setShapeRenderingProperties (int property, double value, const std::string &id, int viewport=0)
	Set the rendering properties of a shape. More...

bool	setShapeRenderingProperties (int property, double val1, double val2, const std::string &id, int viewport=0)
	Set the rendering properties of a shape (2x values - e.g., LUT minmax values) More...

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) More...

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

void	resetStoppedFlag ()
	Set the stopped flag back to false. More...

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

void	createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport)
	Create a new viewport from [xmin,ymin] -> [xmax,ymax]. More...

void	createViewPortCamera (const int viewport)
	Create a new separate camera for the given viewport. More...

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) More...

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) More...

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) More...

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. More...

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. More...

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. More...

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 (optionally) display the distance between them. More...

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. More...

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. More...

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. More...

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. More...

bool	addModelFromPolyData (vtkSmartPointer< vtkPolyData > polydata, const std::string &id="PolyData", int viewport=0)
	Add a vtkPolydata as a mesh. More...

bool	addModelFromPolyData (vtkSmartPointer< vtkPolyData > polydata, vtkSmartPointer< vtkTransform > transform, const std::string &id="PolyData", int viewport=0)
	Add a vtkPolydata as a mesh. More...

bool	addModelFromPLYFile (const std::string &filename, const std::string &id="PLYModel", int viewport=0)
	Add a PLYmodel as a mesh. More...

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. More...

bool	addCylinder (const pcl::ModelCoefficients &coefficients, const std::string &id="cylinder", int viewport=0)
	Add a cylinder from a set of given model coefficients. More...

bool	addSphere (const pcl::ModelCoefficients &coefficients, const std::string &id="sphere", int viewport=0)
	Add a sphere from a set of given model coefficients. More...

bool	addLine (const pcl::ModelCoefficients &coefficients, const std::string &id="line", int viewport=0)
	Add a line from a set of given model coefficients. More...

bool	addLine (const pcl::ModelCoefficients &coefficients, const char *id="line", int viewport=0)
	Add a line from a set of given model coefficients. More...

bool	addPlane (const pcl::ModelCoefficients &coefficients, const std::string &id="plane", int viewport=0)
	Add a plane from a set of given model coefficients. More...

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. More...

bool	addCone (const pcl::ModelCoefficients &coefficients, const std::string &id="cone", int viewport=0)
	Add a cone from a set of given model coefficients. More...

bool	addCube (const pcl::ModelCoefficients &coefficients, const std::string &id="cube", int viewport=0)
	Add a cube from a set of given model coefficients. More...

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. More...

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. More...

bool	addEllipsoid (const Eigen::Isometry3d &transform, double radius_x, double radius_y, double radius_z, const std::string &id="ellipsoid", int viewport=0)
	Add an ellipsoid from the given parameters. More...

void	enableEDLRendering (int viewport=0)
	Eye-Dome Lighting makes dark areas to improve depth perception See https://www.kitware.com/eye-dome-lighting-a-non-photorealistic-shading-technique/ It is applied to all actors, including texts. More...

void	setRepresentationToSurfaceForAllActors ()
	Changes the visual representation for all actors to surface representation. More...

void	setRepresentationToPointsForAllActors ()
	Changes the visual representation for all actors to points representation. More...

void	setRepresentationToWireframeForAllActors ()
	Changes the visual representation for all actors to wireframe representation. More...

void	setShowFPS (bool show_fps)
	Sets whether the 2D overlay text showing the framerate of the window is displayed or not. More...

float	getFPS () const
	Get the current rendering framerate. More...

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. More...

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. More...

void	initCameraParameters ()
	Initialize camera parameters with some default values. More...

bool	getCameraParameters (int argc, char **argv)
	Search for camera parameters at the command line and set them internally. More...

bool	loadCameraParameters (const std::string &file)
	Load camera parameters from a camera parameters file. More...

bool	cameraParamsSet () const
	Checks whether the camera parameters were manually loaded. More...

bool	cameraFileLoaded () const
	Checks whether a camera file were automatically loaded. More...

std::string	getCameraFile () const
	Get camera file for camera parameter saving/restoring. More...

void	resetCamera ()
	Reset camera parameters and render. More...

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. More...

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. More...

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. More...

void	setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport=0)
	Set the camera parameters via an intrinsics and and extrinsics matrix. More...

void	setCameraParameters (const Camera &camera, int viewport=0)
	Set the camera parameters by given a full camera data structure. More...

void	setCameraClipDistances (double near, double far, int viewport=0)
	Set the camera clipping distances. More...

void	setCameraFieldOfView (double fovy, int viewport=0)
	Set the camera vertical field of view. More...

void	getCameras (std::vector< Camera > &cameras)
	Get the current camera parameters. More...

Eigen::Affine3f	getViewerPose (int viewport=0)
	Get the current viewing pose. More...

void	saveScreenshot (const std::string &file)
	Save the current rendered image to disk, as a PNG screenshot. More...

void	saveCameraParameters (const std::string &file)
	Save the camera parameters to disk, as a .cam file. More...

void	getCameraParameters (Camera &camera, int viewport=0) const
	Get camera parameters of a given viewport (0 means default viewport). More...

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

vtkSmartPointer< vtkRendererCollection >	getRendererCollection ()
	Return a pointer to the underlying VTK Renderer Collection. More...

CloudActorMapPtr	getCloudActorMap ()
	Return a pointer to the CloudActorMap this visualizer uses. More...

ShapeActorMapPtr	getShapeActorMap ()
	Return a pointer to the ShapeActorMap this visualizer uses. More...

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

void	setSize (int xw, int yw)
	Set the window size in screen coordinates. More...

void	setUseVbos (bool use_vbos)
	Use Vertex Buffer Objects renderers. More...

void	setLookUpTableID (const std::string id)
	Set the ID of a cloud or shape to be used for LUT display. More...

void	createInteractor ()
	Create the internal Interactor object. More...

void	setupInteractor (vtkRenderWindowInteractor iren, vtkRenderWindow win)
	Set up our unique PCL interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow. More...

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. More...

vtkSmartPointer< PCLVisualizerInteractorStyle >	getInteractorStyle ()
	Get a pointer to the current interactor style used. More...

template<typename PointNT >
bool	addPointCloudPrincipalCurvatures (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &pcs, int level, float scale, const std::string &id, int viewport)

Static Public Member Functions
static void	convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix)
	Convert Eigen::Matrix4f to vtkMatrix4x4. More...

static void	convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion< float > &orientation, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix)
	Convert origin and orientation to vtkMatrix4x4. More...

static void	convertToEigenMatrix (const vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix, Eigen::Matrix4f &m)
	Convert vtkMatrix4x4 to an Eigen4f. More...

Protected Attributes
vtkSmartPointer< vtkRenderWindowInteractor >	interactor_
	The render window interactor. More...

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 93 of file pcl_visualizer.h.

Member Typedef Documentation

◆ ColorHandler

using pcl::visualization::PCLVisualizer::ColorHandler = PointCloudColorHandler<pcl::PCLPointCloud2>

Definition at line 103 of file pcl_visualizer.h.

◆ ColorHandlerConstPtr

using pcl::visualization::PCLVisualizer::ColorHandlerConstPtr = ColorHandler::ConstPtr

Definition at line 105 of file pcl_visualizer.h.

◆ ColorHandlerPtr

using pcl::visualization::PCLVisualizer::ColorHandlerPtr = ColorHandler::Ptr

Definition at line 104 of file pcl_visualizer.h.

◆ ConstPtr

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

Definition at line 97 of file pcl_visualizer.h.

◆ GeometryHandler

using pcl::visualization::PCLVisualizer::GeometryHandler = PointCloudGeometryHandler<pcl::PCLPointCloud2>

Definition at line 99 of file pcl_visualizer.h.

◆ GeometryHandlerConstPtr

using pcl::visualization::PCLVisualizer::GeometryHandlerConstPtr = GeometryHandler::ConstPtr

Definition at line 101 of file pcl_visualizer.h.

◆ GeometryHandlerPtr

using pcl::visualization::PCLVisualizer::GeometryHandlerPtr = GeometryHandler::Ptr

Definition at line 100 of file pcl_visualizer.h.

◆ Ptr

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

Definition at line 96 of file pcl_visualizer.h.

Constructor & Destructor Documentation

◆ PCLVisualizer() [1/4]

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

◆ PCLVisualizer() [2/4]

pcl::visualization::PCLVisualizer::PCLVisualizer	(	int &	argc,
		char **	argv,
		const std::string &	name = `""`,
		PCLVisualizerInteractorStyle *	style = `PCLVisualizerInteractorStyle::New()`,
		const bool	create_interactor = `true`
	)

PCL Visualizer constructor.

It looks through the passed argv arguments to find the "-cam *.cam" argument. If the search failed, the name for cam file is calculated with boost uuid. If there is no such file, camera is not initialized.

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

◆ PCLVisualizer() [3/4]

pcl::visualization::PCLVisualizer::PCLVisualizer	(	vtkSmartPointer< vtkRenderer >	ren,
		vtkSmartPointer< vtkRenderWindow >	wind,
		const std::string &	name = `""`,
		const bool	create_interactor = `true`
	)

PCL Visualizer constructor.

Parameters

[in]	ren	custom vtk renderer
[in]	wind	custom vtk render window
[in]	create_interactor	if true (default), create an interactor, false otherwise

◆ PCLVisualizer() [4/4]

pcl::visualization::PCLVisualizer::PCLVisualizer	(	int &	argc,
		char **	argv,
		vtkSmartPointer< vtkRenderer >	ren,
		vtkSmartPointer< vtkRenderWindow >	wind,
		const std::string &	name = `""`,
		PCLVisualizerInteractorStyle *	style = `PCLVisualizerInteractorStyle::New()`,
		const bool	create_interactor = `true`
	)

PCL Visualizer constructor.

Parameters

[in]	argc
[in]	argv
[in]	ren	custom vtk renderer
[in]	wind	custom vtk render window
[in]	style	interactor style (defaults to PCLVisualizerInteractorStyle)
[in]	create_interactor	if true (default), create an interactor, false otherwise

◆ ~PCLVisualizer()

virtual pcl::visualization::PCLVisualizer::~PCLVisualizer ( )

virtual

PCL Visualizer destructor.

Member Function Documentation

◆ addArrow() [1/3]

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`
	)

Add a line arrow segment between two points, and (optionally) display the distance between them.

Arrow head is attached on the start point (pt1) of the arrow.

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 540 of file pcl_visualizer.hpp.

◆ addArrow() [2/3]

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`
	)

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

Arrow heads are attached to both end points of the arrow.

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 513 of file pcl_visualizer.hpp.

◆ addArrow() [3/3]

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`
	)

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

Arrow heads are attached to both end points of the arrow.

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 570 of file pcl_visualizer.hpp.

◆ addCircle()

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);

◆ addCone()

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 (see pcl::visualization::createCone)
[in]	id	the cone id/name (default: "cone")
[in]	viewport	(optional) the id of the new viewport (default: 0)

◆ addCoordinateSystem() [1/3]

void pcl::visualization::PCLVisualizer::addCoordinateSystem	(	double	scale,
		const Eigen::Affine3f &	t,
		const std::string &	id = `"reference"`,
		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]	id	the coordinate system object id (default: reference)
[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

◆ addCoordinateSystem() [2/3]

void pcl::visualization::PCLVisualizer::addCoordinateSystem	(	double	scale,
		float	x,
		float	y,
		float	z,
		const std::string &	id = `"reference"`,
		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]	id	the coordinate system object id (default: reference)
[in]	viewport	the view port where the 3D axes should be added (default: all)

◆ addCoordinateSystem() [3/3]

void pcl::visualization::PCLVisualizer::addCoordinateSystem	(	double	scale = `1.0`,
		const std::string &	id = `"reference"`,
		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]	id	the coordinate system object id (default: reference)
[in]	viewport	the view port where the 3D axes should be added (default: all)

◆ addCorrespondences() [1/3]

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 1072 of file pcl_visualizer.h.

◆ addCorrespondences() [2/3]

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`,
		bool	overwrite = `false`
	)

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)
[in]	overwrite	allow to overwrite already existing correspondences

Definition at line 1198 of file pcl_visualizer.hpp.

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

◆ addCorrespondences() [3/3]

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`
	)

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 1175 of file pcl_visualizer.hpp.

◆ addCube() [1/3]

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)

◆ addCube() [2/3]

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 (see pcl::visualization::createCube)
[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().

◆ addCube() [3/3]

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)

◆ addCylinder()

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);

◆ addEllipsoid()

bool pcl::visualization::PCLVisualizer::addEllipsoid	(	const Eigen::Isometry3d &	transform,
		double	radius_x,
		double	radius_y,
		double	radius_z,
		const std::string &	id = `"ellipsoid"`,
		int	viewport = `0`
	)

Add an ellipsoid from the given parameters.

Parameters

[in]	transform	a transformation to apply to the ellipsoid from 0,0,0
[in]	radius_x	the ellipsoid's radius along its local x-axis
[in]	radius_y	the ellipsoid's radius along its local y-axis
[in]	radius_z	the ellipsoid's radius along its local z-axis
[in]	id	the ellipsoid id/name (default: "ellipsoid")
[in]	viewport	(optional) the id of the new viewport (default: 0)

◆ addLine() [1/4]

template<typename P1 , typename P2 >

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

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 602 of file pcl_visualizer.hpp.

◆ addLine() [2/4]

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`
	)

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 488 of file pcl_visualizer.hpp.

References pcl::visualization::createLine().

◆ addLine() [3/4]

bool pcl::visualization::PCLVisualizer::addLine	(	const pcl::ModelCoefficients &	coefficients,
		const char *	id = `"line"`,
		int	viewport = `0`
	)

inline

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);

Definition at line 1587 of file pcl_visualizer.h.

◆ addLine() [4/4]

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);

◆ addModelFromPLYFile() [1/2]

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)

◆ addModelFromPLYFile() [2/2]

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)

◆ addModelFromPolyData() [1/2]

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)

◆ addModelFromPolyData() [2/2]

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)

◆ addOrientationMarkerWidgetAxes()

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

◆ addPlane() [1/2]

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);

◆ addPlane() [2/2]

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

◆ addPointCloud() [1/14]

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)

◆ addPointCloud() [2/14]

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)

◆ addPointCloud() [3/14]

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)

◆ addPointCloud() [4/14]

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 873 of file pcl_visualizer.h.

◆ addPointCloud() [5/14]

bool pcl::visualization::PCLVisualizer::addPointCloud	(	const pcl::PointCloud< pcl::PointXYZL >::ConstPtr &	cloud,
		const std::string &	id = `"cloud"`,
		int	viewport = `0`
	)

inline

Add a PointXYZL 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 912 of file pcl_visualizer.h.

◆ addPointCloud() [6/14]

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 886 of file pcl_visualizer.h.

◆ addPointCloud() [7/14]

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 899 of file pcl_visualizer.h.

◆ addPointCloud() [8/14]

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`
	)

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 153 of file pcl_visualizer.hpp.

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

◆ addPointCloud() [9/14]

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`
	)

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 174 of file pcl_visualizer.hpp.

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

◆ addPointCloud() [10/14]

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`
	)

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 110 of file pcl_visualizer.hpp.

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

◆ addPointCloud() [11/14]

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`
	)

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 195 of file pcl_visualizer.hpp.

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

◆ addPointCloud() [12/14]

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`
	)

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 131 of file pcl_visualizer.hpp.

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

◆ addPointCloud() [13/14]

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`
	)

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 88 of file pcl_visualizer.hpp.

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

◆ addPointCloud() [14/14]

template<typename PointT >

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

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 77 of file pcl_visualizer.hpp.

◆ addPointCloudIntensityGradients()

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`
	)

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 1103 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::size().

◆ addPointCloudNormals() [1/2]

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`
	)

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 850 of file pcl_visualizer.hpp.

◆ addPointCloudNormals() [2/2]

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`
	)

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 859 of file pcl_visualizer.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::isNormalFinite(), pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ addPointCloudPrincipalCurvatures() [1/3]

template<typename PointNT >

bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures	(	const typename pcl::PointCloud< PointNT >::ConstPtr &	cloud,
		const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &	pcs,
		int	level,
		float	scale,
		const std::string &	id,
		int	viewport
	)

Definition at line 988 of file pcl_visualizer.hpp.

◆ addPointCloudPrincipalCurvatures() [2/3]

template<typename PointNT >

bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures	(	const typename pcl::PointCloud< PointNT >::ConstPtr &	cloud,
		const typename 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 and normals
[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)

◆ addPointCloudPrincipalCurvatures() [3/3]

template<typename PointT , typename PointNT >

bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const typename pcl::PointCloud< PointNT >::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)

Definition at line 999 of file pcl_visualizer.hpp.

References pcl::visualization::CloudActor::actor, pcl::console::print_error(), and pcl::PointCloud< PointT >::size().

◆ addPolygon() [1/3]

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`
	)

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 424 of file pcl_visualizer.hpp.

◆ addPolygon() [2/3]

template<typename PointT >

bool pcl::visualization::PCLVisualizer::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)

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 479 of file pcl_visualizer.hpp.

◆ addPolygon() [3/3]

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`
	)

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 370 of file pcl_visualizer.hpp.

◆ addPolygonMesh() [1/2]

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)

◆ addPolygonMesh() [2/2]

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`
	)

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 1630 of file pcl_visualizer.hpp.

References pcl::visualization::allocVtkUnstructuredGrid(), pcl::visualization::details::fillCells(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::size().

◆ addPolylineFromPolygonMesh()

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)

◆ addSphere() [1/3]

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);

◆ addSphere() [2/3]

template<typename PointT >

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

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 648 of file pcl_visualizer.hpp.

◆ addSphere() [3/3]

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`
	)

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 609 of file pcl_visualizer.hpp.

◆ addText() [1/3]

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)

◆ addText() [2/3]

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 value
[in]	id	the text object id (default: equal to the "text" parameter)
[in]	viewport	the view port (default: all)

◆ addText() [3/3]

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 value
[in]	id	the text object id (default: equal to the "text" parameter)
[in]	viewport	the view port (default: all)

◆ addText3D() [1/2]

template<typename PointT >

bool pcl::visualization::PCLVisualizer::addText3D	(	const std::string &	text,
		const PointT &	position,
		double	orientation[3],
		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.

Parameters

[in]	text	the text to add
[in]	position	the world position where the text should be added
[in]	orientation	the angles of rotation of the text around X, Y and Z axis, in this order. The way the rotations are effectively done is the Z-X-Y intrinsic rotations: https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations
[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 769 of file pcl_visualizer.hpp.

◆ addText3D() [2/2]

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`
	)

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 684 of file pcl_visualizer.hpp.

◆ addTextureMesh()

bool pcl::visualization::PCLVisualizer::addTextureMesh	(	const pcl::TextureMesh &	polymesh,
		const std::string &	id = `"texture"`,
		int	viewport = `0`
	)

Add a TextureMesh object to screen.

Parameters

[in]	polymesh	the textured polygonal mesh
[in]	id	the texture mesh object id (default: "texture")
[in]	viewport	the view port where the TextureMesh should be added (default: all)

◆ cameraFileLoaded()

bool pcl::visualization::PCLVisualizer::cameraFileLoaded ( ) const

Checks whether a camera file were automatically loaded.

Returns: True if a valid camera file is automatically loaded.

Note: The camera file is saved by pressing "ctrl + s" during last run of the program and restored automatically when the program runs this time.

See also: cameraParamsSet ()

◆ cameraParamsSet()

bool pcl::visualization::PCLVisualizer::cameraParamsSet ( ) const

Checks whether the camera parameters were manually loaded.

Returns: True if valid "-cam" option is available in command line.

See also: cameraFileLoaded ()

◆ close()

void pcl::visualization::PCLVisualizer::close ( )

Stop the interaction and close the visualization window.

◆ contains()

bool pcl::visualization::PCLVisualizer::contains ( const std::string & id ) const

inline

Check if the cloud, shape, or coordinate with the given id was already added to this visualizer.

Parameters

[in] id the id of the cloud, shape, or coordinate to check

Returns: true if a cloud, shape, or coordinate with the specified id was found

Definition at line 595 of file pcl_visualizer.h.

◆ convertToEigenMatrix()

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

◆ convertToVtkMatrix() [1/2]

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

◆ convertToVtkMatrix() [2/2]

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

◆ createInteractor()

void pcl::visualization::PCLVisualizer::createInteractor ( )

Create the internal Interactor object.

◆ createViewPort()

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.

◆ createViewPortCamera()

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.

◆ enableEDLRendering()

void pcl::visualization::PCLVisualizer::enableEDLRendering ( int viewport = 0 )

Eye-Dome Lighting makes dark areas to improve depth perception See https://www.kitware.com/eye-dome-lighting-a-non-photorealistic-shading-technique/ It is applied to all actors, including texts.

Parameters

viewport

◆ getCameraFile()

std::string pcl::visualization::PCLVisualizer::getCameraFile ( ) const

Get camera file for camera parameter saving/restoring.

Note: This will be valid only when valid "-cam" option were available in command line or a saved camera file were automatically loaded.

See also: cameraParamsSet (), cameraFileLoaded ()

◆ getCameraParameters() [1/2]

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

Get camera parameters of a given viewport (0 means default viewport).

◆ getCameraParameters() [2/2]

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

◆ getCameras()

void pcl::visualization::PCLVisualizer::getCameras ( std::vector< Camera > & cameras )

Get the current camera parameters.

◆ getCloudActorMap()

CloudActorMapPtr pcl::visualization::PCLVisualizer::getCloudActorMap ( )

inline

Return a pointer to the CloudActorMap this visualizer uses.

Definition at line 1933 of file pcl_visualizer.h.

◆ getColorHandlerIndex()

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

◆ getFPS()

float pcl::visualization::PCLVisualizer::getFPS ( ) const

Get the current rendering framerate.

See also: setShowFPS

◆ getGeometryHandlerIndex()

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

◆ getInteractorStyle()

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

inline

Get a pointer to the current interactor style used.

Definition at line 2000 of file pcl_visualizer.h.

◆ getPointCloudRenderingProperties() [1/2]

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)

Note: The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

◆ getPointCloudRenderingProperties() [2/2]

bool pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties	(	RenderingProperties	property,
		double &	val1,
		double &	val2,
		double &	val3,
		const std::string &	id = `"cloud"`
	)

Get the rendering properties of a PointCloud.

Parameters

[in]	property	the property type
[out]	val1	the resultant property value
[out]	val2	the resultant property value
[out]	val3	the resultant property value
[in]	id	the point cloud object id (default: cloud)

Returns: True if the property is effectively retrieved.

Note: The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

◆ getRendererCollection()

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

inline

Return a pointer to the underlying VTK Renderer Collection.

Definition at line 1926 of file pcl_visualizer.h.

◆ getRenderWindow()

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

inline

Return a pointer to the underlying VTK Render Window used.

Definition at line 1919 of file pcl_visualizer.h.

◆ getShapeActorMap()

ShapeActorMapPtr pcl::visualization::PCLVisualizer::getShapeActorMap ( )

inline

Return a pointer to the ShapeActorMap this visualizer uses.

Definition at line 1940 of file pcl_visualizer.h.

◆ getViewerPose()

Eigen::Affine3f pcl::visualization::PCLVisualizer::getViewerPose ( int viewport = 0 )

Get the current viewing pose.

◆ initCameraParameters()

void pcl::visualization::PCLVisualizer::initCameraParameters ( )

Initialize camera parameters with some default values.

◆ loadCameraParameters()

bool pcl::visualization::PCLVisualizer::loadCameraParameters ( const std::string & file )

Load camera parameters from a camera parameters file.

Parameters

[in] file the name of the camera parameters file

◆ registerAreaPickingCallback() [1/3]

boost::signals2::connection pcl::visualization::PCLVisualizer::registerAreaPickingCallback ( std::function< void(const pcl::visualization::AreaPickingEvent &)> cb )

Register a callback function for area picking events.

Parameters

[in] cb a std function that will be registered as a callback for an area picking event

Returns: a connection object that allows to disconnect the callback function.

◆ registerAreaPickingCallback() [2/3]

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

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.

◆ registerAreaPickingCallback() [3/3]

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::registerAreaPickingCallback	(	void(T::)(const pcl::visualization::AreaPickingEvent &, void )	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

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 278 of file pcl_visualizer.h.

◆ registerKeyboardCallback() [1/3]

boost::signals2::connection pcl::visualization::PCLVisualizer::registerKeyboardCallback ( std::function< void(const pcl::visualization::KeyboardEvent &)> cb )

Register a callback std::function for keyboard events.

Parameters

[in] cb a std function that will be registered as a callback for a keyboard event

Returns: a connection object that allows to disconnect the callback function.

◆ registerKeyboardCallback() [2/3]

boost::signals2::connection pcl::visualization::PCLVisualizer::registerKeyboardCallback	(	void()(const pcl::visualization::KeyboardEvent &, void )	callback,
		void *	cookie = `nullptr`
	)

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 182 of file pcl_visualizer.h.

◆ registerKeyboardCallback() [3/3]

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::registerKeyboardCallback	(	void(T::)(const pcl::visualization::KeyboardEvent &, void )	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

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 194 of file pcl_visualizer.h.

◆ registerMouseCallback() [1/3]

boost::signals2::connection pcl::visualization::PCLVisualizer::registerMouseCallback ( std::function< void(const pcl::visualization::MouseEvent &)> cb )

Register a callback function for mouse events.

Parameters

[in] cb a std function that will be registered as a callback for a mouse event

Returns: a connection object that allows to disconnect the callback function.

◆ registerMouseCallback() [2/3]

boost::signals2::connection pcl::visualization::PCLVisualizer::registerMouseCallback	(	void()(const pcl::visualization::MouseEvent &, void )	callback,
		void *	cookie = `nullptr`
	)

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 212 of file pcl_visualizer.h.

◆ registerMouseCallback() [3/3]

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::registerMouseCallback	(	void(T::)(const pcl::visualization::MouseEvent &, void )	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

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 224 of file pcl_visualizer.h.

◆ registerPointPickingCallback() [1/3]

boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback ( std::function< void(const pcl::visualization::PointPickingEvent &)> cb )

Register a callback function for point picking events.

Parameters

[in] cb a std function that will be registered as a callback for a point picking event

Returns: a connection object that allows to disconnect the callback function.

◆ registerPointPickingCallback() [2/3]

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

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.

◆ registerPointPickingCallback() [3/3]

template<typename T >

boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback	(	void(T::)(const pcl::visualization::PointPickingEvent &, void )	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

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 251 of file pcl_visualizer.h.

◆ removeAllCoordinateSystems()

bool pcl::visualization::PCLVisualizer::removeAllCoordinateSystems ( int viewport = 0 )

Removes all existing 3D axes (coordinate systems)

Parameters

[in] viewport view port where the 3D axes should be removed from (default: all)

◆ removeAllPointClouds()

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)

◆ removeAllShapes()

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)

◆ removeCoordinateSystem()

bool pcl::visualization::PCLVisualizer::removeCoordinateSystem	(	const std::string &	id = `"reference"`,
		int	viewport = `0`
	)

Removes a previously added 3D axes (coordinate system)

Parameters

[in]	id	the coordinate system object id (default: reference)
[in]	viewport	view port where the 3D axes should be removed from (default: all)

◆ removeCorrespondences()

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)

◆ removeOrientationMarkerWidgetAxes()

void pcl::visualization::PCLVisualizer::removeOrientationMarkerWidgetAxes ( )

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

◆ removePointCloud()

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

◆ removePolygonMesh()

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 385 of file pcl_visualizer.h.

◆ removeShape()

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().

◆ removeText3D()

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)

◆ renderView()

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

◆ renderViewTesselatedSphere()

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 tessellated sphere build from an icosaheadron. The tessellation parameter 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 tessellated sphere radius. Default: 1
[in]	use_vertices	if true, use the vertices of tessellated icosahedron (12,42,...) or if false, use the faces of tessellated icosahedron (20,80,...). Default: true

◆ resetCamera()

void pcl::visualization::PCLVisualizer::resetCamera ( )

Reset camera parameters and render.

◆ resetCameraViewpoint()

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)

◆ resetStoppedFlag()

void pcl::visualization::PCLVisualizer::resetStoppedFlag ( )

Set the stopped flag back to false.

◆ saveCameraParameters()

void pcl::visualization::PCLVisualizer::saveCameraParameters ( const std::string & file )

Save the camera parameters to disk, as a .cam file.

Parameters

[in] file the name of the .cam file

◆ saveScreenshot()

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

◆ setBackgroundColor()

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)

◆ setCameraClipDistances()

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)
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

◆ setCameraFieldOfView()

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)

◆ setCameraParameters() [1/2]

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)

◆ setCameraParameters() [2/2]

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)

◆ setCameraPosition() [1/2]

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)

◆ setCameraPosition() [2/2]

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 z component of the view up direction of the camera
[in]	viewport	the viewport to modify camera of (0 modifies all cameras)

◆ setFullScreen()

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

◆ setLookUpTableID()

void pcl::visualization::PCLVisualizer::setLookUpTableID ( const std::string id )

Set the ID of a cloud or shape to be used for LUT display.

Parameters

[in] id The id of the cloud/shape look up table to be displayed The look up table is displayed by pressing 'u' in the PCLVisualizer

◆ setPointCloudRenderingProperties() [1/3]

bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties	(	int	property,
		double	val1,
		double	val2,
		const std::string &	id = `"cloud"`,
		int	viewport = `0`
	)

Set the rendering properties of a PointCloud (2x values - e.g., LUT minmax values)

Parameters

[in]	property	the property type
[in]	val1	the first value to be set
[in]	val2	the second 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)

Note: The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

◆ setPointCloudRenderingProperties() [2/3]

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)

Note: The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

◆ setPointCloudRenderingProperties() [3/3]

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)

Note: The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

◆ setPointCloudSelected()

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)

◆ setPosition()

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)

◆ setRepresentationToPointsForAllActors()

void pcl::visualization::PCLVisualizer::setRepresentationToPointsForAllActors ( )

Changes the visual representation for all actors to points representation.

◆ setRepresentationToSurfaceForAllActors()

void pcl::visualization::PCLVisualizer::setRepresentationToSurfaceForAllActors ( )

Changes the visual representation for all actors to surface representation.

◆ setRepresentationToWireframeForAllActors()

void pcl::visualization::PCLVisualizer::setRepresentationToWireframeForAllActors ( )

Changes the visual representation for all actors to wireframe representation.

◆ setShapeRenderingProperties() [1/3]

bool pcl::visualization::PCLVisualizer::setShapeRenderingProperties	(	int	property,
		double	val1,
		double	val2,
		const std::string &	id,
		int	viewport = `0`
	)

Set the rendering properties of a shape (2x values - e.g., LUT minmax values)

Parameters

[in]	property	the property type
[in]	val1	the first value to be set
[in]	val2	the second 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)

Note: When using addPolygonMesh you you should use setPointCloudRenderingProperties

◆ setShapeRenderingProperties() [2/3]

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)

Note: When using addPolygonMesh you you should use setPointCloudRenderingProperties

◆ setShapeRenderingProperties() [3/3]

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)

Note: When using addPolygonMesh you you should use setPointCloudRenderingProperties; The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.

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

◆ setShowFPS()

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.

◆ setSize()

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)

◆ setupInteractor() [1/2]

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

◆ setupInteractor() [2/2]

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

◆ setUseVbos()

void pcl::visualization::PCLVisualizer::setUseVbos ( bool use_vbos )

Use Vertex Buffer Objects renderers.

This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex buffer objects by default, transparently for the user.

Parameters

[in] use_vbos set to true to use VBOs

Deprecated:: Scheduled for removal in version 1 . 18 : "this function has no effect"

◆ setWindowBorders()

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

◆ setWindowName()

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

Set the visualizer window name.

Parameters

[in] name the name of the window

◆ spin()

void pcl::visualization::PCLVisualizer::spin ( )

Spin method.

Calls the interactor and runs an internal loop.

◆ spinOnce()

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.

Note: This function may not return immediately after the specified time has elapsed, for example if the user continues to interact with the visualizer, meaning that there are still events to process.

◆ updateColorHandlerIndex()

bool pcl::visualization::PCLVisualizer::updateColorHandlerIndex	(	const std::string &	id,
		int	index
	)

Update/set the color index of a rendered PointCloud based on its ID.

Parameters

[in]	id	the point cloud object id
[in]	index	the color handler index to use

◆ updateCoordinateSystemPose()

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

Set the pose of an existing coordinate system.

Returns false if the coordinate system doesn't exist, true if the pose was successfully updated.

Parameters

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

Returns: false if no coordinate system with the specified ID was found

◆ updateCorrespondences() [1/2]

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,
		const std::string &	id = `"correspondences"`,
		int	viewport = `0`
	)

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]	id	the polygon object id (default: "correspondences")
[in]	viewport	the view port where the correspondences should be updated (default: all)

Definition at line 1108 of file pcl_visualizer.h.

◆ updateCorrespondences() [2/2]

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"`,
		int	viewport = `0`
	)

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")
[in]	viewport	the view port where the correspondences should be updated (default: all)

Definition at line 1330 of file pcl_visualizer.hpp.

◆ updatePointCloud() [1/7]

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 925 of file pcl_visualizer.h.

◆ updatePointCloud() [2/7]

bool pcl::visualization::PCLVisualizer::updatePointCloud	(	const pcl::PointCloud< pcl::PointXYZL >::ConstPtr &	cloud,
		const std::string &	id = `"cloud"`
	)

inline

Updates the XYZL 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 963 of file pcl_visualizer.h.

◆ updatePointCloud() [3/7]

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 937 of file pcl_visualizer.h.

◆ updatePointCloud() [4/7]

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 950 of file pcl_visualizer.h.

◆ updatePointCloud() [5/7]

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"`
	)

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 1592 of file pcl_visualizer.hpp.

References pcl::visualization::PointCloudColorHandler< PointT >::getColor().

◆ updatePointCloud() [6/7]

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"`
	)

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 1560 of file pcl_visualizer.hpp.

◆ updatePointCloud() [7/7]

template<typename PointT >

bool pcl::visualization::PCLVisualizer::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.

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 1530 of file pcl_visualizer.hpp.

◆ updatePointCloudPose()

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

◆ updatePolygonMesh() [1/2]

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

◆ updatePolygonMesh() [2/2]

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"`
	)

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 1779 of file pcl_visualizer.hpp.

References pcl::visualization::details::fillCells(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::console::print_error(), and pcl::PointCloud< PointT >::size().

◆ updateShapePose()

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

◆ updateSphere()

template<typename PointT >

bool pcl::visualization::PCLVisualizer::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.

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 655 of file pcl_visualizer.hpp.

◆ updateText() [1/3]

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)

◆ updateText() [2/3]

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 value
[in]	id	the text object id (default: equal to the "text" parameter)

◆ updateText() [3/3]

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 value
[in]	id	the text object id (default: equal to the "text" parameter)

◆ wasStopped()

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

Returns true when the user tried to close the window.

Member Data Documentation

◆ interactor_

vtkSmartPointer<vtkRenderWindowInteractor> pcl::visualization::PCLVisualizer::interactor_

protected

The render window interactor.

Definition at line 2006 of file pcl_visualizer.h.

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

pcl/visualization/pcl_visualizer.h
pcl/visualization/impl/pcl_visualizer.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ColorHandler

◆ ColorHandlerConstPtr

◆ ColorHandlerPtr

◆ ConstPtr

◆ GeometryHandler

◆ GeometryHandlerConstPtr

◆ GeometryHandlerPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PCLVisualizer() [1/4]

◆ PCLVisualizer() [2/4]

◆ PCLVisualizer() [3/4]

◆ PCLVisualizer() [4/4]

◆ ~PCLVisualizer()

Member Function Documentation

◆ addArrow() [1/3]

◆ addArrow() [2/3]

◆ addArrow() [3/3]

◆ addCircle()

◆ addCone()

◆ addCoordinateSystem() [1/3]

◆ addCoordinateSystem() [2/3]

◆ addCoordinateSystem() [3/3]

◆ addCorrespondences() [1/3]

◆ addCorrespondences() [2/3]

◆ addCorrespondences() [3/3]

◆ addCube() [1/3]

◆ addCube() [2/3]

◆ addCube() [3/3]

◆ addCylinder()

◆ addEllipsoid()

◆ addLine() [1/4]

◆ addLine() [2/4]

◆ addLine() [3/4]

◆ addLine() [4/4]

◆ addModelFromPLYFile() [1/2]

◆ addModelFromPLYFile() [2/2]

◆ addModelFromPolyData() [1/2]

◆ addModelFromPolyData() [2/2]

◆ addOrientationMarkerWidgetAxes()

◆ addPlane() [1/2]

◆ addPlane() [2/2]

◆ addPointCloud() [1/14]

◆ addPointCloud() [2/14]

◆ addPointCloud() [3/14]

◆ addPointCloud() [4/14]

◆ addPointCloud() [5/14]

◆ addPointCloud() [6/14]

◆ addPointCloud() [7/14]

◆ addPointCloud() [8/14]

◆ addPointCloud() [9/14]

◆ addPointCloud() [10/14]

◆ addPointCloud() [11/14]

◆ addPointCloud() [12/14]

◆ addPointCloud() [13/14]

◆ addPointCloud() [14/14]

◆ addPointCloudIntensityGradients()

◆ addPointCloudNormals() [1/2]

◆ addPointCloudNormals() [2/2]

◆ addPointCloudPrincipalCurvatures() [1/3]

◆ addPointCloudPrincipalCurvatures() [2/3]

◆ addPointCloudPrincipalCurvatures() [3/3]

◆ addPolygon() [1/3]

◆ addPolygon() [2/3]

◆ addPolygon() [3/3]

◆ addPolygonMesh() [1/2]

◆ addPolygonMesh() [2/2]

◆ addPolylineFromPolygonMesh()

◆ addSphere() [1/3]

◆ addSphere() [2/3]

◆ addSphere() [3/3]

◆ addText() [1/3]

◆ addText() [2/3]

◆ addText() [3/3]