Namespaces
	context_items

	details

Classes
class	PointCloudColorHandlerRGBHack

class	AreaPickingEvent
	/brief Class representing 3D area picking events. More...

class	CloudViewer
	Simple point cloud visualization class. More...

class	CloudActor

class	Camera
	Camera class holds a set of camera parameters together with the window pos/size. More...

class	FloatImageUtils
	Provide some general functionalities regarding 2d float arrays, e.g., for visualization purposes More...

class	RenWinInteract

class	PCLHistogramVisualizer
	PCL histogram visualizer main class. More...

class	ImageViewerInteractorStyle
	An image viewer interactor style, tailored for ImageViewer. More...

class	ImageViewer
	ImageViewer is a class for 2D image visualization. More...

class	PCLVisualizerInteractorStyle
	PCLVisualizerInteractorStyle defines an unique, custom VTK based interactory style for PCL Visualizer applications. More...

class	PCLHistogramVisualizerInteractorStyle
	PCL histogram visualizer interactory style class. More...

class	KeyboardEvent
	/brief Class representing key hit/release events More...

class	MouseEvent

struct	Figure2D
	Abstract class for storing figure information. More...

struct	FPolyLine2D
	Class for PolyLine. More...

struct	FPoints2D
	Class for storing Points. More...

struct	FQuad2D
	Class for storing Quads. More...

struct	FPolygon2D
	Class for Polygon. More...

struct	FEllipticArc2D
	Class for storing EllipticArc; every ellipse , circle are covered by this. More...

class	PCLPainter2D
	PCL Painter2D main class. More...

class	PCLPlotter
	PCL Plotter main class. More...

class	PCLVisualizer
	PCL Visualizer main class. More...

class	PointCloudColorHandler
	Base Handler class for PointCloud colors. More...

class	PointCloudColorHandlerRandom
	Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...

class	PointCloudColorHandlerCustom
	Handler for predefined user colors. More...

class	PointCloudColorHandlerRGBField
	RGB handler class for colors. More...

class	PointCloudColorHandlerHSVField
	HSV handler class for colors. More...

class	PointCloudColorHandlerGenericField
	Generic field handler class for colors. More...

class	PointCloudColorHandlerRGBAField
	RGBA handler class for colors. More...

class	PointCloudColorHandlerLabelField
	Label field handler class for colors. More...

class	PointCloudColorHandler< pcl::PCLPointCloud2 >
	Base Handler class for PointCloud colors. More...

class	PointCloudColorHandlerRandom< pcl::PCLPointCloud2 >
	Handler for random PointCloud colors (i.e., R, G, B will be randomly chosen) More...

class	PointCloudColorHandlerCustom< pcl::PCLPointCloud2 >
	Handler for predefined user colors. More...

class	PointCloudColorHandlerRGBField< pcl::PCLPointCloud2 >
	RGB handler class for colors. More...

class	PointCloudColorHandlerHSVField< pcl::PCLPointCloud2 >
	HSV handler class for colors. More...

class	PointCloudColorHandlerGenericField< pcl::PCLPointCloud2 >
	Generic field handler class for colors. More...

class	PointCloudColorHandlerRGBAField< pcl::PCLPointCloud2 >
	RGBA handler class for colors. More...

class	PointCloudColorHandlerLabelField< pcl::PCLPointCloud2 >
	Label field handler class for colors. More...

class	PointCloudGeometryHandler
	Base handler class for PointCloud geometry. More...

class	PointCloudGeometryHandlerXYZ
	XYZ handler class for PointCloud geometry. More...

class	PointCloudGeometryHandlerSurfaceNormal
	Surface normal handler class for PointCloud geometry. More...

class	PointCloudGeometryHandlerCustom
	Custom handler class for PointCloud geometry. More...

class	PointCloudGeometryHandler< pcl::PCLPointCloud2 >
	Base handler class for PointCloud geometry. More...

class	PointCloudGeometryHandlerXYZ< pcl::PCLPointCloud2 >
	XYZ handler class for PointCloud geometry. More...

class	PointCloudGeometryHandlerSurfaceNormal< pcl::PCLPointCloud2 >
	Surface normal handler class for PointCloud geometry. More...

class	PointCloudGeometryHandlerCustom< pcl::PCLPointCloud2 >
	Custom handler class for PointCloud geometry. More...

class	PointPickingCallback

class	PointPickingEvent
	/brief Class representing 3D point picking events. More...

class	RangeImageVisualizer
	Range image visualizer class. More...

class	PCLSimpleBufferVisualizer
	PCL simple buffer visualizer main class. More...

struct	PCLContextItem
	Struct PCLContextItem represents our own custom version of vtkContextItem, used by the ImageViewer class. More...

struct	PCLContextImageItem
	Struct PCLContextImageItem a specification of vtkContextItem, used to add an image to the scene in the ImageViewer class. More...

class	PCLImageCanvasSource2D
	PCLImageCanvasSource2D represents our own custom version of vtkImageCanvasSource2D, used by the ImageViewer class. More...

class	Window

Typedefs
using	CloudActorMap = std::unordered_map< std::string, CloudActor >

using	CloudActorMapPtr = shared_ptr< CloudActorMap >

using	ShapeActorMap = std::unordered_map< std::string, vtkSmartPointer< vtkProp > >

using	ShapeActorMapPtr = shared_ptr< ShapeActorMap >

using	CoordinateActorMap = std::unordered_map< std::string, vtkSmartPointer< vtkProp > >

using	CoordinateActorMapPtr = shared_ptr< CoordinateActorMap >

using	RenWinInteractMap = std::map< std::string, RenWinInteract >

using	Vector3ub = Eigen::Array< unsigned char, 3, 1 >

Enumerations
enum	FrustumCull { PCL_INSIDE_FRUSTUM , PCL_INTERSECT_FRUSTUM , PCL_OUTSIDE_FRUSTUM }

enum	RenderingProperties { PCL_VISUALIZER_POINT_SIZE , PCL_VISUALIZER_OPACITY , PCL_VISUALIZER_LINE_WIDTH , PCL_VISUALIZER_FONT_SIZE , PCL_VISUALIZER_COLOR , PCL_VISUALIZER_REPRESENTATION , PCL_VISUALIZER_IMMEDIATE_RENDERING , PCL_VISUALIZER_SHADING , PCL_VISUALIZER_LUT , PCL_VISUALIZER_LUT_RANGE }
	Set of rendering properties. More...

enum	RenderingRepresentationProperties { PCL_VISUALIZER_REPRESENTATION_POINTS , PCL_VISUALIZER_REPRESENTATION_WIREFRAME , PCL_VISUALIZER_REPRESENTATION_SURFACE }

enum	ShadingRepresentationProperties { PCL_VISUALIZER_SHADING_FLAT , PCL_VISUALIZER_SHADING_GOURAUD , PCL_VISUALIZER_SHADING_PHONG }

enum	LookUpTableRepresentationProperties { PCL_VISUALIZER_LUT_JET , PCL_VISUALIZER_LUT_JET_INVERSE , PCL_VISUALIZER_LUT_HSV , PCL_VISUALIZER_LUT_HSV_INVERSE , PCL_VISUALIZER_LUT_GREY , PCL_VISUALIZER_LUT_BLUE2RED , PCL_VISUALIZER_LUT_RANGE_AUTO , PCL_VISUALIZER_LUT_VIRIDIS }

enum	InteractorKeyboardModifier { INTERACTOR_KB_MOD_ALT , INTERACTOR_KB_MOD_CTRL , INTERACTOR_KB_MOD_SHIFT }
	A list of potential keyboard modifiers for pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle() Defaults to Alt. More...

Functions
PCL_EXPORTS void	getRandomColors (double &r, double &g, double &b, double min=0.2, double max=2.8)
	Get (good) random values for R/G/B. More...

PCL_EXPORTS void	getRandomColors (pcl::RGB &rgb, double min=0.2, double max=2.8)
	Get (good) random values for R/G/B. More...

PCL_EXPORTS Eigen::Matrix4d	vtkToEigen (vtkMatrix4x4 *vtk_matrix)

PCL_EXPORTS Eigen::Vector2i	worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)

PCL_EXPORTS void	getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24])

PCL_EXPORTS int	cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)

PCL_EXPORTS float	viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height)

PCL_EXPORTS bool	getColormapLUT (LookUpTableRepresentationProperties colormap_type, vtkSmartPointer< vtkLookupTable > &table)
	Generate a lookup table for a colormap. More...

template<typename PointT >
vtkSmartPointer< vtkDataSet >	createPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Create a 3d poly line from a set of points. More...

template<typename PointT >
vtkSmartPointer< vtkDataSet >	createPolygon (const pcl::PlanarPolygon< PointT > &planar_polygon)
	Create a 3d poly line from a set of points on the boundary of a planar region. More...

PCL_EXPORTS void	getCorrespondingPointCloud (vtkPolyData *src, const pcl::PointCloud< pcl::PointXYZ > &tgt, pcl::Indices &indices)
	Obtain a list of corresponding indices, for a set of vtk points, from a pcl::PointCloud. More...

PCL_EXPORTS bool	savePointData (vtkPolyData *data, const std::string &out_file, const CloudActorMapPtr &actors)
	Saves the vtk-formatted Point Cloud data into a set of files, based on whether the data comes from previously loaded PCD files. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2)
	Create a line shape from two points. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createSphere (const Eigen::Vector4f &center, double radius, int res=10)
	Create a sphere shape from a point and a radius. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createCylinder (const pcl::ModelCoefficients &coefficients, int numsides=30)
	Create a cylinder shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createSphere (const pcl::ModelCoefficients &coefficients, int res=10)
	Create a sphere shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createLine (const pcl::ModelCoefficients &coefficients)
	Create a line shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createPlane (const pcl::ModelCoefficients &coefficients)
	Create a planar shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createPlane (const pcl::ModelCoefficients &coefficients, double x, double y, double z)
	Create a planar shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	create2DCircle (const pcl::ModelCoefficients &coefficients, double z=0.0)
	Create a 2d circle shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createCone (const pcl::ModelCoefficients &coefficients)
	Create a cone shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createCube (const pcl::ModelCoefficients &coefficients)
	Create a cube shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth)
	Create a cube shape from a set of model coefficients. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max)
	Create a cube from a set of bounding points. More...

PCL_EXPORTS vtkSmartPointer< vtkDataSet >	createEllipsoid (const Eigen::Isometry3d &transform, double radius_x, double radius_y, double radius_z)
	Create an ellipsoid shape from the given parameters. More...

PCL_EXPORTS void	allocVtkUnstructuredGrid (vtkSmartPointer< vtkUnstructuredGrid > &polydata)
	Allocate a new unstructured grid smartpointer. More...

static const Vector3ub	green_color (0, 255, 0)

static const Vector3ub	red_color (255, 0, 0)

static const Vector3ub	blue_color (0, 0, 255)

Typedef Documentation

◆ CloudActorMap

using pcl::visualization::CloudActorMap = typedef std::unordered_map<std::string, CloudActor>

Definition at line 96 of file actor_map.h.

◆ CloudActorMapPtr

using pcl::visualization::CloudActorMapPtr = typedef shared_ptr<CloudActorMap>

Definition at line 97 of file actor_map.h.

◆ CoordinateActorMap

using pcl::visualization::CoordinateActorMap = typedef std::unordered_map<std::string, vtkSmartPointer<vtkProp> >

Definition at line 102 of file actor_map.h.

◆ CoordinateActorMapPtr

using pcl::visualization::CoordinateActorMapPtr = typedef shared_ptr<CoordinateActorMap>

Definition at line 103 of file actor_map.h.

◆ RenWinInteractMap

using pcl::visualization::RenWinInteractMap = typedef std::map<std::string, RenWinInteract>

Definition at line 80 of file ren_win_interact_map.h.

◆ ShapeActorMap

using pcl::visualization::ShapeActorMap = typedef std::unordered_map<std::string, vtkSmartPointer<vtkProp> >

Definition at line 99 of file actor_map.h.

◆ ShapeActorMapPtr

using pcl::visualization::ShapeActorMapPtr = typedef shared_ptr<ShapeActorMap>

Definition at line 100 of file actor_map.h.

◆ Vector3ub

using pcl::visualization::Vector3ub = typedef Eigen::Array<unsigned char, 3, 1>

Definition at line 66 of file image_viewer.h.

Enumeration Type Documentation

◆ FrustumCull

enum pcl::visualization::FrustumCull

Enumerator
PCL_INSIDE_FRUSTUM
PCL_INTERSECT_FRUSTUM
PCL_OUTSIDE_FRUSTUM

Definition at line 87 of file common.h.

◆ InteractorKeyboardModifier

enum pcl::visualization::InteractorKeyboardModifier

A list of potential keyboard modifiers for pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle() Defaults to Alt.

Enumerator
INTERACTOR_KB_MOD_ALT
INTERACTOR_KB_MOD_CTRL
INTERACTOR_KB_MOD_SHIFT

Definition at line 69 of file interactor_style.h.

◆ LookUpTableRepresentationProperties

enum pcl::visualization::LookUpTableRepresentationProperties

Colormap properties. See mathworks colormap page for image representations of the colormaps.

Enumerator
PCL_VISUALIZER_LUT_JET	Jet colormap.
PCL_VISUALIZER_LUT_JET_INVERSE	Inverse jet colormap.
PCL_VISUALIZER_LUT_HSV	HSV colormap.
PCL_VISUALIZER_LUT_HSV_INVERSE	Inverse HSV colormap.
PCL_VISUALIZER_LUT_GREY	Grey colormap (black to white)
PCL_VISUALIZER_LUT_BLUE2RED	Blue to red colormap (blue to white to red)
PCL_VISUALIZER_LUT_RANGE_AUTO	Set LUT range to min and max values of the data.
PCL_VISUALIZER_LUT_VIRIDIS	Viridis colormap.

Definition at line 130 of file common.h.

◆ RenderingProperties

enum pcl::visualization::RenderingProperties

Set of rendering properties.

Enumerator
PCL_VISUALIZER_POINT_SIZE	integer starting from 1
PCL_VISUALIZER_OPACITY	Float going from 0.0 (transparent) to 1.0 (opaque)
PCL_VISUALIZER_LINE_WIDTH	Integer starting from 1.
PCL_VISUALIZER_FONT_SIZE
PCL_VISUALIZER_COLOR	3 floats (R, G, B) going from 0.0 (dark) to 1.0 (light)
PCL_VISUALIZER_REPRESENTATION
PCL_VISUALIZER_IMMEDIATE_RENDERING
PCL_VISUALIZER_SHADING
PCL_VISUALIZER_LUT	colormap type pcl::visualization::LookUpTableRepresentationProperties
PCL_VISUALIZER_LUT_RANGE	two doubles (min and max) or PCL_VISUALIZER_LUT_RANGE_AUTO

Definition at line 101 of file common.h.

◆ RenderingRepresentationProperties

enum pcl::visualization::RenderingRepresentationProperties

Enumerator
PCL_VISUALIZER_REPRESENTATION_POINTS
PCL_VISUALIZER_REPRESENTATION_WIREFRAME
PCL_VISUALIZER_REPRESENTATION_SURFACE

Definition at line 115 of file common.h.

◆ ShadingRepresentationProperties

enum pcl::visualization::ShadingRepresentationProperties

Enumerator
PCL_VISUALIZER_SHADING_FLAT
PCL_VISUALIZER_SHADING_GOURAUD
PCL_VISUALIZER_SHADING_PHONG

Definition at line 122 of file common.h.

Function Documentation

◆ allocVtkUnstructuredGrid()

PCL_EXPORTS void pcl::visualization::allocVtkUnstructuredGrid ( vtkSmartPointer< vtkUnstructuredGrid > & polydata )

Allocate a new unstructured grid smartpointer.

For internal use only.

Parameters

[out] polydata the resultant unstructured grid.

Referenced by pcl::visualization::PCLVisualizer::addPolygonMesh(), and createPolygon().

◆ blue_color()

static const Vector3ub pcl::visualization::blue_color	(	0	,
		0	,
		255
	)

static

◆ createCube()

PCL_EXPORTS vtkSmartPointer<vtkDataSet> pcl::visualization::createCube	(	double	x_min,
		double	x_max,
		double	y_min,
		double	y_max,
		double	z_min,
		double	z_max
	)

Create a cube from a set of bounding points.

Parameters

[in]	x_min	is the minimum x value of the box
[in]	x_max	is the maximum x value of the box
[in]	y_min	is the minimum y value of the box
[in]	y_max	is the maximum y value of the box
[in]	z_min	is the minimum z value of the box
[in]	z_max	is the maximum z value of the box

◆ cullFrustum()

PCL_EXPORTS int pcl::visualization::cullFrustum	(	double	planes[24],
		const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb
	)

◆ getColormapLUT()

PCL_EXPORTS bool pcl::visualization::getColormapLUT	(	LookUpTableRepresentationProperties	colormap_type,
		vtkSmartPointer< vtkLookupTable > &	table
	)

Generate a lookup table for a colormap.

Parameters

[in]	colormap_type
[out]	table	a vtk lookup table

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

◆ getRandomColors() [1/2]

PCL_EXPORTS void pcl::visualization::getRandomColors	(	double &	r,
		double &	g,
		double &	b,
		double	min = `0.2`,
		double	max = `2.8`
	)

Get (good) random values for R/G/B.

Parameters

[out]	r	the resultant R color value
[out]	g	the resultant G color value
[out]	b	the resultant B color value
[in]	min	minimum value for the colors
[in]	max	maximum value for the colors

Referenced by pcl::visualization::PointCloudColorHandlerRandom< PointT >::getColor(), and pcl::visualization::ImageViewer::showCorrespondences().

◆ getRandomColors() [2/2]

PCL_EXPORTS void pcl::visualization::getRandomColors	(	pcl::RGB &	rgb,
		double	min = `0.2`,
		double	max = `2.8`
	)

Get (good) random values for R/G/B.

Parameters

[out]	rgb	the resultant RGB color value
[in]	min	minimum value for the colors
[in]	max	maximum value for the colors

◆ getViewFrustum()

PCL_EXPORTS void pcl::visualization::getViewFrustum	(	const Eigen::Matrix4d &	view_projection_matrix,
		double	planes[24]
	)

◆ green_color()

static const Vector3ub pcl::visualization::green_color	(	0	,
		255	,
		0
	)

static

◆ red_color()

static const Vector3ub pcl::visualization::red_color	(	255	,
		0	,
		0
	)

static

◆ viewScreenArea()

PCL_EXPORTS float pcl::visualization::viewScreenArea	(	const Eigen::Vector3d &	eye,
		const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const Eigen::Matrix4d &	view_projection_matrix,
		int	width,
		int	height
	)

Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryFrustum().

◆ vtkToEigen()

PCL_EXPORTS Eigen::Matrix4d pcl::visualization::vtkToEigen ( vtkMatrix4x4 * vtk_matrix )

◆ worldToView()

PCL_EXPORTS Eigen::Vector2i pcl::visualization::worldToView	(	const Eigen::Vector4d &	world_pt,
		const Eigen::Matrix4d &	view_projection_matrix,
		int	width,
		int	height
	)

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ CloudActorMap

◆ CloudActorMapPtr

◆ CoordinateActorMap

◆ CoordinateActorMapPtr

◆ RenWinInteractMap

◆ ShapeActorMap

◆ ShapeActorMapPtr

◆ Vector3ub

Enumeration Type Documentation

◆ FrustumCull

◆ InteractorKeyboardModifier

◆ LookUpTableRepresentationProperties

◆ RenderingProperties

◆ RenderingRepresentationProperties

◆ ShadingRepresentationProperties

Function Documentation

◆ allocVtkUnstructuredGrid()

◆ blue_color()

◆ createCube()

◆ cullFrustum()

◆ getColormapLUT()

◆ getRandomColors() [1/2]

◆ getRandomColors() [2/2]

◆ getViewFrustum()

◆ green_color()

◆ red_color()

◆ viewScreenArea()

◆ vtkToEigen()

◆ worldToView()