Range image visualizer class. More...

#include <pcl/visualization/range_image_visualizer.h>

Inheritance diagram for pcl::visualization::RangeImageVisualizer:

Collaboration diagram for pcl::visualization::RangeImageVisualizer:

Public Member Functions
	RangeImageVisualizer (const std::string &name="Range Image")
	Constructor. More...

	~RangeImageVisualizer () override
	Destructor. More...

void	visualizeBorders (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions)
	Visualize the given range image and the detected borders in it. More...

void	showRangeImage (const pcl::RangeImage &range_image, float min_value=-std::numeric_limits< float >::infinity(), float max_value=std::numeric_limits< float >::infinity(), bool grayscale=false)
	Visualize a range image. More...

Public Member Functions inherited from pcl::visualization::ImageViewer
	ImageViewer (const std::string &window_title="")
	Constructor. More...

virtual	~ImageViewer ()
	Destructor. More...

void	setInteractorStyle (vtkInteractorObserver *style)
	Set up the interactor style. More...

void	showMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity8u > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity8u > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D RGB image on screen. More...

void	addRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0, bool autoresize=true)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...

template<typename T >
void	showRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D image on screen, obtained from the RGB channel of a point cloud. More...

template<typename T >
void	addRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...

template<typename T >
void	showRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D image on screen, obtained from the RGB channel of a point cloud. More...

template<typename T >
void	addRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false, const std::string &layer_id="float_image", double opacity=1.0)
	Show a 2D image (float) on screen. More...

void	addFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false, const std::string &layer_id="float_image", double opacity=1.0)
	Add a float 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false, const std::string &layer_id="short_image", double opacity=1.0)
	Show a 2D image (unsigned short) on screen. More...

void	addShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false, const std::string &layer_id="short_image", double opacity=1.0)
	Add a short 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
	Show a 2D image on screen representing angle data. More...

void	addAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
	Add an angle 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
	Show a 2D image on screen representing half angle data. More...

void	addHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
	Add a half angle 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	markPoint (std::size_t u, std::size_t v, Vector3ub fg_color, Vector3ub bg_color=red_color, double radius=3.0, const std::string &layer_id="points", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. More...

void	markPoints (const std::vector< int > &uv, Vector3ub fg_color, Vector3ub bg_color=red_color, double size=3.0, const std::string &layer_id="markers", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. More...

void	markPoints (const std::vector< float > &uv, Vector3ub fg_color, Vector3ub bg_color=red_color, double size=3.0, const std::string &layer_id="markers", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another (float coordinates version). More...

void	setWindowTitle (const std::string &name)
	Set the window title name. More...

void	spin ()
	Spin method. More...

void	spinOnce (int time=1, bool force_redraw=true)
	Spin once method. 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	registerKeyboardCallback (std::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback std::function for keyboard events. More...

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

int *	getSize ()
	Return the window size in pixels. More...

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

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

bool	addCircle (unsigned int x, unsigned int y, double radius, const std::string &layer_id="circles", double opacity=1.0)
	Add a circle shape from a point and a radius. More...

bool	addCircle (unsigned int x, unsigned int y, double radius, double r, double g, double b, const std::string &layer_id="circles", double opacity=1.0)
	Add a circle shape from a point and a radius. More...

bool	addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

bool	addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

bool	addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

bool	addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box that contains a given image mask and color its edges. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=1.0)
	Add a 2D box that contains a given image mask and color its edges in red. More...

bool	addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="boxes", double opacity=0.5)
	Add a 2D box and fill it in with a given color. More...

bool	addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="boxes", double opacity=0.5)
	Add a 2D box and fill it in with a given color. More...

bool	addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D line with a given color. More...

bool	addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D line with a given color. More...

bool	addText (unsigned int x, unsigned int y, const std::string &text, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D text with a given color. More...

bool	addText (unsigned int x, unsigned int y, const std::string &text, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D text with a given color. More...

template<typename T >
bool	addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="image_mask", double opacity=0.5)
	Add a generic 2D mask to an image. More...

template<typename T >
bool	addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=0.5)
	Add a generic 2D mask to an image (colored in red) More...

template<typename T >
bool	addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, double r, double g, double b, const std::string &layer_id="planar_polygon", double opacity=1.0)
	Add a generic 2D planar polygon to an image. More...

template<typename T >
bool	addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, const std::string &layer_id="planar_polygon", double opacity=1.0)
	Add a generic 2D planar polygon to an image. More...

bool	addLayer (const std::string &layer_id, int width, int height, double opacity=0.5)
	Add a new 2D rendering layer to the viewer. More...

void	removeLayer (const std::string &layer_id)
	Remove a 2D layer given by its ID. More...

template<typename PointT >
bool	showCorrespondences (const pcl::PointCloud< PointT > &source_img, const pcl::PointCloud< PointT > &target_img, const pcl::Correspondences &correspondences, int nth=1, const std::string &layer_id="correspondences")
	Add the specified correspondences to the display. More...

Static Public Member Functions
static RangeImageVisualizer *	getRangeImageWidget (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const std::string &name="Range image")
	Get a widget visualizing the given range image. More...

static RangeImageVisualizer *	getRangeImageBordersWidget (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions, const std::string &name="Range image with borders")
	Same as above, but returning a new widget. More...

static RangeImageVisualizer *	getAnglesWidget (const pcl::RangeImage &range_image, float *angles_image, const std::string &name)
	Get a widget visualizing the given angle image (assuming values in (-PI, PI]). More...

static RangeImageVisualizer *	getHalfAnglesWidget (const pcl::RangeImage &range_image, float *angles_image, const std::string &name)
	Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]). More...

static RangeImageVisualizer *	getInterestPointsWidget (const pcl::RangeImage &range_image, const float *interest_image, float min_value, float max_value, const pcl::PointCloud< pcl::InterestPoint > &interest_points, const std::string &name)
	Get a widget visualizing the interest values and extracted interest points. More...

Protected Attributes
std::string	name_

Additional Inherited Members
Public Types inherited from pcl::visualization::ImageViewer
using	Ptr = shared_ptr< ImageViewer >

using	ConstPtr = shared_ptr< const ImageViewer >

Protected Member Functions inherited from pcl::visualization::ImageViewer
void	render ()
	Trigger a render call. More...

void	convertIntensityCloudToUChar (const pcl::PointCloud< pcl::Intensity > &cloud, boost::shared_array< unsigned char > data)
	Convert the Intensity information in a PointCloud<Intensity> to an unsigned char array. More...

void	convertIntensityCloud8uToUChar (const pcl::PointCloud< pcl::Intensity8u > &cloud, boost::shared_array< unsigned char > data)
	Convert the Intensity8u information in a PointCloud<Intensity8u> to an unsigned char array. More...

template<typename T >
void	convertRGBCloudToUChar (const pcl::PointCloud< T > &cloud, boost::shared_array< unsigned char > &data)
	Convert the RGB information in a PointCloud<T> to an unsigned char array. More...

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

void	emitMouseEvent (unsigned long event_id)
	Fire up a mouse event with a specified event ID. More...

void	emitKeyboardEvent (unsigned long event_id)
	Fire up a keyboard event with a specified event ID. More...

Static Protected Member Functions inherited from pcl::visualization::ImageViewer
static void	MouseCallback (vtkObject , unsigned long eid, void clientdata, void *calldata)

static void	KeyboardCallback (vtkObject , unsigned long eid, void clientdata, void *calldata)

Detailed Description

Range image visualizer class.

Author: Bastian Steder

Definition at line 52 of file range_image_visualizer.h.

Constructor & Destructor Documentation

◆ RangeImageVisualizer()

pcl::visualization::RangeImageVisualizer::RangeImageVisualizer ( const std::string & name = "Range Image" )

Constructor.

◆ ~RangeImageVisualizer()

pcl::visualization::RangeImageVisualizer::~RangeImageVisualizer ( )

override

Destructor.

Member Function Documentation

◆ getAnglesWidget()

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getAnglesWidget	(	const pcl::RangeImage &	range_image,
		float *	angles_image,
		const std::string &	name
	)

static

Get a widget visualizing the given angle image (assuming values in (-PI, PI]).

-PI and PI will return the same color You are responsible for deleting it after usage!

◆ getHalfAnglesWidget()

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getHalfAnglesWidget	(	const pcl::RangeImage &	range_image,
		float *	angles_image,
		const std::string &	name
	)

static

Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).

-PI/2 and PI/2 will return the same color You are responsible for deleting it after usage!

◆ getInterestPointsWidget()

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getInterestPointsWidget	(	const pcl::RangeImage &	range_image,
		const float *	interest_image,
		float	min_value,
		float	max_value,
		const pcl::PointCloud< pcl::InterestPoint > &	interest_points,
		const std::string &	name
	)

static

Get a widget visualizing the interest values and extracted interest points.

The interest points will be marked green. You are responsible for deleting it after usage!

◆ getRangeImageBordersWidget()

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget	(	const pcl::RangeImage &	range_image,
		float	min_value,
		float	max_value,
		bool	grayscale,
		const pcl::PointCloud< pcl::BorderDescription > &	border_descriptions,
		const std::string &	name = `"Range image with borders"`
	)

static

Same as above, but returning a new widget.

You are responsible for deleting it after usage!

◆ getRangeImageWidget()

static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getRangeImageWidget	(	const pcl::RangeImage &	range_image,
		float	min_value,
		float	max_value,
		bool	grayscale,
		const std::string &	name = `"Range image"`
	)

static

Get a widget visualizing the given range image.

You are responsible for deleting it after usage!

◆ showRangeImage()

void pcl::visualization::RangeImageVisualizer::showRangeImage	(	const pcl::RangeImage &	range_image,
		float	min_value = `-std::numeric_limits< float >::infinity()`,
		float	max_value = `std::numeric_limits< float >::infinity()`,
		bool	grayscale = `false`
	)

Visualize a range image.

◆ visualizeBorders()

void pcl::visualization::RangeImageVisualizer::visualizeBorders	(	const pcl::RangeImage &	range_image,
		float	min_value,
		float	max_value,
		bool	grayscale,
		const pcl::PointCloud< pcl::BorderDescription > &	border_descriptions
	)

Visualize the given range image and the detected borders in it.

Borders on the obstacles are marked green, borders on the background are marked bright blue.

Member Data Documentation

◆ name_

std::string pcl::visualization::RangeImageVisualizer::name_

protected

Definition at line 110 of file range_image_visualizer.h.

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

pcl/visualization/range_image_visualizer.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RangeImageVisualizer()

◆ ~RangeImageVisualizer()

Member Function Documentation

◆ getAnglesWidget()

◆ getHalfAnglesWidget()

◆ getInterestPointsWidget()

◆ getRangeImageBordersWidget()

◆ getRangeImageWidget()

◆ showRangeImage()

◆ visualizeBorders()

Member Data Documentation

◆ name_