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PCL histogram visualizer main class. More...

#include <pcl/visualization/histogram_visualizer.h>

Public Types

using Ptr = shared_ptr< PCLHistogramVisualizer >
using ConstPtr = shared_ptr< const PCLHistogramVisualizer >

Public Member Functions

PCLHistogramVisualizer ()
PCL histogram visualizer constructor. More...
virtual ~PCLHistogramVisualizer ()
void spinOnce (int time=1)
Spin once method. More...
void spin ()
Spin method. More...
void setBackgroundColor (const double &r, const double &g, const double &b)
Set the viewport's background color. More...
template<typename PointT >
bool addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud", int win_width=640, int win_height=200)
Add a histogram feature to screen as a separate window, from a cloud containing a single histogram. More...
bool addFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const std::string &id="cloud", int win_width=640, int win_height=200)
Add a histogram feature to screen as a separate window from a cloud containing a single histogram. More...
template<typename PointT >
bool addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud", int win_width=640, int win_height=200)
Add a histogram feature to screen as a separate window. More...
bool addFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud", int win_width=640, int win_height=200)
Add a histogram feature to screen as a separate window. More...
template<typename PointT >
bool updateFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud")
Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...
bool updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const std::string &id="cloud")
Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...
template<typename PointT >
bool updateFeatureHistogram (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud")
Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...
bool updateFeatureHistogram (const pcl::PCLPointCloud2 &cloud, const std::string &field_name, const pcl::index_t index, const std::string &id="cloud")
Update a histogram feature that is already on screen, with a cloud containing a single histogram. More...
void setGlobalYRange (float minp, float maxp)
Set the Y range to minp-maxp for all histograms. More...
void updateWindowPositions ()
Update all window positions on screen so that they fit. More...

Protected Member Functions

void createActor (const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract &renwinint, const std::string &id, const int win_width, const int win_height)
Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen. More...
void reCreateActor (const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract *renwinupd, const int hsize)
Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen. More...

Detailed Description

PCL histogram visualizer main class.

Author
Radu Bogdan Rusu

Definition at line 56 of file histogram_visualizer.h.

Member Typedef Documentation

ConstPtr

Ptr

Constructor & Destructor Documentation

PCLHistogramVisualizer()

pcl::visualization::PCLHistogramVisualizer::PCLHistogramVisualizer ( )

PCL histogram visualizer constructor.

~PCLHistogramVisualizer()

virtual pcl::visualization::PCLHistogramVisualizer::~PCLHistogramVisualizer ( )
inlinevirtual

Definition at line 65 of file histogram_visualizer.h.

Member Function Documentation

addFeatureHistogram() [1/4]

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram ( const pcl::PCLPointCloud2 & cloud,
const std::string & field_name,
const pcl::index_t index,
const std::string & id = "cloud",
int win_width = 640,
int win_height = 200
)

Add a histogram feature to screen as a separate window.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] field_name the field name containing the histogram
[in] index the point index to extract the histogram from
[in] id the point cloud object id (default: cloud)
[in] win_width the width of the window
[in] win_height the height of the window

addFeatureHistogram() [2/4]

bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram ( const pcl::PCLPointCloud2 & cloud,
const std::string & field_name,
const std::string & id = "cloud",
int win_width = 640,
int win_height = 200
)

Add a histogram feature to screen as a separate window from a cloud containing a single histogram.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] field_name the field name containing the histogram
[in] id the point cloud object id (default: cloud)
[in] win_width the width of the window
[in] win_height the height of the window

addFeatureHistogram() [3/4]

template<typename PointT >
bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram ( const pcl::PointCloud< PointT > & cloud,
const std::string & field_name,
const pcl::index_t index,
const std::string & id = "cloud",
int win_width = 640,
int win_height = 200
)

Add a histogram feature to screen as a separate window.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] field_name the field name containing the histogram
[in] index the point index to extract the histogram from
[in] id the point cloud object id (default: cloud)
[in] win_width the width of the window
[in] win_height the height of the window

Definition at line 86 of file histogram_visualizer.hpp.

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

addFeatureHistogram() [4/4]

template<typename PointT >
bool pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram ( const pcl::PointCloud< PointT > & cloud,
int hsize,
const std::string & id = "cloud",
int win_width = 640,
int win_height = 200
)

Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] hsize the length of the histogram
[in] id the point cloud object id (default: cloud)
[in] win_width the width of the window
[in] win_height the height of the window

Definition at line 52 of file histogram_visualizer.hpp.

References createActor().

createActor()

void pcl::visualization::PCLHistogramVisualizer::createActor ( const vtkSmartPointer< vtkDoubleArray > & xy_array,
RenWinInteract & renwinint,
const std::string & id,
const int win_width,
const int win_height
)
protected

Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.

Parameters
[in] xy_array the input vtkDoubleArray holding the histogram data
[out] renwinint the resultant render window interactor holding the rendered object
[in] id the point cloud object id
[in] win_width the width of the window
[in] win_height the height of the window

Referenced by addFeatureHistogram().

reCreateActor()

void pcl::visualization::PCLHistogramVisualizer::reCreateActor ( const vtkSmartPointer< vtkDoubleArray > & xy_array,
RenWinInteract * renwinupd,
const int hsize
)
protected

Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.

Parameters
[in] xy_array the input vtkDoubleArray holding the histogram data
[out] renwinupd the resultant render window interactor holding the rendered object
[in] hsize Histogram size

Referenced by updateFeatureHistogram().

setBackgroundColor()

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

Set the viewport's background color.

Parameters
[in] r the red component of the RGB color
[in] g the green component of the RGB color
[in] b the blue component of the RGB color

setGlobalYRange()

void pcl::visualization::PCLHistogramVisualizer::setGlobalYRange ( float minp,
float maxp
)

Set the Y range to minp-maxp for all histograms.

Parameters
[in] minp the minimum Y range
[in] maxp the maximum Y range

spin()

void pcl::visualization::PCLHistogramVisualizer::spin ( )

Spin method.

Calls the interactor and runs an internal loop.

spinOnce()

void pcl::visualization::PCLHistogramVisualizer::spinOnce ( int time = 1 )

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.

updateFeatureHistogram() [1/4]

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram ( const pcl::PCLPointCloud2 & cloud,
const std::string & field_name,
const pcl::index_t index,
const std::string & id = "cloud"
)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] field_name the field name containing the histogram
[in] index the point index to extract the histogram from
[in] id the point cloud object id (default: cloud)

updateFeatureHistogram() [2/4]

bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram ( const pcl::PCLPointCloud2 & cloud,
const std::string & field_name,
const std::string & id = "cloud"
)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] field_name the field name containing the histogram
[in] id the point cloud object id (default: cloud)

updateFeatureHistogram() [3/4]

template<typename PointT >
bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram ( const pcl::PointCloud< PointT > & cloud,
const std::string & field_name,
const pcl::index_t index,
const std::string & id = "cloud"
)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] field_name the field name containing the histogram
[in] index the point index to extract the histogram from
[in] id the point cloud object id (default: cloud)

Definition at line 170 of file histogram_visualizer.hpp.

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

updateFeatureHistogram() [4/4]

template<typename PointT >
bool pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram ( const pcl::PointCloud< PointT > & cloud,
int hsize,
const std::string & id = "cloud"
)

Update a histogram feature that is already on screen, with a cloud containing a single histogram.

Parameters
[in] cloud the PointCloud dataset containing the histogram
[in] hsize the length of the histogram
[in] id the point cloud object id (default: cloud)

Definition at line 140 of file histogram_visualizer.hpp.

References reCreateActor().

updateWindowPositions()

void pcl::visualization::PCLHistogramVisualizer::updateWindowPositions ( )

Update all window positions on screen so that they fit.


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_p_c_l_histogram_visualizer.html