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

#include <pcl/visualization/image_viewer.h>

Classes
struct	ExitCallback

struct	ExitMainLoopTimerCallback

Public Types
using	Ptr = shared_ptr< ImageViewer >

using	ConstPtr = shared_ptr< const ImageViewer >

Public Member Functions
	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 visualizaton 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...

Protected Member Functions
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
static void	MouseCallback (vtkObject , unsigned long eid, void clientdata, void *calldata)

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

Detailed Description

ImageViewer is a class for 2D image visualization.

Features include:

add and remove different layers with different opacity (transparency) values
add 2D geometric shapes (circles, boxes, etc) in separate layers
display RGB, monochrome, float, angle images

Simple usage example:

pcl::visualization::ImageViewer iv;
iv.addCircle (10, 10, 5, 1.0, 0.0, 0.0, "circles", 1.0); // add a red, fully opaque circle with radius 5 pixels at (10,10) in layer "circles"
iv.addFilledRectangle (10, 20, 10, 20, 0.0, 1.0, 0.0, "boxes", 0.5); // add a green, 50% transparent box at (10,10->20,20) in layer "boxes"
iv.addRGBImage<pcl::PointXYZRGBA> (cloud); // add a RGB image from a point cloud dataset in an "rgb_image" default layer
iv.spin (); // press 'q' to exit
iv.removeLayer ("circles"); // remove layer "circles"
iv.spin (); // press 'q' to exit

Author: Radu B. Rusu, Suat Gedikli

Definition at line 118 of file image_viewer.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 122 of file image_viewer.h.

Ptr

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

Definition at line 121 of file image_viewer.h.

Constructor & Destructor Documentation

ImageViewer()

pcl::visualization::ImageViewer::ImageViewer ( const std::string & window_title = "" )

Constructor.

Parameters

[in] window_title the title of the window

~ImageViewer()

virtual pcl::visualization::ImageViewer::~ImageViewer ( )

virtual

Destructor.

Member Function Documentation

addAngleImage()

void pcl::visualization::ImageViewer::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).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addCircle() [1/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x	the x coordinate of the circle center
[in]	y	the y coordinate of the circle center
[in]	radius	the radius of the circle
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addCircle() [2/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x	the x coordinate of the circle center
[in]	y	the y coordinate of the circle center
[in]	radius	the radius of the circle
[in]	r	the red channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addFilledRectangle() [1/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

addFilledRectangle() [2/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

addFloatImage()

void pcl::visualization::ImageViewer::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).

Parameters

[in]	data	the input data representing the image in float format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addHalfAngleImage()

void pcl::visualization::ImageViewer::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).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addLayer()

bool pcl::visualization::ImageViewer::addLayer	(	const std::string &	layer_id,
		int	width,
		int	height,
		double	opacity = `0.5`
	)

Add a new 2D rendering layer to the viewer.

Parameters

[in]	layer_id	the name of the layer
[in]	width	the width of the layer
[in]	height	the height of the layer
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

addLine() [1/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x_min	the X min coordinate
[in]	y_min	the Y min coordinate
[in]	x_max	the X max coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addLine() [2/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x_min	the X min coordinate
[in]	y_min	the Y min coordinate
[in]	x_max	the X max coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addMask() [1/2]

template<typename T >

bool pcl::visualization::ImageViewer::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)

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 141 of file image_viewer.hpp.

addMask() [2/2]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	r	the red channel of the color that the mask should be rendered with
[in]	g	the green channel of the color that the mask should be rendered with
[in]	b	the blue channel of the color that the mask should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 97 of file image_viewer.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::search::OrganizedNeighbor< PointT >::projectPoint(), pcl::search::OrganizedNeighbor< PointT >::setInputCloud(), pcl::PointCloud< PointT >::size(), pcl::PointXY::x, and pcl::PointXY::y.

addMonoImage() [1/5]

void pcl::visualization::ImageViewer::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).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addMonoImage() [2/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const pcl::PointCloud< pcl::Intensity >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 182 of file image_viewer.h.

addMonoImage() [3/5]

void pcl::visualization::ImageViewer::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).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addMonoImage() [4/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 224 of file image_viewer.h.

addMonoImage() [5/5]

void pcl::visualization::ImageViewer::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).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addPlanarPolygon() [1/2]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	polygon	the point data representing the polygon that we want to draw. A line will be drawn from each point to the next in the dataset.
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 199 of file image_viewer.hpp.

addPlanarPolygon() [2/2]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	polygon	the point data representing the polygon that we want to draw. A line will be drawn from each point to the next in the dataset.
[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]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 151 of file image_viewer.hpp.

References pcl::PlanarPolygon< PointT >::getContour(), pcl::PointCloud< PointT >::isOrganized(), pcl::search::OrganizedNeighbor< PointT >::projectPoint(), pcl::search::OrganizedNeighbor< PointT >::setInputCloud(), pcl::PointXY::x, and pcl::PointXY::y.

addRectangle() [1/8]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addRectangle() [2/8]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addRectangle() [3/8]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 342 of file image_viewer.hpp.

addRectangle() [4/8]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	r	the red channel of the color that the mask should be rendered with
[in]	g	the green channel of the color that the mask should be rendered with
[in]	b	the blue channel of the color that the mask should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 290 of file image_viewer.hpp.

addRectangle() [5/8]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 279 of file image_viewer.hpp.

addRectangle() [6/8]

template<typename T >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 209 of file image_viewer.hpp.

addRectangle() [7/8]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addRectangle() [8/8]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addRGBImage() [1/3]

template<typename T >

void pcl::visualization::ImageViewer::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).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 70 of file image_viewer.hpp.

References pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.

addRGBImage() [2/3]

template<typename T >

void pcl::visualization::ImageViewer::addRGBImage	(	const typename pcl::PointCloud< T >::ConstPtr &	cloud,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

inline

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 290 of file image_viewer.h.

addRGBImage() [3/3]

void pcl::visualization::ImageViewer::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).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)
[in]	autoresize	flag to enable window to adapt to image size (default true)

addShortImage()

void pcl::visualization::ImageViewer::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).

Parameters

[in]	short_image	the input data representing the image in unsigned short format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

addText() [1/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x	the X coordinate
[in]	y	the Y coordinate
[in]	text	the text string to be displayed
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

addText() [2/2]

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	x	the X coordinate
[in]	y	the Y coordinate
[in]	text	the text string to be displayed
[in]	r	the red channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

close()

void pcl::visualization::ImageViewer::close ( )

inline

Stop the interaction and close the visualizaton window.

Definition at line 565 of file image_viewer.h.

convertIntensityCloud8uToUChar()

void pcl::visualization::ImageViewer::convertIntensityCloud8uToUChar	(	const pcl::PointCloud< pcl::Intensity8u > &	cloud,
		boost::shared_array< unsigned char >	data
	)

protected

Convert the Intensity8u information in a PointCloud<Intensity8u> to an unsigned char array.

Parameters

[in]	cloud	the input cloud containing the grayscale intensity information
[out]	data	a boost shared array of unsigned char type

Note: The method assumes that the data array has already been allocated and contains enough space to copy all the data from cloud!

convertIntensityCloudToUChar()

void pcl::visualization::ImageViewer::convertIntensityCloudToUChar	(	const pcl::PointCloud< pcl::Intensity > &	cloud,
		boost::shared_array< unsigned char >	data
	)

protected

Convert the Intensity information in a PointCloud<Intensity> to an unsigned char array.

Parameters

[in]	cloud	the input cloud containing the grayscale intensity information
[out]	data	a boost shared array of unsigned char type

Note: The method assumes that the data array has already been allocated and contains enough space to copy all the data from cloud!

convertRGBCloudToUChar()

template<typename T >

void pcl::visualization::ImageViewer::convertRGBCloudToUChar	(	const pcl::PointCloud< T > &	cloud,
		boost::shared_array< unsigned char > &	data
	)

protected

Convert the RGB information in a PointCloud<T> to an unsigned char array.

Parameters

[in]	cloud	the input cloud containing the RGB information
[out]	data	a boost shared array of unsigned char type

Note: The method assumes that the data array has already been allocated and contains enough space to copy all the data from cloud!

Definition at line 55 of file image_viewer.hpp.

emitKeyboardEvent()

void pcl::visualization::ImageViewer::emitKeyboardEvent ( unsigned long event_id )

protected

Fire up a keyboard event with a specified event ID.

Parameters

[in] event_id the id of the event

emitMouseEvent()

void pcl::visualization::ImageViewer::emitMouseEvent ( unsigned long event_id )

protected

Fire up a mouse event with a specified event ID.

Parameters

[in] event_id the id of the event

getSize()

int* pcl::visualization::ImageViewer::getSize ( )

Return the window size in pixels.

KeyboardCallback()

static void pcl::visualization::ImageViewer::KeyboardCallback	(	vtkObject *	,
		unsigned long	eid,
		void *	clientdata,
		void *	calldata
	)

staticprotected

markPoint()

void pcl::visualization::ImageViewer::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.

Parameters

[in]	u	the u/x coordinate of the pixel
[in]	v	the v/y coordinate of the pixel
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	radius	the circle radius around the pixel
[in]	layer_id	the name of the layer (default: "points")
[in]	opacity	the opacity of the layer (default: 1.0)

markPoints() [1/2]

void pcl::visualization::ImageViewer::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).

Parameters

[in]	uv	the u/x, v/y coordinate of the pixels to be marked
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	size	edge of the square surrounding each pixel
[in]	layer_id	the name of the layer (default: "markers")
[in]	opacity	the opacity of the layer (default: 1.0)

markPoints() [2/2]

void pcl::visualization::ImageViewer::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.

Parameters

[in]	uv	the u/x, v/y coordinate of the pixels to be marked
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	size	edge of the square surrounding each pixel
[in]	layer_id	the name of the layer (default: "markers")
[in]	opacity	the opacity of the layer (default: 1.0)

MouseCallback()

static void pcl::visualization::ImageViewer::MouseCallback	(	vtkObject *	,
		unsigned long	eid,
		void *	clientdata,
		void *	calldata
	)

staticprotected

registerKeyboardCallback() [1/3]

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

Parameters

[in] cb the boost 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::ImageViewer::registerKeyboardCallback	(	void()(const pcl::visualization::KeyboardEvent &, void )	callback,
		void *	cookie = `nullptr`
	)

inline

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 483 of file image_viewer.h.

registerKeyboardCallback() [3/3]

template<typename T >

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

inline

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 496 of file image_viewer.h.

registerMouseCallback() [1/3]

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

Parameters

[in] cb the boost 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::ImageViewer::registerMouseCallback	(	void()(const pcl::visualization::MouseEvent &, void )	callback,
		void *	cookie = `nullptr`
	)

inline

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 515 of file image_viewer.h.

registerMouseCallback() [3/3]

template<typename T >

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

inline

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 528 of file image_viewer.h.

removeLayer()

void pcl::visualization::ImageViewer::removeLayer ( const std::string & layer_id )

Remove a 2D layer given by its ID.

Parameters

[in] layer_id the name of the layer

render()

void pcl::visualization::ImageViewer::render ( )

protected

Trigger a render call.

resetStoppedFlag()

void pcl::visualization::ImageViewer::resetStoppedFlag ( )

inlineprotected

Set the stopped flag back to false.

Definition at line 900 of file image_viewer.h.

setInteractorStyle()

void pcl::visualization::ImageViewer::setInteractorStyle ( vtkInteractorObserver * style )

inline

Set up the interactor style.

By default the interactor style is set to vtkInteractorStyleImage you can use this to set it to another type.

Parameters

[in] style user set interactor style.

Definition at line 137 of file image_viewer.h.

setPosition()

void pcl::visualization::ImageViewer::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)

setSize()

void pcl::visualization::ImageViewer::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)

setWindowTitle()

void pcl::visualization::ImageViewer::setWindowTitle ( const std::string & name )

Set the window title name.

Parameters

[in] name the window title

showAngleImage()

void pcl::visualization::ImageViewer::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.

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showCorrespondences()

template<typename PointT >

bool pcl::visualization::ImageViewer::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.

Parameters

[in]	source_img	The source RGB image
[in]	target_img	The target RGB image
[in]	correspondences	The list of correspondences to display.
[in]	nth	display only the Nth correspondence (e.g., skip the rest)
[in]	layer_id	the layer id (default: "correspondences")

Definition at line 352 of file image_viewer.hpp.

References pcl::visualization::getRandomColors(), pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.

showFloatImage()

void pcl::visualization::ImageViewer::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.

Parameters

[in]	data	the input data representing the image in float format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showHalfAngleImage()

void pcl::visualization::ImageViewer::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.

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showMonoImage() [1/5]

void pcl::visualization::ImageViewer::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.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showMonoImage() [2/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const pcl::PointCloud< pcl::Intensity >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Show a monochrome 2D image on screen.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 170 of file image_viewer.h.

showMonoImage() [3/5]

void pcl::visualization::ImageViewer::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.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showMonoImage() [4/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Show a monochrome 2D image on screen.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 212 of file image_viewer.h.

showMonoImage() [5/5]

void pcl::visualization::ImageViewer::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.

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showRGBImage() [1/3]

template<typename T >

void pcl::visualization::ImageViewer::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.

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 87 of file image_viewer.hpp.

showRGBImage() [2/3]

template<typename T >

void pcl::visualization::ImageViewer::showRGBImage	(	const typename pcl::PointCloud< T >::ConstPtr &	cloud,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

inline

Show a 2D image on screen, obtained from the RGB channel of a point cloud.

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 278 of file image_viewer.h.

showRGBImage() [3/3]

void pcl::visualization::ImageViewer::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.

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

showShortImage()

void pcl::visualization::ImageViewer::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.

Parameters

[in]	short_image	the input data representing the image in unsigned short format
[in]	width	the width of the image
[in]	height	the height of the image
[in]	min_value	filter all values in the image to be larger than this minimum value
[in]	max_value	filter all values in the image to be smaller than this maximum value
[in]	grayscale	show data as grayscale (true) or not (false). Default: false
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

spin()

void pcl::visualization::ImageViewer::spin ( )

Spin method.

Calls the interactor and runs an internal loop.

spinOnce()

void pcl::visualization::ImageViewer::spinOnce	(	int	time = `1`,
		bool	force_redraw = `true`
	)

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.

wasStopped()

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

inline

Returns true when the user tried to close the window.

Definition at line 561 of file image_viewer.h.

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

pcl/visualization/image_viewer.h
pcl/visualization/impl/image_viewer.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_image_viewer.html

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Detailed Description

Member Typedef Documentation

ConstPtr

Ptr

Constructor & Destructor Documentation

ImageViewer()

~ImageViewer()

Member Function Documentation

addAngleImage()

addCircle() [1/2]

addCircle() [2/2]

addFilledRectangle() [1/2]

addFilledRectangle() [2/2]

addFloatImage()

addHalfAngleImage()

addLayer()

addLine() [1/2]

addLine() [2/2]

addMask() [1/2]

addMask() [2/2]

addMonoImage() [1/5]

addMonoImage() [2/5]

addMonoImage() [3/5]

addMonoImage() [4/5]

addMonoImage() [5/5]

addPlanarPolygon() [1/2]

addPlanarPolygon() [2/2]

addRectangle() [1/8]

addRectangle() [2/8]

addRectangle() [3/8]

addRectangle() [4/8]

addRectangle() [5/8]

addRectangle() [6/8]

addRectangle() [7/8]

addRectangle() [8/8]

addRGBImage() [1/3]

addRGBImage() [2/3]

addRGBImage() [3/3]

addShortImage()

addText() [1/2]

addText() [2/2]

close()

convertIntensityCloud8uToUChar()

convertIntensityCloudToUChar()

convertRGBCloudToUChar()

emitKeyboardEvent()

emitMouseEvent()

getSize()

KeyboardCallback()

markPoint()

markPoints() [1/2]

markPoints() [2/2]

MouseCallback()

registerKeyboardCallback() [1/3]

registerKeyboardCallback() [2/3]

registerKeyboardCallback() [3/3]

registerMouseCallback() [1/3]

registerMouseCallback() [2/3]

registerMouseCallback() [3/3]

removeLayer()

render()

resetStoppedFlag()

setInteractorStyle()

setPosition()

setSize()

setWindowTitle()

showAngleImage()

showCorrespondences()

showFloatImage()

showHalfAngleImage()

showMonoImage() [1/5]

showMonoImage() [2/5]

showMonoImage() [3/5]

showMonoImage() [4/5]

showMonoImage() [5/5]