PCL Visualizer main class. More...
#include <pcl/visualization/pcl_visualizer.h>
Public Types |
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| using | Ptr = shared_ptr< PCLVisualizer > |
| using | ConstPtr = shared_ptr< const PCLVisualizer > |
| using | GeometryHandler = PointCloudGeometryHandler< pcl::PCLPointCloud2 > |
| using | GeometryHandlerPtr = GeometryHandler::Ptr |
| using | GeometryHandlerConstPtr = GeometryHandler::ConstPtr |
| using | ColorHandler = PointCloudColorHandler< pcl::PCLPointCloud2 > |
| using | ColorHandlerPtr = ColorHandler::Ptr |
| using | ColorHandlerConstPtr = ColorHandler::ConstPtr |
Public Member Functions |
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| PCLVisualizer (const std::string &name="", const bool create_interactor=true) | |
| PCL Visualizer constructor. More... |
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| PCLVisualizer (int &argc, char **argv, const std::string &name="", PCLVisualizerInteractorStyle *style=PCLVisualizerInteractorStyle::New(), const bool create_interactor=true) | |
| PCL Visualizer constructor. More... |
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| PCLVisualizer (vtkSmartPointer< vtkRenderer > ren, vtkSmartPointer< vtkRenderWindow > wind, const std::string &name="", const bool create_interactor=true) | |
| PCL Visualizer constructor. More... |
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| PCLVisualizer (int &argc, char **argv, vtkSmartPointer< vtkRenderer > ren, vtkSmartPointer< vtkRenderWindow > wind, const std::string &name="", PCLVisualizerInteractorStyle *style=PCLVisualizerInteractorStyle::New(), const bool create_interactor=true) | |
| PCL Visualizer constructor. More... |
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| virtual | ~PCLVisualizer () |
| PCL Visualizer destructor. More... |
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| void | setFullScreen (bool mode) |
| Enables/Disabled the underlying window mode to full screen. More... |
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| void | setWindowName (const std::string &name) |
| Set the visualizer window name. More... |
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| void | setWindowBorders (bool mode) |
| Enables or disable the underlying window borders. More... |
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| boost::signals2::connection | registerKeyboardCallback (std::function< void(const pcl::visualization::KeyboardEvent &)> cb) |
| Register a callback std::function for keyboard events. More... |
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| boost::signals2::connection | registerKeyboardCallback (void(*callback)(const pcl::visualization::KeyboardEvent &, void *), void *cookie=nullptr) |
| Register a callback function for keyboard events. More... |
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| 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... |
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| boost::signals2::connection | registerMouseCallback (std::function< void(const pcl::visualization::MouseEvent &)> cb) |
| Register a callback function for mouse events. More... |
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| boost::signals2::connection | registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=nullptr) |
| Register a callback function for mouse events. More... |
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| 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... |
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| boost::signals2::connection | registerPointPickingCallback (std::function< void(const pcl::visualization::PointPickingEvent &)> cb) |
| Register a callback function for point picking events. More... |
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| boost::signals2::connection | registerPointPickingCallback (void(*callback)(const pcl::visualization::PointPickingEvent &, void *), void *cookie=nullptr) |
| Register a callback function for point picking events. More... |
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| template<typename T > | |
| boost::signals2::connection | registerPointPickingCallback (void(T::*callback)(const pcl::visualization::PointPickingEvent &, void *), T &instance, void *cookie=nullptr) |
| Register a callback function for point picking events. More... |
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| boost::signals2::connection | registerAreaPickingCallback (std::function< void(const pcl::visualization::AreaPickingEvent &)> cb) |
| Register a callback function for area picking events. More... |
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| boost::signals2::connection | registerAreaPickingCallback (void(*callback)(const pcl::visualization::AreaPickingEvent &, void *), void *cookie=nullptr) |
| Register a callback function for area picking events. More... |
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| template<typename T > | |
| boost::signals2::connection | registerAreaPickingCallback (void(T::*callback)(const pcl::visualization::AreaPickingEvent &, void *), T &instance, void *cookie=nullptr) |
| Register a callback function for area picking events. More... |
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| void | spin () |
| Spin method. More... |
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| void | spinOnce (int time=1, bool force_redraw=false) |
| Spin once method. More... |
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| void | addOrientationMarkerWidgetAxes (vtkRenderWindowInteractor *interactor) |
| Adds a widget which shows an interactive axes display for orientation. More... |
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| void | removeOrientationMarkerWidgetAxes () |
| Disables the Orientatation Marker Widget so it is removed from the renderer. More... |
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| void | addCoordinateSystem (double scale=1.0, const std::string &id="reference", int viewport=0) |
| Adds 3D axes describing a coordinate system to screen at 0,0,0. More... |
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| void | addCoordinateSystem (double scale, float x, float y, float z, const std::string &id="reference", int viewport=0) |
| Adds 3D axes describing a coordinate system to screen at x, y, z. More... |
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| void | addCoordinateSystem (double scale, const Eigen::Affine3f &t, const std::string &id="reference", int viewport=0) |
| Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw. More... |
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| bool | removeCoordinateSystem (const std::string &id="reference", int viewport=0) |
| Removes a previously added 3D axes (coordinate system) More... |
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| bool | removePointCloud (const std::string &id="cloud", int viewport=0) |
| Removes a Point Cloud from screen, based on a given ID. More... |
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| bool | removePolygonMesh (const std::string &id="polygon", int viewport=0) |
| Removes a PolygonMesh from screen, based on a given ID. More... |
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| bool | removeShape (const std::string &id="cloud", int viewport=0) |
| Removes an added shape from screen (line, polygon, etc.), based on a given ID. More... |
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| bool | removeText3D (const std::string &id="cloud", int viewport=0) |
| Removes an added 3D text from the scene, based on a given ID. More... |
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| bool | removeAllPointClouds (int viewport=0) |
| Remove all point cloud data on screen from the given viewport. More... |
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| bool | removeAllShapes (int viewport=0) |
| Remove all 3D shape data on screen from the given viewport. More... |
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| bool | removeAllCoordinateSystems (int viewport=0) |
| Removes all existing 3D axes (coordinate systems) More... |
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| void | setBackgroundColor (const double &r, const double &g, const double &b, int viewport=0) |
| Set the viewport's background color. More... |
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| bool | addText (const std::string &text, int xpos, int ypos, const std::string &id="", int viewport=0) |
| Add a text to screen. More... |
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| bool | addText (const std::string &text, int xpos, int ypos, double r, double g, double b, const std::string &id="", int viewport=0) |
| Add a text to screen. More... |
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| bool | addText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b, const std::string &id="", int viewport=0) |
| Add a text to screen. More... |
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| bool | updateText (const std::string &text, int xpos, int ypos, const std::string &id="") |
| Update a text to screen. More... |
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| bool | updateText (const std::string &text, int xpos, int ypos, double r, double g, double b, const std::string &id="") |
| Update a text to screen. More... |
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| bool | updateText (const std::string &text, int xpos, int ypos, int fontsize, double r, double g, double b, const std::string &id="") |
| Update a text to screen. More... |
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| bool | updateShapePose (const std::string &id, const Eigen::Affine3f &pose) |
| Set the pose of an existing shape. More... |
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| bool | updateCoordinateSystemPose (const std::string &id, const Eigen::Affine3f &pose) |
| Set the pose of an existing coordinate system. More... |
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| bool | updatePointCloudPose (const std::string &id, const Eigen::Affine3f &pose) |
| Set the pose of an existing point cloud. More... |
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| template<typename PointT > | |
| bool | addText3D (const std::string &text, const PointT &position, double textScale=1.0, double r=1.0, double g=1.0, double b=1.0, const std::string &id="", int viewport=0) |
| Add a 3d text to the scene. More... |
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| template<typename PointT > | |
| bool | addText3D (const std::string &text, const PointT &position, double orientation[3], double textScale=1.0, double r=1.0, double g=1.0, double b=1.0, const std::string &id="", int viewport=0) |
| Add a 3d text to the scene. More... |
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| bool | contains (const std::string &id) const |
| Check if the cloud, shape, or coordinate with the given id was already added to this visualizer. More... |
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| template<typename PointNT > | |
| bool | addPointCloudNormals (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, int level=100, float scale=0.02f, const std::string &id="cloud", int viewport=0) |
| Add the estimated surface normals of a Point Cloud to screen. More... |
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| template<typename PointT , typename PointNT > | |
| bool | addPointCloudNormals (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const typename pcl::PointCloud< PointNT >::ConstPtr &normals, int level=100, float scale=0.02f, const std::string &id="cloud", int viewport=0) |
| Add the estimated surface normals of a Point Cloud to screen. More... |
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| template<typename PointNT > | |
| bool | addPointCloudPrincipalCurvatures (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, const typename pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &pcs, int level=100, float scale=1.0f, const std::string &id="cloud", int viewport=0) |
| Add the estimated principal curvatures of a Point Cloud to screen. More... |
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| template<typename PointT , typename PointNT > | |
| bool | addPointCloudPrincipalCurvatures (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const typename pcl::PointCloud< PointNT >::ConstPtr &normals, const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &pcs, int level=100, float scale=1.0f, const std::string &id="cloud", int viewport=0) |
| Add the estimated principal curvatures of a Point Cloud to screen. More... |
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| template<typename PointT , typename GradientT > | |
| bool | addPointCloudIntensityGradients (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const typename pcl::PointCloud< GradientT >::ConstPtr &gradients, int level=100, double scale=1e-6, const std::string &id="cloud", int viewport=0) |
| Add the estimated surface intensity gradients of a Point Cloud to screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| template<typename PointT > | |
| bool | updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="cloud") |
| Updates the XYZ data for an existing cloud object id on screen. More... |
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| template<typename PointT > | |
| bool | updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudGeometryHandler< PointT > &geometry_handler, const std::string &id="cloud") |
| Updates the XYZ data for an existing cloud object id on screen. More... |
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| template<typename PointT > | |
| bool | updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudColorHandler< PointT > &color_handler, const std::string &id="cloud") |
| Updates the XYZ data for an existing cloud object id on screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudGeometryHandler< PointT > &geometry_handler, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudColorHandler< PointT > &color_handler, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const ColorHandlerConstPtr &color_handler, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const ColorHandlerConstPtr &color_handler, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| bool | addPointCloud (const pcl::PCLPointCloud2::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const ColorHandlerConstPtr &color_handler, const Eigen::Vector4f &sensor_origin, const Eigen::Quaternion< float > &sensor_orientation, const std::string &id="cloud", int viewport=0) |
| Add a binary blob Point Cloud to screen. More... |
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| bool | addPointCloud (const pcl::PCLPointCloud2::ConstPtr &cloud, const GeometryHandlerConstPtr &geometry_handler, const Eigen::Vector4f &sensor_origin, const Eigen::Quaternion< float > &sensor_orientation, const std::string &id="cloud", int viewport=0) |
| Add a binary blob Point Cloud to screen. More... |
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| bool | addPointCloud (const pcl::PCLPointCloud2::ConstPtr &cloud, const ColorHandlerConstPtr &color_handler, const Eigen::Vector4f &sensor_origin, const Eigen::Quaternion< float > &sensor_orientation, const std::string &id="cloud", int viewport=0) |
| Add a binary blob Point Cloud to screen. More... |
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| template<typename PointT > | |
| bool | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const PointCloudColorHandler< PointT > &color_handler, const PointCloudGeometryHandler< PointT > &geometry_handler, const std::string &id="cloud", int viewport=0) |
| Add a Point Cloud (templated) to screen. More... |
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| bool | addPointCloud (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0) |
| Add a PointXYZ Point Cloud to screen. More... |
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| bool | addPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0) |
| Add a PointXYZRGB Point Cloud to screen. More... |
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| bool | addPointCloud (const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0) |
| Add a PointXYZRGBA Point Cloud to screen. More... |
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| bool | addPointCloud (const pcl::PointCloud< pcl::PointXYZL >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0) |
| Add a PointXYZL Point Cloud to screen. More... |
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| bool | updatePointCloud (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud, const std::string &id="cloud") |
| Updates the XYZ data for an existing cloud object id on screen. More... |
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| bool | updatePointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const std::string &id="cloud") |
| Updates the XYZRGB data for an existing cloud object id on screen. More... |
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| bool | updatePointCloud (const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &cloud, const std::string &id="cloud") |
| Updates the XYZRGBA data for an existing cloud object id on screen. More... |
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| bool | updatePointCloud (const pcl::PointCloud< pcl::PointXYZL >::ConstPtr &cloud, const std::string &id="cloud") |
| Updates the XYZL data for an existing cloud object id on screen. More... |
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| bool | addPolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polygon", int viewport=0) |
| Add a PolygonMesh object to screen. More... |
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| template<typename PointT > | |
| bool | addPolygonMesh (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::vector< pcl::Vertices > &vertices, const std::string &id="polygon", int viewport=0) |
| Add a PolygonMesh object to screen. More... |
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| template<typename PointT > | |
| bool | updatePolygonMesh (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::vector< pcl::Vertices > &vertices, const std::string &id="polygon") |
| Update a PolygonMesh object on screen. More... |
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| bool | updatePolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polygon") |
| Update a PolygonMesh object on screen. More... |
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| bool | addPolylineFromPolygonMesh (const pcl::PolygonMesh &polymesh, const std::string &id="polyline", int viewport=0) |
| Add a Polygonline from a polygonMesh object to screen. More... |
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| template<typename PointT > | |
| bool | addCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const std::vector< int > &correspondences, const std::string &id="correspondences", int viewport=0) |
| Add the specified correspondences to the display. More... |
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| bool | addTextureMesh (const pcl::TextureMesh &polymesh, const std::string &id="texture", int viewport=0) |
| Add a TextureMesh object to screen. More... |
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| template<typename PointT > | |
| bool | addCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const pcl::Correspondences &correspondences, int nth, const std::string &id="correspondences", int viewport=0, bool overwrite=false) |
| Add the specified correspondences to the display. More... |
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| template<typename PointT > | |
| bool | addCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const pcl::Correspondences &correspondences, const std::string &id="correspondences", int viewport=0) |
| Add the specified correspondences to the display. More... |
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| template<typename PointT > | |
| bool | updateCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const pcl::Correspondences &correspondences, int nth, const std::string &id="correspondences", int viewport=0) |
| Update the specified correspondences to the display. More... |
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| template<typename PointT > | |
| bool | updateCorrespondences (const typename pcl::PointCloud< PointT >::ConstPtr &source_points, const typename pcl::PointCloud< PointT >::ConstPtr &target_points, const pcl::Correspondences &correspondences, const std::string &id="correspondences", int viewport=0) |
| Update the specified correspondences to the display. More... |
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| void | removeCorrespondences (const std::string &id="correspondences", int viewport=0) |
| Remove the specified correspondences from the display. More... |
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| int | getColorHandlerIndex (const std::string &id) |
| Get the color handler index of a rendered PointCloud based on its ID. More... |
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| int | getGeometryHandlerIndex (const std::string &id) |
| Get the geometry handler index of a rendered PointCloud based on its ID. More... |
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| bool | updateColorHandlerIndex (const std::string &id, int index) |
| Update/set the color index of a rendered PointCloud based on its ID. More... |
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| bool | setPointCloudRenderingProperties (int property, double val1, double val2, double val3, const std::string &id="cloud", int viewport=0) |
| Set the rendering properties of a PointCloud (3x values - e.g., RGB) More... |
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| bool | setPointCloudRenderingProperties (int property, double val1, double val2, const std::string &id="cloud", int viewport=0) |
| Set the rendering properties of a PointCloud (2x values - e.g., LUT minmax values) More... |
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| bool | setPointCloudRenderingProperties (int property, double value, const std::string &id="cloud", int viewport=0) |
| Set the rendering properties of a PointCloud. More... |
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| bool | getPointCloudRenderingProperties (int property, double &value, const std::string &id="cloud") |
| Get the rendering properties of a PointCloud. More... |
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| bool | getPointCloudRenderingProperties (RenderingProperties property, double &val1, double &val2, double &val3, const std::string &id="cloud") |
| Get the rendering properties of a PointCloud. More... |
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| bool | setPointCloudSelected (const bool selected, const std::string &id="cloud") |
| Set whether the point cloud is selected or not. More... |
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| bool | setShapeRenderingProperties (int property, double value, const std::string &id, int viewport=0) |
| Set the rendering properties of a shape. More... |
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| bool | setShapeRenderingProperties (int property, double val1, double val2, const std::string &id, int viewport=0) |
| Set the rendering properties of a shape (2x values - e.g., LUT minmax values) More... |
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| bool | setShapeRenderingProperties (int property, double val1, double val2, double val3, const std::string &id, int viewport=0) |
| Set the rendering properties of a shape (3x values - e.g., RGB) More... |
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| bool | wasStopped () const |
| Returns true when the user tried to close the window. More... |
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| void | resetStoppedFlag () |
| Set the stopped flag back to false. More... |
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| void | close () |
| Stop the interaction and close the visualizaton window. More... |
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| void | createViewPort (double xmin, double ymin, double xmax, double ymax, int &viewport) |
| Create a new viewport from [xmin,ymin] -> [xmax,ymax]. More... |
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| void | createViewPortCamera (const int viewport) |
| Create a new separate camera for the given viewport. More... |
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| template<typename PointT > | |
| bool | addPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, double r, double g, double b, const std::string &id="polygon", int viewport=0) |
| Add a polygon (polyline) that represents the input point cloud (connects all points in order) More... |
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| template<typename PointT > | |
| bool | addPolygon (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="polygon", int viewport=0) |
| Add a polygon (polyline) that represents the input point cloud (connects all points in order) More... |
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| template<typename PointT > | |
| bool | addPolygon (const pcl::PlanarPolygon< PointT > &polygon, double r, double g, double b, const std::string &id="polygon", int viewport=0) |
| Add a planar polygon that represents the input point cloud (connects all points in order) More... |
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| template<typename P1 , typename P2 > | |
| bool | addLine (const P1 &pt1, const P2 &pt2, const std::string &id="line", int viewport=0) |
| Add a line segment from two points. More... |
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| template<typename P1 , typename P2 > | |
| bool | addLine (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id="line", int viewport=0) |
| Add a line segment from two points. More... |
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| template<typename P1 , typename P2 > | |
| bool | addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id="arrow", int viewport=0) |
| Add a line arrow segment between two points, and display the distance between them. More... |
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| template<typename P1 , typename P2 > | |
| bool | addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, bool display_length, const std::string &id="arrow", int viewport=0) |
| Add a line arrow segment between two points, and (optionally) display the distance between them. More... |
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| template<typename P1 , typename P2 > | |
| bool | addArrow (const P1 &pt1, const P2 &pt2, double r_line, double g_line, double b_line, double r_text, double g_text, double b_text, const std::string &id="arrow", int viewport=0) |
| Add a line arrow segment between two points, and display the distance between them in a given color. More... |
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| template<typename PointT > | |
| bool | addSphere (const PointT ¢er, double radius, const std::string &id="sphere", int viewport=0) |
| Add a sphere shape from a point and a radius. More... |
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| template<typename PointT > | |
| bool | addSphere (const PointT ¢er, double radius, double r, double g, double b, const std::string &id="sphere", int viewport=0) |
| Add a sphere shape from a point and a radius. More... |
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| template<typename PointT > | |
| bool | updateSphere (const PointT ¢er, double radius, double r, double g, double b, const std::string &id="sphere") |
| Update an existing sphere shape from a point and a radius. More... |
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| bool | addModelFromPolyData (vtkSmartPointer< vtkPolyData > polydata, const std::string &id="PolyData", int viewport=0) |
| Add a vtkPolydata as a mesh. More... |
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| bool | addModelFromPolyData (vtkSmartPointer< vtkPolyData > polydata, vtkSmartPointer< vtkTransform > transform, const std::string &id="PolyData", int viewport=0) |
| Add a vtkPolydata as a mesh. More... |
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| bool | addModelFromPLYFile (const std::string &filename, const std::string &id="PLYModel", int viewport=0) |
| Add a PLYmodel as a mesh. More... |
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| bool | addModelFromPLYFile (const std::string &filename, vtkSmartPointer< vtkTransform > transform, const std::string &id="PLYModel", int viewport=0) |
| Add a PLYmodel as a mesh and applies given transformation. More... |
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| bool | addCylinder (const pcl::ModelCoefficients &coefficients, const std::string &id="cylinder", int viewport=0) |
| Add a cylinder from a set of given model coefficients. More... |
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| bool | addSphere (const pcl::ModelCoefficients &coefficients, const std::string &id="sphere", int viewport=0) |
| Add a sphere from a set of given model coefficients. More... |
|
| bool | addLine (const pcl::ModelCoefficients &coefficients, const std::string &id="line", int viewport=0) |
| Add a line from a set of given model coefficients. More... |
|
| bool | addLine (const pcl::ModelCoefficients &coefficients, const char *id="line", int viewport=0) |
| Add a line from a set of given model coefficients. More... |
|
| bool | addPlane (const pcl::ModelCoefficients &coefficients, const std::string &id="plane", int viewport=0) |
| Add a plane from a set of given model coefficients. More... |
|
| bool | addPlane (const pcl::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id="plane", int viewport=0) |
| bool | addCircle (const pcl::ModelCoefficients &coefficients, const std::string &id="circle", int viewport=0) |
| Add a circle from a set of given model coefficients. More... |
|
| bool | addCone (const pcl::ModelCoefficients &coefficients, const std::string &id="cone", int viewport=0) |
| Add a cone from a set of given model coefficients. More... |
|
| bool | addCube (const pcl::ModelCoefficients &coefficients, const std::string &id="cube", int viewport=0) |
| Add a cube from a set of given model coefficients. More... |
|
| bool | addCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth, const std::string &id="cube", int viewport=0) |
| Add a cube from a set of given model coefficients. More... |
|
| bool | addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max, double r=1.0, double g=1.0, double b=1.0, const std::string &id="cube", int viewport=0) |
| Add a cube. More... |
|
| bool | addEllipsoid (const Eigen::Isometry3d &transform, double radius_x, double radius_y, double radius_z, const std::string &id="ellipsoid", int viewport=0) |
| Add an ellipsoid from the given parameters. More... |
|
| void | setRepresentationToSurfaceForAllActors () |
| Changes the visual representation for all actors to surface representation. More... |
|
| void | setRepresentationToPointsForAllActors () |
| Changes the visual representation for all actors to points representation. More... |
|
| void | setRepresentationToWireframeForAllActors () |
| Changes the visual representation for all actors to wireframe representation. More... |
|
| void | setShowFPS (bool show_fps) |
| Sets whether the 2D overlay text showing the framerate of the window is displayed or not. More... |
|
| float | getFPS () const |
| Get the current rendering framerate. More... |
|
| void | renderView (int xres, int yres, pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud) |
| Renders a virtual scene as seen from the camera viewpoint and returns the rendered point cloud. More... |
|
| void | renderViewTesselatedSphere (int xres, int yres, pcl::PointCloud< pcl::PointXYZ >::CloudVectorType &cloud, std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &poses, std::vector< float > &enthropies, int tesselation_level, float view_angle=45, float radius_sphere=1, bool use_vertices=true) |
| The purpose of this method is to render a CAD model added to the visualizer from different viewpoints in order to simulate partial views of model. More... |
|
| void | initCameraParameters () |
| Initialize camera parameters with some default values. More... |
|
| bool | getCameraParameters (int argc, char **argv) |
| Search for camera parameters at the command line and set them internally. More... |
|
| bool | loadCameraParameters (const std::string &file) |
| Load camera parameters from a camera parameters file. More... |
|
| bool | cameraParamsSet () const |
| Checks whether the camera parameters were manually loaded. More... |
|
| bool | cameraFileLoaded () const |
| Checks whether a camera file were automatically loaded. More... |
|
| std::string | getCameraFile () const |
| Get camera file for camera parameter saving/restoring. More... |
|
| void | updateCamera () |
| Update camera parameters and render. More... |
|
| void | resetCamera () |
| Reset camera parameters and render. More... |
|
| void | resetCameraViewpoint (const std::string &id="cloud") |
| Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset. More... |
|
| void | setCameraPosition (double pos_x, double pos_y, double pos_z, double view_x, double view_y, double view_z, double up_x, double up_y, double up_z, int viewport=0) |
| Set the camera pose given by position, viewpoint and up vector. More... |
|
| void | setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z, int viewport=0) |
| Set the camera location and viewup according to the given arguments. More... |
|
| void | setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport=0) |
| Set the camera parameters via an intrinsics and and extrinsics matrix. More... |
|
| void | setCameraParameters (const Camera &camera, int viewport=0) |
| Set the camera parameters by given a full camera data structure. More... |
|
| void | setCameraClipDistances (double near, double far, int viewport=0) |
| Set the camera clipping distances. More... |
|
| void | setCameraFieldOfView (double fovy, int viewport=0) |
| Set the camera vertical field of view. More... |
|
| void | getCameras (std::vector< Camera > &cameras) |
| Get the current camera parameters. More... |
|
| Eigen::Affine3f | getViewerPose (int viewport=0) |
| Get the current viewing pose. More... |
|
| void | saveScreenshot (const std::string &file) |
| Save the current rendered image to disk, as a PNG screenshot. More... |
|
| void | saveCameraParameters (const std::string &file) |
| Save the camera parameters to disk, as a .cam file. More... |
|
| void | getCameraParameters (Camera &camera, int viewport=0) const |
| Get camera parameters of a given viewport (0 means default viewport). More... |
|
| vtkSmartPointer< vtkRenderWindow > | getRenderWindow () |
| Return a pointer to the underlying VTK Render Window used. More... |
|
| vtkSmartPointer< vtkRendererCollection > | getRendererCollection () |
| Return a pointer to the underlying VTK Renderer Collection. More... |
|
| CloudActorMapPtr | getCloudActorMap () |
| Return a pointer to the CloudActorMap this visualizer uses. More... |
|
| ShapeActorMapPtr | getShapeActorMap () |
| Return a pointer to the ShapeActorMap this visualizer uses. More... |
|
| void | setPosition (int x, int y) |
| Set the position in screen coordinates. More... |
|
| void | setSize (int xw, int yw) |
| Set the window size in screen coordinates. More... |
|
| void | setUseVbos (bool use_vbos) |
| Use Vertex Buffer Objects renderers. More... |
|
| void | setLookUpTableID (const std::string id) |
| Set the ID of a cloud or shape to be used for LUT display. More... |
|
| void | createInteractor () |
| Create the internal Interactor object. More... |
|
| void | setupInteractor (vtkRenderWindowInteractor *iren, vtkRenderWindow *win) |
| Set up our unique PCL interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow. More... |
|
| void | setupInteractor (vtkRenderWindowInteractor *iren, vtkRenderWindow *win, vtkInteractorStyle *style) |
| Set up PCLVisualizer with custom interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow. More... |
|
| vtkSmartPointer< PCLVisualizerInteractorStyle > | getInteractorStyle () |
| Get a pointer to the current interactor style used. More... |
|
| template<typename PointNT > | |
| bool | addPointCloudPrincipalCurvatures (const typename pcl::PointCloud< PointNT >::ConstPtr &cloud, const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr &pcs, int level, float scale, const std::string &id, int viewport) |
Static Public Member Functions |
|
| static void | convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix) |
| Convert Eigen::Matrix4f to vtkMatrix4x4. More... |
|
| static void | convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion< float > &orientation, vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix) |
| Convert origin and orientation to vtkMatrix4x4. More... |
|
| static void | convertToEigenMatrix (const vtkSmartPointer< vtkMatrix4x4 > &vtk_matrix, Eigen::Matrix4f &m) |
| Convert vtkMatrix4x4 to an Eigen4f. More... |
|
Protected Attributes |
|
| vtkSmartPointer< vtkRenderWindowInteractor > | interactor_ |
| The render window interactor. More... |
|
Detailed Description
PCL Visualizer main class.
- Note
- This class can NOT be used across multiple threads. Only call functions of objects of this class from the same thread that they were created in! Some methods, e.g. addPointCloud, will crash if called from other threads.
Definition at line 93 of file pcl_visualizer.h.
Member Typedef Documentation
ColorHandler
Definition at line 103 of file pcl_visualizer.h.
ColorHandlerConstPtr
Definition at line 105 of file pcl_visualizer.h.
ColorHandlerPtr
Definition at line 104 of file pcl_visualizer.h.
ConstPtr
| using pcl::visualization::PCLVisualizer::ConstPtr = shared_ptr<const PCLVisualizer> |
Definition at line 97 of file pcl_visualizer.h.
GeometryHandler
| using pcl::visualization::PCLVisualizer::GeometryHandler = PointCloudGeometryHandler<pcl::PCLPointCloud2> |
Definition at line 99 of file pcl_visualizer.h.
GeometryHandlerConstPtr
Definition at line 101 of file pcl_visualizer.h.
GeometryHandlerPtr
Definition at line 100 of file pcl_visualizer.h.
Ptr
| using pcl::visualization::PCLVisualizer::Ptr = shared_ptr<PCLVisualizer> |
Definition at line 96 of file pcl_visualizer.h.
Constructor & Destructor Documentation
PCLVisualizer() [1/4]
| pcl::visualization::PCLVisualizer::PCLVisualizer | ( | const std::string & | name = "", |
| const bool | create_interactor = true |
||
| ) |
PCL Visualizer constructor.
- Parameters
-
[in] name the window name (empty by default) [in] create_interactor if true (default), create an interactor, false otherwise
PCLVisualizer() [2/4]
| pcl::visualization::PCLVisualizer::PCLVisualizer | ( | int & | argc, |
| char ** | argv, | ||
| const std::string & | name = "", |
||
| PCLVisualizerInteractorStyle * | style = PCLVisualizerInteractorStyle::New(), |
||
| const bool | create_interactor = true |
||
| ) |
PCL Visualizer constructor.
It looks through the passed argv arguments to find the "-cam *.cam" argument. If the search failed, the name for cam file is calculated with boost uuid. If there is no such file, camera is not initilalized.
- Parameters
-
[in] argc [in] argv [in] name the window name (empty by default) [in] style interactor style (defaults to PCLVisualizerInteractorStyle) [in] create_interactor if true (default), create an interactor, false otherwise
PCLVisualizer() [3/4]
| pcl::visualization::PCLVisualizer::PCLVisualizer | ( | vtkSmartPointer< vtkRenderer > | ren, |
| vtkSmartPointer< vtkRenderWindow > | wind, | ||
| const std::string & | name = "", |
||
| const bool | create_interactor = true |
||
| ) |
PCL Visualizer constructor.
- Parameters
-
[in] ren custom vtk renderer [in] wind custom vtk render window [in] create_interactor if true (default), create an interactor, false otherwise
PCLVisualizer() [4/4]
| pcl::visualization::PCLVisualizer::PCLVisualizer | ( | int & | argc, |
| char ** | argv, | ||
| vtkSmartPointer< vtkRenderer > | ren, | ||
| vtkSmartPointer< vtkRenderWindow > | wind, | ||
| const std::string & | name = "", |
||
| PCLVisualizerInteractorStyle * | style = PCLVisualizerInteractorStyle::New(), |
||
| const bool | create_interactor = true |
||
| ) |
PCL Visualizer constructor.
- Parameters
-
[in] argc [in] argv [in] ren custom vtk renderer [in] wind custom vtk render window [in] style interactor style (defaults to PCLVisualizerInteractorStyle) [in] create_interactor if true (default), create an interactor, false otherwise
~PCLVisualizer()
|
virtual |
PCL Visualizer destructor.
Member Function Documentation
addArrow() [1/3]
template<typename P1 , typename P2 >
| bool pcl::visualization::PCLVisualizer::addArrow | ( | const P1 & | pt1, |
| const P2 & | pt2, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| bool | display_length, | ||
| const std::string & | id = "arrow", |
||
| int | viewport = 0 |
||
| ) |
Add a line arrow segment between two points, and (optionally) display the distance between them.
Arrow head is attached on the start point (pt1) of the arrow.
- Parameters
-
[in] pt1 the first (start) point on the line [in] pt2 the second (end) point on the line [in] r the red channel of the color that the line should be rendered with [in] g the green channel of the color that the line should be rendered with [in] b the blue channel of the color that the line should be rendered with [in] display_length true if the length should be displayed on the arrow as text [in] id the line id/name (default: "arrow") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 541 of file pcl_visualizer.hpp.
addArrow() [2/3]
template<typename P1 , typename P2 >
| bool pcl::visualization::PCLVisualizer::addArrow | ( | const P1 & | pt1, |
| const P2 & | pt2, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "arrow", |
||
| int | viewport = 0 |
||
| ) |
Add a line arrow segment between two points, and display the distance between them.
Arrow heads are attached to both end points of the arrow.
- Parameters
-
[in] pt1 the first (start) point on the line [in] pt2 the second (end) point on the line [in] r the red channel of the color that the line should be rendered with [in] g the green channel of the color that the line should be rendered with [in] b the blue channel of the color that the line should be rendered with [in] id the arrow id/name (default: "arrow") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 514 of file pcl_visualizer.hpp.
addArrow() [3/3]
template<typename P1 , typename P2 >
| bool pcl::visualization::PCLVisualizer::addArrow | ( | const P1 & | pt1, |
| const P2 & | pt2, | ||
| double | r_line, | ||
| double | g_line, | ||
| double | b_line, | ||
| double | r_text, | ||
| double | g_text, | ||
| double | b_text, | ||
| const std::string & | id = "arrow", |
||
| int | viewport = 0 |
||
| ) |
Add a line arrow segment between two points, and display the distance between them in a given color.
Arrow heads are attached to both end points of the arrow.
- Parameters
-
[in] pt1 the first (start) point on the line [in] pt2 the second (end) point on the line [in] r_line the red channel of the color that the line should be rendered with [in] g_line the green channel of the color that the line should be rendered with [in] b_line the blue channel of the color that the line should be rendered with [in] r_text the red channel of the color that the text should be rendered with [in] g_text the green channel of the color that the text should be rendered with [in] b_text the blue channel of the color that the text should be rendered with [in] id the line id/name (default: "arrow") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 571 of file pcl_visualizer.hpp.
addCircle()
| bool pcl::visualization::PCLVisualizer::addCircle | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "circle", |
||
| int | viewport = 0 |
||
| ) |
Add a circle from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (x, y, radius) [in] id the circle id/name (default: "circle") [in] viewport (optional) the id of the new viewport (default: 0)
// The following are given (or computed using sample consensus techniques)
// See SampleConsensusModelCircle2D for more information
// float x, y, radius;
pcl::ModelCoefficients circle_coeff;
circle_coeff.
values.resize (3);
// We need 3 values
circle_coeff.
values[0] = x;
circle_coeff.
values[1] = y;
circle_coeff.
values[2] = radius;
vtkSmartPointer<vtkDataSet> data =
pcl::visualization::create2DCircle (circle_coeff, z);
addCone()
| bool pcl::visualization::PCLVisualizer::addCone | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "cone", |
||
| int | viewport = 0 |
||
| ) |
Add a cone from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (see pcl::visualization::createCone) [in] id the cone id/name (default: "cone") [in] viewport (optional) the id of the new viewport (default: 0)
addCoordinateSystem() [1/3]
| void pcl::visualization::PCLVisualizer::addCoordinateSystem | ( | double | scale, |
| const Eigen::Affine3f & | t, | ||
| const std::string & | id = "reference", |
||
| int | viewport = 0 |
||
| ) |
Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw.
- Parameters
-
[in] scale the scale of the axes (default: 1) [in] t transformation matrix [in] id the coordinate system object id (default: reference) [in] viewport the view port where the 3D axes should be added (default: all)
RPY Angles Rotate the reference frame by the angle roll about axis x Rotate the reference frame by the angle pitch about axis y Rotate the reference frame by the angle yaw about axis z
Description: Sets the orientation of the Prop3D. Orientation is specified as X,Y and Z rotations in that order, but they are performed as RotateZ, RotateX, and finally RotateY.
All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen.
z
\
\
\
-----------> x
|
|
|
|
|
|
y
addCoordinateSystem() [2/3]
| void pcl::visualization::PCLVisualizer::addCoordinateSystem | ( | double | scale, |
| float | x, | ||
| float | y, | ||
| float | z, | ||
| const std::string & | id = "reference", |
||
| int | viewport = 0 |
||
| ) |
Adds 3D axes describing a coordinate system to screen at x, y, z.
- Parameters
-
[in] scale the scale of the axes (default: 1) [in] x the X position of the axes [in] y the Y position of the axes [in] z the Z position of the axes [in] id the coordinate system object id (default: reference) [in] viewport the view port where the 3D axes should be added (default: all)
addCoordinateSystem() [3/3]
| void pcl::visualization::PCLVisualizer::addCoordinateSystem | ( | double | scale = 1.0, |
| const std::string & | id = "reference", |
||
| int | viewport = 0 |
||
| ) |
Adds 3D axes describing a coordinate system to screen at 0,0,0.
- Parameters
-
[in] scale the scale of the axes (default: 1) [in] id the coordinate system object id (default: reference) [in] viewport the view port where the 3D axes should be added (default: all)
addCorrespondences() [1/3]
template<typename PointT >
|
inline |
Add the specified correspondences to the display.
- Parameters
-
[in] source_points The source points [in] target_points The target points [in] correspondences The mapping from source points to target points. Each element must be an index into target_points [in] id the polygon object id (default: "correspondences") [in] viewport the view port where the correspondences should be added (default: all)
Definition at line 1070 of file pcl_visualizer.h.
addCorrespondences() [2/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addCorrespondences | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | source_points, |
| const typename pcl::PointCloud< PointT >::ConstPtr & | target_points, | ||
| const pcl::Correspondences & | correspondences, | ||
| int | nth, | ||
| const std::string & | id = "correspondences", |
||
| int | viewport = 0, |
||
| bool | overwrite = false |
||
| ) |
Add the specified correspondences to the display.
- Parameters
-
[in] source_points The source points [in] target_points The target points [in] correspondences The mapping from source points to target points. Each element must be an index into target_points [in] nth display only the Nth correspondence (e.g., skip the rest) [in] id the polygon object id (default: "correspondences") [in] viewport the view port where the correspondences should be added (default: all) [in] overwrite allow to overwrite already existing correspondences
Definition at line 1193 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::UNAVAILABLE.
addCorrespondences() [3/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addCorrespondences | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | source_points, |
| const typename pcl::PointCloud< PointT >::ConstPtr & | target_points, | ||
| const std::vector< int > & | correspondences, | ||
| const std::string & | id = "correspondences", |
||
| int | viewport = 0 |
||
| ) |
Add the specified correspondences to the display.
- Parameters
-
[in] source_points The source points [in] target_points The target points [in] correspondences The mapping from source points to target points. Each element must be an index into target_points [in] id the polygon object id (default: "correspondences") [in] viewport the view port where the correspondences should be added (default: all)
Definition at line 1170 of file pcl_visualizer.hpp.
addCube() [1/3]
| bool pcl::visualization::PCLVisualizer::addCube | ( | const Eigen::Vector3f & | translation, |
| const Eigen::Quaternionf & | rotation, | ||
| double | width, | ||
| double | height, | ||
| double | depth, | ||
| const std::string & | id = "cube", |
||
| int | viewport = 0 |
||
| ) |
Add a cube from a set of given model coefficients.
- Parameters
-
[in] translation a translation to apply to the cube from 0,0,0 [in] rotation a quaternion-based rotation to apply to the cube [in] width the cube's width [in] height the cube's height [in] depth the cube's depth [in] id the cube id/name (default: "cube") [in] viewport (optional) the id of the new viewport (default: 0)
addCube() [2/3]
| bool pcl::visualization::PCLVisualizer::addCube | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "cube", |
||
| int | viewport = 0 |
||
| ) |
Add a cube from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (see pcl::visualization::createCube) [in] id the cube id/name (default: "cube") [in] viewport (optional) the id of the new viewport (default: 0)
Referenced by pcl::people::PersonCluster< PointT >::drawTBoundingBox().
addCube() [3/3]
| bool pcl::visualization::PCLVisualizer::addCube | ( | float | x_min, |
| float | x_max, | ||
| float | y_min, | ||
| float | y_max, | ||
| float | z_min, | ||
| float | z_max, | ||
| double | r = 1.0, |
||
| double | g = 1.0, |
||
| double | b = 1.0, |
||
| const std::string & | id = "cube", |
||
| int | viewport = 0 |
||
| ) |
Add a cube.
- Parameters
-
[in] x_min the min X coordinate [in] x_max the max X coordinate [in] y_min the min Y coordinate [in] y_max the max Y coordinate [in] z_min the min Z coordinate [in] z_max the max Z coordinate [in] r how much red (0.0 -> 1.0) [in] g how much green (0.0 -> 1.0) [in] b how much blue (0.0 -> 1.0) [in] id the cube id/name (default: "cube") [in] viewport (optional) the id of the new viewport (default: 0)
addCylinder()
| bool pcl::visualization::PCLVisualizer::addCylinder | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "cylinder", |
||
| int | viewport = 0 |
||
| ) |
Add a cylinder from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (point_on_axis, axis_direction, radius) [in] id the cylinder id/name (default: "cylinder") [in] viewport (optional) the id of the new viewport (default: 0)
// The following are given (or computed using sample consensus techniques)
// See SampleConsensusModelCylinder for more information.
// Eigen::Vector3f pt_on_axis, axis_direction;
// float radius;
pcl::ModelCoefficients cylinder_coeff;
cylinder_coeff.
values.resize (7);
// We need 7 values
cylinder_coeff.
values[0] = pt_on_axis.x ();
cylinder_coeff.
values[1] = pt_on_axis.y ();
cylinder_coeff.
values[2] = pt_on_axis.z ();
cylinder_coeff.
values[3] = axis_direction.x ();
cylinder_coeff.
values[4] = axis_direction.y ();
cylinder_coeff.
values[5] = axis_direction.z ();
cylinder_coeff.
values[6] = radius;
addCylinder (cylinder_coeff);
addEllipsoid()
| bool pcl::visualization::PCLVisualizer::addEllipsoid | ( | const Eigen::Isometry3d & | transform, |
| double | radius_x, | ||
| double | radius_y, | ||
| double | radius_z, | ||
| const std::string & | id = "ellipsoid", |
||
| int | viewport = 0 |
||
| ) |
Add an ellipsoid from the given parameters.
- Parameters
-
[in] transform a transformation to apply to the ellipsoid from 0,0,0 [in] radius_x the ellipsoid's radius along its local x-axis [in] radius_y the ellipsoid's radius along its local y-axis [in] radius_z the ellipsoid's radius along its local z-axis [in] id the ellipsoid id/name (default: "ellipsoid") [in] viewport (optional) the id of the new viewport (default: 0)
addLine() [1/4]
template<typename P1 , typename P2 >
| bool pcl::visualization::PCLVisualizer::addLine | ( | const P1 & | pt1, |
| const P2 & | pt2, | ||
| const std::string & | id = "line", |
||
| int | viewport = 0 |
||
| ) |
Add a line segment from two points.
- Parameters
-
[in] pt1 the first (start) point on the line [in] pt2 the second (end) point on the line [in] id the line id/name (default: "line") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 603 of file pcl_visualizer.hpp.
addLine() [2/4]
template<typename P1 , typename P2 >
| bool pcl::visualization::PCLVisualizer::addLine | ( | const P1 & | pt1, |
| const P2 & | pt2, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "line", |
||
| int | viewport = 0 |
||
| ) |
Add a line segment from two points.
- Parameters
-
[in] pt1 the first (start) point on the line [in] pt2 the second (end) point on the line [in] r the red channel of the color that the line should be rendered with [in] g the green channel of the color that the line should be rendered with [in] b the blue channel of the color that the line should be rendered with [in] id the line id/name (default: "line") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 489 of file pcl_visualizer.hpp.
References pcl::visualization::createLine().
addLine() [3/4]
|
inline |
Add a line from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (point_on_line, direction) [in] id the line id/name (default: "line") [in] viewport (optional) the id of the new viewport (default: 0)
// The following are given (or computed using sample consensus techniques)
// See SampleConsensusModelLine for more information
// Eigen::Vector3f point_on_line, line_direction;
pcl::ModelCoefficients line_coeff;
line_coeff.
values.resize (6);
// We need 6 values
line_coeff.
values[0] = point_on_line.x ();
line_coeff.
values[1] = point_on_line.y ();
line_coeff.
values[2] = point_on_line.z ();
line_coeff.
values[3] = line_direction.x ();
line_coeff.
values[4] = line_direction.y ();
line_coeff.
values[5] = line_direction.z ();
addLine (line_coeff);
Definition at line 1585 of file pcl_visualizer.h.
addLine() [4/4]
| bool pcl::visualization::PCLVisualizer::addLine | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "line", |
||
| int | viewport = 0 |
||
| ) |
Add a line from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (point_on_line, direction) [in] id the line id/name (default: "line") [in] viewport (optional) the id of the new viewport (default: 0)
// The following are given (or computed using sample consensus techniques)
// See SampleConsensusModelLine for more information
// Eigen::Vector3f point_on_line, line_direction;
pcl::ModelCoefficients line_coeff;
line_coeff.
values.resize (6);
// We need 6 values
line_coeff.
values[0] = point_on_line.x ();
line_coeff.
values[1] = point_on_line.y ();
line_coeff.
values[2] = point_on_line.z ();
line_coeff.
values[3] = line_direction.x ();
line_coeff.
values[4] = line_direction.y ();
line_coeff.
values[5] = line_direction.z ();
addLine (line_coeff);
addModelFromPLYFile() [1/2]
| bool pcl::visualization::PCLVisualizer::addModelFromPLYFile | ( | const std::string & | filename, |
| const std::string & | id = "PLYModel", |
||
| int | viewport = 0 |
||
| ) |
Add a PLYmodel as a mesh.
- Parameters
-
[in] filename of the ply file [in] id the model id/name (default: "PLYModel") [in] viewport (optional) the id of the new viewport (default: 0)
addModelFromPLYFile() [2/2]
| bool pcl::visualization::PCLVisualizer::addModelFromPLYFile | ( | const std::string & | filename, |
| vtkSmartPointer< vtkTransform > | transform, | ||
| const std::string & | id = "PLYModel", |
||
| int | viewport = 0 |
||
| ) |
Add a PLYmodel as a mesh and applies given transformation.
- Parameters
-
[in] filename of the ply file [in] transform transformation to apply [in] id the model id/name (default: "PLYModel") [in] viewport (optional) the id of the new viewport (default: 0)
addModelFromPolyData() [1/2]
| bool pcl::visualization::PCLVisualizer::addModelFromPolyData | ( | vtkSmartPointer< vtkPolyData > | polydata, |
| const std::string & | id = "PolyData", |
||
| int | viewport = 0 |
||
| ) |
Add a vtkPolydata as a mesh.
- Parameters
-
[in] polydata vtkPolyData [in] id the model id/name (default: "PolyData") [in] viewport (optional) the id of the new viewport (default: 0)
addModelFromPolyData() [2/2]
| bool pcl::visualization::PCLVisualizer::addModelFromPolyData | ( | vtkSmartPointer< vtkPolyData > | polydata, |
| vtkSmartPointer< vtkTransform > | transform, | ||
| const std::string & | id = "PolyData", |
||
| int | viewport = 0 |
||
| ) |
Add a vtkPolydata as a mesh.
- Parameters
-
[in] polydata vtkPolyData [in] transform transformation to apply [in] id the model id/name (default: "PolyData") [in] viewport (optional) the id of the new viewport (default: 0)
addOrientationMarkerWidgetAxes()
| void pcl::visualization::PCLVisualizer::addOrientationMarkerWidgetAxes | ( | vtkRenderWindowInteractor * | interactor | ) |
Adds a widget which shows an interactive axes display for orientation.
- Parameters
-
[in] interactor - Pointer to the vtk interactor object used by the PCLVisualizer window
addPlane() [1/2]
| bool pcl::visualization::PCLVisualizer::addPlane | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "plane", |
||
| int | viewport = 0 |
||
| ) |
Add a plane from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0) [in] id the plane id/name (default: "plane") [in] viewport (optional) the id of the new viewport (default: 0)
// The following are given (or computed using sample consensus techniques)
// See SampleConsensusModelPlane for more information
// Eigen::Vector4f plane_parameters;
pcl::ModelCoefficients plane_coeff;
plane_coeff.
values.resize (4);
// We need 4 values
plane_coeff.
values[0] = plane_parameters.x ();
plane_coeff.
values[1] = plane_parameters.y ();
plane_coeff.
values[2] = plane_parameters.z ();
plane_coeff.
values[3] = plane_parameters.w ();
addPlane (plane_coeff);
addPlane() [2/2]
| bool pcl::visualization::PCLVisualizer::addPlane | ( | const pcl::ModelCoefficients & | coefficients, |
| double | x, | ||
| double | y, | ||
| double | z, | ||
| const std::string & | id = "plane", |
||
| int | viewport = 0 |
||
| ) |
addPointCloud() [1/14]
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const pcl::PCLPointCloud2::ConstPtr & | cloud, |
| const ColorHandlerConstPtr & | color_handler, | ||
| const Eigen::Vector4f & | sensor_origin, | ||
| const Eigen::Quaternion< float > & | sensor_orientation, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a binary blob Point Cloud to screen.
Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).
- Parameters
-
[in] cloud the input point cloud dataset [in] color_handler a specific PointCloud visualizer handler for colors [in] sensor_origin the origin of the cloud data in global coordinates (defaults to 0,0,0) [in] sensor_orientation the orientation of the cloud data in global coordinates (defaults to 1,0,0,0) [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
addPointCloud() [2/14]
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const pcl::PCLPointCloud2::ConstPtr & | cloud, |
| const GeometryHandlerConstPtr & | geometry_handler, | ||
| const ColorHandlerConstPtr & | color_handler, | ||
| const Eigen::Vector4f & | sensor_origin, | ||
| const Eigen::Quaternion< float > & | sensor_orientation, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a binary blob Point Cloud to screen.
Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).
- Parameters
-
[in] cloud the input point cloud dataset [in] geometry_handler a specific PointCloud visualizer handler for geometry [in] color_handler a specific PointCloud visualizer handler for colors [in] sensor_origin the origin of the cloud data in global coordinates (defaults to 0,0,0) [in] sensor_orientation the orientation of the cloud data in global coordinates (defaults to 1,0,0,0) [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
addPointCloud() [3/14]
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const pcl::PCLPointCloud2::ConstPtr & | cloud, |
| const GeometryHandlerConstPtr & | geometry_handler, | ||
| const Eigen::Vector4f & | sensor_origin, | ||
| const Eigen::Quaternion< float > & | sensor_orientation, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a binary blob Point Cloud to screen.
Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).
- Parameters
-
[in] cloud the input point cloud dataset [in] geometry_handler a specific PointCloud visualizer handler for geometry [in] sensor_origin the origin of the cloud data in global coordinates (defaults to 0,0,0) [in] sensor_orientation the orientation of the cloud data in global coordinates (defaults to 1,0,0,0) [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
addPointCloud() [4/14]
|
inline |
Add a PointXYZ Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 871 of file pcl_visualizer.h.
addPointCloud() [5/14]
|
inline |
Add a PointXYZL Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 910 of file pcl_visualizer.h.
addPointCloud() [6/14]
|
inline |
Add a PointXYZRGB Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 884 of file pcl_visualizer.h.
addPointCloud() [7/14]
|
inline |
Add a PointXYZRGBA Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 897 of file pcl_visualizer.h.
addPointCloud() [8/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const ColorHandlerConstPtr & | color_handler, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
Because the color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active color handler. This makes it possible to switch between different color handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using 0..9).
- Parameters
-
[in] cloud the input point cloud dataset [in] color_handler a specific PointCloud visualizer handler for colors [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 153 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
addPointCloud() [9/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const GeometryHandlerConstPtr & | geometry_handler, | ||
| const ColorHandlerConstPtr & | color_handler, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
Because the geometry/color handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active handler. This makes it possible to switch between different handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using [Alt+]0..9).
- Parameters
-
[in] cloud the input point cloud dataset [in] geometry_handler a specific PointCloud visualizer handler for geometry [in] color_handler a specific PointCloud visualizer handler for colors [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 174 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
addPointCloud() [10/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const GeometryHandlerConstPtr & | geometry_handler, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
Because the geometry handler is given as a pointer, it will be pushed back to the list of available handlers, rather than replacing the current active geometric handler. This makes it possible to switch between different geometric handlers 'on-the-fly' at runtime, from the PCLVisualizer interactor interface (using Alt+0..9).
- Parameters
-
[in] cloud the input point cloud dataset [in] geometry_handler use a geometry handler object to extract the XYZ data [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 110 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
addPointCloud() [11/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const PointCloudColorHandler< PointT > & | color_handler, | ||
| const PointCloudGeometryHandler< PointT > & | geometry_handler, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] color_handler a specific PointCloud visualizer handler for colors [in] geometry_handler use a geometry handler object to extract the XYZ data [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 195 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
addPointCloud() [12/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const PointCloudColorHandler< PointT > & | color_handler, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] color_handler a specific PointCloud visualizer handler for colors [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 131 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
addPointCloud() [13/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const PointCloudGeometryHandler< PointT > & | geometry_handler, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] geometry_handler use a geometry handler object to extract the XYZ data [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 88 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
addPointCloud() [14/14]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add a Point Cloud (templated) to screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id (default: cloud) viewport the view port where the Point Cloud should be added (default: all)
Definition at line 77 of file pcl_visualizer.hpp.
addPointCloudIntensityGradients()
template<typename PointT , typename GradientT >
| bool pcl::visualization::PCLVisualizer::addPointCloudIntensityGradients | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const typename pcl::PointCloud< GradientT >::ConstPtr & | gradients, | ||
| int | level = 100, |
||
| double | scale = 1e-6, |
||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add the estimated surface intensity gradients of a Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset containing the XYZ data [in] gradients the input point cloud dataset containing the intensity gradient data [in] level display only every level'th point (default: 100) [in] scale the intensity gradient arrow scale (default: 1e-6m) [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 1098 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::size().
addPointCloudNormals() [1/2]
template<typename PointNT >
| bool pcl::visualization::PCLVisualizer::addPointCloudNormals | ( | const typename pcl::PointCloud< PointNT >::ConstPtr & | cloud, |
| int | level = 100, |
||
| float | scale = 0.02f, |
||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add the estimated surface normals of a Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset containing XYZ data and normals [in] level display only every level'th point (default: 100) [in] scale the normal arrow scale (default: 0.02m) [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 854 of file pcl_visualizer.hpp.
addPointCloudNormals() [2/2]
template<typename PointT , typename PointNT >
| bool pcl::visualization::PCLVisualizer::addPointCloudNormals | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const typename pcl::PointCloud< PointNT >::ConstPtr & | normals, | ||
| int | level = 100, |
||
| float | scale = 0.02f, |
||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add the estimated surface normals of a Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset containing the XYZ data [in] normals the input point cloud dataset containing the normal data [in] level display only every level'th point (default: 100) [in] scale the normal arrow scale (default: 0.02m) [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 863 of file pcl_visualizer.hpp.
References pcl::PointCloud< PointT >::empty(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
addPointCloudPrincipalCurvatures() [1/3]
template<typename PointNT >
| bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures | ( | const typename pcl::PointCloud< PointNT >::ConstPtr & | cloud, |
| const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr & | pcs, | ||
| int | level, | ||
| float | scale, | ||
| const std::string & | id, | ||
| int | viewport | ||
| ) |
Definition at line 984 of file pcl_visualizer.hpp.
addPointCloudPrincipalCurvatures() [2/3]
template<typename PointNT >
| bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures | ( | const typename pcl::PointCloud< PointNT >::ConstPtr & | cloud, |
| const typename pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr & | pcs, | ||
| int | level = 100, |
||
| float | scale = 1.0f, |
||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add the estimated principal curvatures of a Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset containing the XYZ data and normals [in] pcs the input point cloud dataset containing the principal curvatures data [in] level display only every level'th point. Default: 100 [in] scale the normal arrow scale. Default: 1.0 [in] id the point cloud object id. Default: "cloud" [in] viewport the view port where the Point Cloud should be added (default: all)
addPointCloudPrincipalCurvatures() [3/3]
template<typename PointT , typename PointNT >
| bool pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const typename pcl::PointCloud< PointNT >::ConstPtr & | normals, | ||
| const pcl::PointCloud< pcl::PrincipalCurvatures >::ConstPtr & | pcs, | ||
| int | level = 100, |
||
| float | scale = 1.0f, |
||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Add the estimated principal curvatures of a Point Cloud to screen.
- Parameters
-
[in] cloud the input point cloud dataset containing the XYZ data [in] normals the input point cloud dataset containing the normal data [in] pcs the input point cloud dataset containing the principal curvatures data [in] level display only every level'th point. Default: 100 [in] scale the normal arrow scale. Default: 1.0 [in] id the point cloud object id. Default: "cloud" [in] viewport the view port where the Point Cloud should be added (default: all)
Definition at line 995 of file pcl_visualizer.hpp.
References pcl::visualization::CloudActor::actor, pcl::console::print_error(), and pcl::PointCloud< PointT >::size().
addPolygon() [1/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPolygon | ( | const pcl::PlanarPolygon< PointT > & | polygon, |
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "polygon", |
||
| int | viewport = 0 |
||
| ) |
Add a planar polygon that represents the input point cloud (connects all points in order)
- Parameters
-
[in] polygon the polygon to draw [in] r the red channel of the color that the polygon should be rendered with [in] g the green channel of the color that the polygon should be rendered with [in] b the blue channel of the color that the polygon should be rendered with [in] id the polygon id/name (default: "polygon") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 425 of file pcl_visualizer.hpp.
addPolygon() [2/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPolygon | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const std::string & | id = "polygon", |
||
| int | viewport = 0 |
||
| ) |
Add a polygon (polyline) that represents the input point cloud (connects all points in order)
- Parameters
-
[in] cloud the point cloud dataset representing the polygon [in] id the polygon id/name (default: "polygon") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 480 of file pcl_visualizer.hpp.
addPolygon() [3/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPolygon | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "polygon", |
||
| int | viewport = 0 |
||
| ) |
Add a polygon (polyline) that represents the input point cloud (connects all points in order)
- Parameters
-
[in] cloud the point cloud dataset representing the polygon [in] r the red channel of the color that the polygon should be rendered with [in] g the green channel of the color that the polygon should be rendered with [in] b the blue channel of the color that the polygon should be rendered with [in] id (optional) the polygon id/name (default: "polygon") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 371 of file pcl_visualizer.hpp.
addPolygonMesh() [1/2]
| bool pcl::visualization::PCLVisualizer::addPolygonMesh | ( | const pcl::PolygonMesh & | polymesh, |
| const std::string & | id = "polygon", |
||
| int | viewport = 0 |
||
| ) |
Add a PolygonMesh object to screen.
- Parameters
-
[in] polymesh the polygonal mesh [in] id the polygon object id (default: "polygon") [in] viewport the view port where the PolygonMesh should be added (default: all)
addPolygonMesh() [2/2]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addPolygonMesh | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const std::vector< pcl::Vertices > & | vertices, | ||
| const std::string & | id = "polygon", |
||
| int | viewport = 0 |
||
| ) |
Add a PolygonMesh object to screen.
- Parameters
-
[in] cloud the polygonal mesh point cloud [in] vertices the polygonal mesh vertices [in] id the polygon object id (default: "polygon") [in] viewport the view port where the PolygonMesh should be added (default: all)
Definition at line 1635 of file pcl_visualizer.hpp.
References pcl::visualization::allocVtkUnstructuredGrid(), pcl::visualization::details::fillCells(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::size().
addPolylineFromPolygonMesh()
| bool pcl::visualization::PCLVisualizer::addPolylineFromPolygonMesh | ( | const pcl::PolygonMesh & | polymesh, |
| const std::string & | id = "polyline", |
||
| int | viewport = 0 |
||
| ) |
Add a Polygonline from a polygonMesh object to screen.
- Parameters
-
[in] polymesh the polygonal mesh from where the polylines will be extracted [in] id the polygon object id (default: "polygon") [in] viewport the view port where the PolygonMesh should be added (default: all)
addSphere() [1/3]
| bool pcl::visualization::PCLVisualizer::addSphere | ( | const pcl::ModelCoefficients & | coefficients, |
| const std::string & | id = "sphere", |
||
| int | viewport = 0 |
||
| ) |
Add a sphere from a set of given model coefficients.
- Parameters
-
[in] coefficients the model coefficients (sphere center, radius) [in] id the sphere id/name (default: "sphere") [in] viewport (optional) the id of the new viewport (default: 0)
// The following are given (or computed using sample consensus techniques)
// See SampleConsensusModelSphere for more information
// Eigen::Vector3f sphere_center;
// float radius;
pcl::ModelCoefficients sphere_coeff;
sphere_coeff.
values.resize (4);
// We need 4 values
sphere_coeff.
values[0] = sphere_center.x ();
sphere_coeff.
values[1] = sphere_center.y ();
sphere_coeff.
values[2] = sphere_center.z ();
sphere_coeff.
values[3] = radius;
addSphere (sphere_coeff);
addSphere() [2/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addSphere | ( | const PointT & | center, |
| double | radius, | ||
| const std::string & | id = "sphere", |
||
| int | viewport = 0 |
||
| ) |
Add a sphere shape from a point and a radius.
- Parameters
-
[in] center the center of the sphere [in] radius the radius of the sphere [in] id the sphere id/name (default: "sphere") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 652 of file pcl_visualizer.hpp.
addSphere() [3/3]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addSphere | ( | const PointT & | center, |
| double | radius, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "sphere", |
||
| int | viewport = 0 |
||
| ) |
Add a sphere shape from a point and a radius.
- Parameters
-
[in] center the center of the sphere [in] radius the radius of the sphere [in] r the red channel of the color that the sphere should be rendered with [in] g the green channel of the color that the sphere should be rendered with [in] b the blue channel of the color that the sphere should be rendered with [in] id the sphere id/name (default: "sphere") [in] viewport (optional) the id of the new viewport (default: 0)
Definition at line 610 of file pcl_visualizer.hpp.
addText() [1/3]
| bool pcl::visualization::PCLVisualizer::addText | ( | const std::string & | text, |
| int | xpos, | ||
| int | ypos, | ||
| const std::string & | id = "", |
||
| int | viewport = 0 |
||
| ) |
Add a text to screen.
- Parameters
-
[in] text the text to add [in] xpos the X position on screen where the text should be added [in] ypos the Y position on screen where the text should be added [in] id the text object id (default: equal to the "text" parameter) [in] viewport the view port (default: all)
addText() [2/3]
| bool pcl::visualization::PCLVisualizer::addText | ( | const std::string & | text, |
| int | xpos, | ||
| int | ypos, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "", |
||
| int | viewport = 0 |
||
| ) |
Add a text to screen.
- Parameters
-
[in] text the text to add [in] xpos the X position on screen where the text should be added [in] ypos the Y position on screen where the text should be added [in] r the red color value [in] g the green color value [in] b the blue color value [in] id the text object id (default: equal to the "text" parameter) [in] viewport the view port (default: all)
addText() [3/3]
| bool pcl::visualization::PCLVisualizer::addText | ( | const std::string & | text, |
| int | xpos, | ||
| int | ypos, | ||
| int | fontsize, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "", |
||
| int | viewport = 0 |
||
| ) |
Add a text to screen.
- Parameters
-
[in] text the text to add [in] xpos the X position on screen where the text should be added [in] ypos the Y position on screen where the text should be added [in] fontsize the fontsize of the text [in] r the red color value [in] g the green color value [in] b the blue color value [in] id the text object id (default: equal to the "text" parameter) [in] viewport the view port (default: all)
addText3D() [1/2]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addText3D | ( | const std::string & | text, |
| const PointT & | position, | ||
| double | orientation[3], | ||
| double | textScale = 1.0, |
||
| double | r = 1.0, |
||
| double | g = 1.0, |
||
| double | b = 1.0, |
||
| const std::string & | id = "", |
||
| int | viewport = 0 |
||
| ) |
Add a 3d text to the scene.
- Parameters
-
[in] text the text to add [in] position the world position where the text should be added [in] orientation the angles of rotation of the text around X, Y and Z axis, in this order. The way the rotations are effectively done is the Z-X-Y intrinsic rotations: https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations [in] textScale the scale of the text to render [in] r the red color value [in] g the green color value [in] b the blue color value [in] id the text object id (default: equal to the "text" parameter) [in] viewport the view port (default: all)
Definition at line 773 of file pcl_visualizer.hpp.
addText3D() [2/2]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::addText3D | ( | const std::string & | text, |
| const PointT & | position, | ||
| double | textScale = 1.0, |
||
| double | r = 1.0, |
||
| double | g = 1.0, |
||
| double | b = 1.0, |
||
| const std::string & | id = "", |
||
| int | viewport = 0 |
||
| ) |
Add a 3d text to the scene.
- Parameters
-
[in] text the text to add [in] position the world position where the text should be added [in] textScale the scale of the text to render [in] r the red color value [in] g the green color value [in] b the blue color value [in] id the text object id (default: equal to the "text" parameter) [in] viewport the view port (default: all)
Definition at line 688 of file pcl_visualizer.hpp.
addTextureMesh()
| bool pcl::visualization::PCLVisualizer::addTextureMesh | ( | const pcl::TextureMesh & | polymesh, |
| const std::string & | id = "texture", |
||
| int | viewport = 0 |
||
| ) |
Add a TextureMesh object to screen.
- Parameters
-
[in] polymesh the textured polygonal mesh [in] id the texture mesh object id (default: "texture") [in] viewport the view port where the TextureMesh should be added (default: all)
cameraFileLoaded()
| bool pcl::visualization::PCLVisualizer::cameraFileLoaded | ( | ) | const |
Checks whether a camera file were automatically loaded.
- Returns
- True if a valid camera file is automatically loaded.
- Note
- The camera file is saved by pressing "ctrl + s" during last run of the program and restored automatically when the program runs this time.
- See also
- cameraParamsSet ()
cameraParamsSet()
| bool pcl::visualization::PCLVisualizer::cameraParamsSet | ( | ) | const |
Checks whether the camera parameters were manually loaded.
- Returns
- True if valid "-cam" option is available in command line.
- See also
- cameraFileLoaded ()
close()
| void pcl::visualization::PCLVisualizer::close | ( | ) |
Stop the interaction and close the visualizaton window.
contains()
|
inline |
Check if the cloud, shape, or coordinate with the given id was already added to this visualizer.
- Parameters
-
[in] id the id of the cloud, shape, or coordinate to check
- Returns
- true if a cloud, shape, or coordinate with the specified id was found
Definition at line 593 of file pcl_visualizer.h.
convertToEigenMatrix()
|
static |
Convert vtkMatrix4x4 to an Eigen4f.
- Parameters
-
[in] vtk_matrix the original VTK 4x4 matrix [out] m the resultant Eigen 4x4 matrix
convertToVtkMatrix() [1/2]
|
static |
Convert Eigen::Matrix4f to vtkMatrix4x4.
- Parameters
-
[in] m the input Eigen matrix [out] vtk_matrix the resultant VTK matrix
convertToVtkMatrix() [2/2]
|
static |
Convert origin and orientation to vtkMatrix4x4.
- Parameters
-
[in] origin the point cloud origin [in] orientation the point cloud orientation [out] vtk_matrix the resultant VTK 4x4 matrix
createInteractor()
| void pcl::visualization::PCLVisualizer::createInteractor | ( | ) |
Create the internal Interactor object.
createViewPort()
| void pcl::visualization::PCLVisualizer::createViewPort | ( | double | xmin, |
| double | ymin, | ||
| double | xmax, | ||
| double | ymax, | ||
| int & | viewport | ||
| ) |
Create a new viewport from [xmin,ymin] -> [xmax,ymax].
- Parameters
-
[in] xmin the minimum X coordinate for the viewport (0.0 <= 1.0) [in] ymin the minimum Y coordinate for the viewport (0.0 <= 1.0) [in] xmax the maximum X coordinate for the viewport (0.0 <= 1.0) [in] ymax the maximum Y coordinate for the viewport (0.0 <= 1.0) [in] viewport the id of the new viewport
- Note
- If no renderer for the current window exists, one will be created, and the viewport will be set to 0 ('all'). In case one or multiple renderers do exist, the viewport ID will be set to the total number of renderers - 1.
createViewPortCamera()
| void pcl::visualization::PCLVisualizer::createViewPortCamera | ( | const int | viewport | ) |
Create a new separate camera for the given viewport.
- Parameters
-
[in] viewport the viewport to create a new camera for.
getCameraFile()
| std::string pcl::visualization::PCLVisualizer::getCameraFile | ( | ) | const |
Get camera file for camera parameter saving/restoring.
- Note
- This will be valid only when valid "-cam" option were available in command line or a saved camera file were automatically loaded.
- See also
- cameraParamsSet (), cameraFileLoaded ()
getCameraParameters() [1/2]
| void pcl::visualization::PCLVisualizer::getCameraParameters | ( | Camera & | camera, |
| int | viewport = 0 |
||
| ) | const |
Get camera parameters of a given viewport (0 means default viewport).
getCameraParameters() [2/2]
| bool pcl::visualization::PCLVisualizer::getCameraParameters | ( | int | argc, |
| char ** | argv | ||
| ) |
Search for camera parameters at the command line and set them internally.
- Parameters
-
[in] argc [in] argv
getCameras()
| void pcl::visualization::PCLVisualizer::getCameras | ( | std::vector< Camera > & | cameras | ) |
Get the current camera parameters.
getCloudActorMap()
|
inline |
Return a pointer to the CloudActorMap this visualizer uses.
Definition at line 1927 of file pcl_visualizer.h.
getColorHandlerIndex()
| int pcl::visualization::PCLVisualizer::getColorHandlerIndex | ( | const std::string & | id | ) |
Get the color handler index of a rendered PointCloud based on its ID.
- Parameters
-
[in] id the point cloud object id
getFPS()
| float pcl::visualization::PCLVisualizer::getFPS | ( | ) | const |
Get the current rendering framerate.
- See also
- setShowFPS
getGeometryHandlerIndex()
| int pcl::visualization::PCLVisualizer::getGeometryHandlerIndex | ( | const std::string & | id | ) |
Get the geometry handler index of a rendered PointCloud based on its ID.
- Parameters
-
[in] id the point cloud object id
getInteractorStyle()
|
inline |
Get a pointer to the current interactor style used.
Definition at line 1993 of file pcl_visualizer.h.
getPointCloudRenderingProperties() [1/2]
| bool pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties | ( | int | property, |
| double & | value, | ||
| const std::string & | id = "cloud" |
||
| ) |
Get the rendering properties of a PointCloud.
- Parameters
-
[in] property the property type [in] value the resultant property value [in] id the point cloud object id (default: cloud)
- Note
- The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.
getPointCloudRenderingProperties() [2/2]
| bool pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties | ( | RenderingProperties | property, |
| double & | val1, | ||
| double & | val2, | ||
| double & | val3, | ||
| const std::string & | id = "cloud" |
||
| ) |
Get the rendering properties of a PointCloud.
- Parameters
-
[in] property the property type [out] val1 the resultant property value [out] val2 the resultant property value [out] val3 the resultant property value [in] id the point cloud object id (default: cloud)
- Returns
- True if the property is effectively retrieved.
- Note
- The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.
getRendererCollection()
|
inline |
Return a pointer to the underlying VTK Renderer Collection.
Definition at line 1920 of file pcl_visualizer.h.
getRenderWindow()
|
inline |
Return a pointer to the underlying VTK Render Window used.
Definition at line 1913 of file pcl_visualizer.h.
getShapeActorMap()
|
inline |
Return a pointer to the ShapeActorMap this visualizer uses.
Definition at line 1934 of file pcl_visualizer.h.
getViewerPose()
| Eigen::Affine3f pcl::visualization::PCLVisualizer::getViewerPose | ( | int | viewport = 0 |
) |
Get the current viewing pose.
initCameraParameters()
| void pcl::visualization::PCLVisualizer::initCameraParameters | ( | ) |
Initialize camera parameters with some default values.
loadCameraParameters()
| bool pcl::visualization::PCLVisualizer::loadCameraParameters | ( | const std::string & | file | ) |
Load camera parameters from a camera parameters file.
- Parameters
-
[in] file the name of the camera parameters file
registerAreaPickingCallback() [1/3]
| boost::signals2::connection pcl::visualization::PCLVisualizer::registerAreaPickingCallback | ( | std::function< void(const pcl::visualization::AreaPickingEvent &)> | cb | ) |
Register a callback function for area picking events.
- Parameters
-
[in] cb a std function that will be registered as a callback for an area picking event
- Returns
- a connection object that allows to disconnect the callback function.
registerAreaPickingCallback() [2/3]
| boost::signals2::connection pcl::visualization::PCLVisualizer::registerAreaPickingCallback | ( | void(*)(const pcl::visualization::AreaPickingEvent &, void *) | callback, |
| void * | cookie = nullptr |
||
| ) |
Register a callback function for area picking events.
- Parameters
-
[in] callback the function that will be registered as a callback for an area picking event [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
registerAreaPickingCallback() [3/3]
template<typename T >
|
inline |
Register a callback function for area picking events.
- Parameters
-
[in] callback the member function that will be registered as a callback for an area picking event [in] instance instance to the class that implements the callback function [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
Definition at line 278 of file pcl_visualizer.h.
registerKeyboardCallback() [1/3]
| boost::signals2::connection pcl::visualization::PCLVisualizer::registerKeyboardCallback | ( | std::function< void(const pcl::visualization::KeyboardEvent &)> | cb | ) |
Register a callback std::function for keyboard events.
- Parameters
-
[in] cb a std function that will be registered as a callback for a keyboard event
- Returns
- a connection object that allows to disconnect the callback function.
registerKeyboardCallback() [2/3]
|
inline |
Register a callback function for keyboard events.
- Parameters
-
[in] callback the function that will be registered as a callback for a keyboard event [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
Definition at line 182 of file pcl_visualizer.h.
registerKeyboardCallback() [3/3]
template<typename T >
|
inline |
Register a callback function for keyboard events.
- Parameters
-
[in] callback the member function that will be registered as a callback for a keyboard event [in] instance instance to the class that implements the callback function [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
Definition at line 194 of file pcl_visualizer.h.
registerMouseCallback() [1/3]
| boost::signals2::connection pcl::visualization::PCLVisualizer::registerMouseCallback | ( | std::function< void(const pcl::visualization::MouseEvent &)> | cb | ) |
Register a callback function for mouse events.
- Parameters
-
[in] cb a std function that will be registered as a callback for a mouse event
- Returns
- a connection object that allows to disconnect the callback function.
registerMouseCallback() [2/3]
|
inline |
Register a callback function for mouse events.
- Parameters
-
[in] callback the function that will be registered as a callback for a mouse event [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
Definition at line 212 of file pcl_visualizer.h.
registerMouseCallback() [3/3]
template<typename T >
|
inline |
Register a callback function for mouse events.
- Parameters
-
[in] callback the member function that will be registered as a callback for a mouse event [in] instance instance to the class that implements the callback function [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
Definition at line 224 of file pcl_visualizer.h.
registerPointPickingCallback() [1/3]
| boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback | ( | std::function< void(const pcl::visualization::PointPickingEvent &)> | cb | ) |
Register a callback function for point picking events.
- Parameters
-
[in] cb a std function that will be registered as a callback for a point picking event
- Returns
- a connection object that allows to disconnect the callback function.
registerPointPickingCallback() [2/3]
| boost::signals2::connection pcl::visualization::PCLVisualizer::registerPointPickingCallback | ( | void(*)(const pcl::visualization::PointPickingEvent &, void *) | callback, |
| void * | cookie = nullptr |
||
| ) |
Register a callback function for point picking events.
- Parameters
-
[in] callback the function that will be registered as a callback for a point picking event [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
registerPointPickingCallback() [3/3]
template<typename T >
|
inline |
Register a callback function for point picking events.
- Parameters
-
[in] callback the member function that will be registered as a callback for a point picking event [in] instance instance to the class that implements the callback function [in] cookie user data that is passed to the callback
- Returns
- a connection object that allows to disconnect the callback function.
Definition at line 251 of file pcl_visualizer.h.
removeAllCoordinateSystems()
| bool pcl::visualization::PCLVisualizer::removeAllCoordinateSystems | ( | int | viewport = 0 |
) |
Removes all existing 3D axes (coordinate systems)
- Parameters
-
[in] viewport view port where the 3D axes should be removed from (default: all)
removeAllPointClouds()
| bool pcl::visualization::PCLVisualizer::removeAllPointClouds | ( | int | viewport = 0 |
) |
Remove all point cloud data on screen from the given viewport.
- Parameters
-
[in] viewport view port from where the clouds should be removed (default: all)
removeAllShapes()
| bool pcl::visualization::PCLVisualizer::removeAllShapes | ( | int | viewport = 0 |
) |
Remove all 3D shape data on screen from the given viewport.
- Parameters
-
[in] viewport view port from where the shapes should be removed (default: all)
removeCoordinateSystem()
| bool pcl::visualization::PCLVisualizer::removeCoordinateSystem | ( | const std::string & | id = "reference", |
| int | viewport = 0 |
||
| ) |
Removes a previously added 3D axes (coordinate system)
- Parameters
-
[in] id the coordinate system object id (default: reference) [in] viewport view port where the 3D axes should be removed from (default: all)
removeCorrespondences()
| void pcl::visualization::PCLVisualizer::removeCorrespondences | ( | const std::string & | id = "correspondences", |
| int | viewport = 0 |
||
| ) |
Remove the specified correspondences from the display.
- Parameters
-
[in] id the polygon correspondences object id (i.e., given on addCorrespondences) [in] viewport view port from where the correspondences should be removed (default: all)
removeOrientationMarkerWidgetAxes()
| void pcl::visualization::PCLVisualizer::removeOrientationMarkerWidgetAxes | ( | ) |
Disables the Orientatation Marker Widget so it is removed from the renderer.
removePointCloud()
| bool pcl::visualization::PCLVisualizer::removePointCloud | ( | const std::string & | id = "cloud", |
| int | viewport = 0 |
||
| ) |
Removes a Point Cloud from screen, based on a given ID.
- Parameters
-
[in] id the point cloud object id (i.e., given on addPointCloud) [in] viewport view port from where the Point Cloud should be removed (default: all)
- Returns
- true if the point cloud is successfully removed and false if the point cloud is not actually displayed
removePolygonMesh()
|
inline |
Removes a PolygonMesh from screen, based on a given ID.
- Parameters
-
[in] id the polygon object id (i.e., given on addPolygonMesh) [in] viewport view port from where the PolygonMesh should be removed (default: all)
Definition at line 383 of file pcl_visualizer.h.
removeShape()
| bool pcl::visualization::PCLVisualizer::removeShape | ( | const std::string & | id = "cloud", |
| int | viewport = 0 |
||
| ) |
Removes an added shape from screen (line, polygon, etc.), based on a given ID.
- Note
- This methods also removes PolygonMesh objects and PointClouds, if they match the ID
- Parameters
-
[in] id the shape object id (i.e., given on addLine etc.) [in] viewport view port from where the Point Cloud should be removed (default: all)
Referenced by pcl::people::PersonCluster< PointT >::drawTBoundingBox().
removeText3D()
| bool pcl::visualization::PCLVisualizer::removeText3D | ( | const std::string & | id = "cloud", |
| int | viewport = 0 |
||
| ) |
Removes an added 3D text from the scene, based on a given ID.
- Parameters
-
[in] id the 3D text id (i.e., given on addText3D etc.) [in] viewport view port from where the 3D text should be removed (default: all)
renderView()
| void pcl::visualization::PCLVisualizer::renderView | ( | int | xres, |
| int | yres, | ||
| pcl::PointCloud< pcl::PointXYZ >::Ptr & | cloud | ||
| ) |
Renders a virtual scene as seen from the camera viewpoint and returns the rendered point cloud.
ATT: This method will only render the scene if only on viewport exists. Otherwise, returns an empty point cloud and exits immediately.
- Parameters
-
[in] xres is the size of the window (X) used to render the scene [in] yres is the size of the window (Y) used to render the scene [in] cloud is the rendered point cloud
renderViewTesselatedSphere()
| void pcl::visualization::PCLVisualizer::renderViewTesselatedSphere | ( | int | xres, |
| int | yres, | ||
| pcl::PointCloud< pcl::PointXYZ >::CloudVectorType & | cloud, | ||
| std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & | poses, | ||
| std::vector< float > & | enthropies, | ||
| int | tesselation_level, | ||
| float | view_angle = 45, |
||
| float | radius_sphere = 1, |
||
| bool | use_vertices = true |
||
| ) |
The purpose of this method is to render a CAD model added to the visualizer from different viewpoints in order to simulate partial views of model.
The viewpoint locations are the vertices of a tessellated sphere build from an icosaheadron. The tessellation parameter controls how many times the triangles of the original icosahedron are divided to approximate the sphere and thus the number of partial view generated for a model, with a tesselation_level of 0, 12 views are generated if use_vertices=true and 20 views if use_vertices=false
- Parameters
-
[in] xres the size of the window (X) used to render the partial view of the object [in] yres the size of the window (Y) used to render the partial view of the object [in] cloud is a vector of pointcloud with XYZ information that represent the model as seen from the respective viewpoints. [out] poses represent the transformation from object coordinates to camera coordinates for the respective viewpoint. [out] enthropies are values between 0 and 1 representing which percentage of the model is seen from the respective viewpoint. [in] tesselation_level represents the number of subdivisions applied to the triangles of original icosahedron. [in] view_angle field of view of the virtual camera. Default: 45 [in] radius_sphere the tessellated sphere radius. Default: 1 [in] use_vertices if true, use the vertices of tessellated icosahedron (12,42,...) or if false, use the faces of tessellated icosahedron (20,80,...). Default: true
resetCamera()
| void pcl::visualization::PCLVisualizer::resetCamera | ( | ) |
Reset camera parameters and render.
resetCameraViewpoint()
| void pcl::visualization::PCLVisualizer::resetCameraViewpoint | ( | const std::string & | id = "cloud" |
) |
Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
- Parameters
-
[in] id the point cloud object id (default: cloud)
resetStoppedFlag()
| void pcl::visualization::PCLVisualizer::resetStoppedFlag | ( | ) |
Set the stopped flag back to false.
saveCameraParameters()
| void pcl::visualization::PCLVisualizer::saveCameraParameters | ( | const std::string & | file | ) |
Save the camera parameters to disk, as a .cam file.
- Parameters
-
[in] file the name of the .cam file
saveScreenshot()
| void pcl::visualization::PCLVisualizer::saveScreenshot | ( | const std::string & | file | ) |
Save the current rendered image to disk, as a PNG screenshot.
- Parameters
-
[in] file the name of the PNG file
setBackgroundColor()
| void pcl::visualization::PCLVisualizer::setBackgroundColor | ( | const double & | r, |
| const double & | g, | ||
| const double & | b, | ||
| int | viewport = 0 |
||
| ) |
setCameraClipDistances()
| void pcl::visualization::PCLVisualizer::setCameraClipDistances | ( | double | near, |
| double | far, | ||
| int | viewport = 0 |
||
| ) |
Set the camera clipping distances.
- Parameters
-
[in] near the near clipping distance (no objects closer than this to the camera will be drawn) [in] far the far clipping distance (no objects further away than this to the camera will be drawn) [in] viewport the viewport to modify camera of (0 modifies all cameras)
setCameraFieldOfView()
| void pcl::visualization::PCLVisualizer::setCameraFieldOfView | ( | double | fovy, |
| int | viewport = 0 |
||
| ) |
Set the camera vertical field of view.
- Parameters
-
[in] fovy vertical field of view in radians [in] viewport the viewport to modify camera of (0 modifies all cameras)
setCameraParameters() [1/2]
| void pcl::visualization::PCLVisualizer::setCameraParameters | ( | const Camera & | camera, |
| int | viewport = 0 |
||
| ) |
Set the camera parameters by given a full camera data structure.
- Parameters
-
[in] camera camera structure containing all the camera parameters. [in] viewport the viewport to modify camera of (0 modifies all cameras)
setCameraParameters() [2/2]
| void pcl::visualization::PCLVisualizer::setCameraParameters | ( | const Eigen::Matrix3f & | intrinsics, |
| const Eigen::Matrix4f & | extrinsics, | ||
| int | viewport = 0 |
||
| ) |
Set the camera parameters via an intrinsics and and extrinsics matrix.
- Note
- This assumes that the pixels are square and that the center of the image is at the center of the sensor.
- Parameters
-
[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters [in] extrinsics the extrinsics that will be used to compute the VTK camera parameters [in] viewport the viewport to modify camera of (0 modifies all cameras)
setCameraPosition() [1/2]
| void pcl::visualization::PCLVisualizer::setCameraPosition | ( | double | pos_x, |
| double | pos_y, | ||
| double | pos_z, | ||
| double | up_x, | ||
| double | up_y, | ||
| double | up_z, | ||
| int | viewport = 0 |
||
| ) |
Set the camera location and viewup according to the given arguments.
- Parameters
-
[in] pos_x the x coordinate of the camera location [in] pos_y the y coordinate of the camera location [in] pos_z the z coordinate of the camera location [in] up_x the x component of the view up direction of the camera [in] up_y the y component of the view up direction of the camera [in] up_z the z component of the view up direction of the camera [in] viewport the viewport to modify camera of (0 modifies all cameras)
setCameraPosition() [2/2]
| void pcl::visualization::PCLVisualizer::setCameraPosition | ( | double | pos_x, |
| double | pos_y, | ||
| double | pos_z, | ||
| double | view_x, | ||
| double | view_y, | ||
| double | view_z, | ||
| double | up_x, | ||
| double | up_y, | ||
| double | up_z, | ||
| int | viewport = 0 |
||
| ) |
Set the camera pose given by position, viewpoint and up vector.
- Parameters
-
[in] pos_x the x coordinate of the camera location [in] pos_y the y coordinate of the camera location [in] pos_z the z coordinate of the camera location [in] view_x the x component of the view point of the camera [in] view_y the y component of the view point of the camera [in] view_z the z component of the view point of the camera [in] up_x the x component of the view up direction of the camera [in] up_y the y component of the view up direction of the camera [in] up_z the z component of the view up direction of the camera [in] viewport the viewport to modify camera of (0 modifies all cameras)
setFullScreen()
| void pcl::visualization::PCLVisualizer::setFullScreen | ( | bool | mode | ) |
Enables/Disabled the underlying window mode to full screen.
- Note
- This might or might not work, depending on your window manager. See the VTK documentation for additional details.
- Parameters
-
[in] mode true for full screen, false otherwise
setLookUpTableID()
| void pcl::visualization::PCLVisualizer::setLookUpTableID | ( | const std::string | id | ) |
Set the ID of a cloud or shape to be used for LUT display.
- Parameters
-
[in] id The id of the cloud/shape look up table to be displayed The look up table is displayed by pressing 'u' in the PCLVisualizer
setPointCloudRenderingProperties() [1/3]
| bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties | ( | int | property, |
| double | val1, | ||
| double | val2, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Set the rendering properties of a PointCloud (2x values - e.g., LUT minmax values)
- Parameters
-
[in] property the property type [in] val1 the first value to be set [in] val2 the second value to be set [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud's rendering properties should be modified (default: all)
- Note
- The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.
setPointCloudRenderingProperties() [2/3]
| bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties | ( | int | property, |
| double | val1, | ||
| double | val2, | ||
| double | val3, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Set the rendering properties of a PointCloud (3x values - e.g., RGB)
- Parameters
-
[in] property the property type [in] val1 the first value to be set [in] val2 the second value to be set [in] val3 the third value to be set [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud's rendering properties should be modified (default: all)
- Note
- The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.
setPointCloudRenderingProperties() [3/3]
| bool pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties | ( | int | property, |
| double | value, | ||
| const std::string & | id = "cloud", |
||
| int | viewport = 0 |
||
| ) |
Set the rendering properties of a PointCloud.
- Parameters
-
[in] property the property type [in] value the value to be set [in] id the point cloud object id (default: cloud) [in] viewport the view port where the Point Cloud's rendering properties should be modified (default: all)
- Note
- The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.
setPointCloudSelected()
| bool pcl::visualization::PCLVisualizer::setPointCloudSelected | ( | const bool | selected, |
| const std::string & | id = "cloud" |
||
| ) |
Set whether the point cloud is selected or not.
- Parameters
-
[in] selected whether the cloud is selected or not (true = selected) [in] id the point cloud object id (default: cloud)
setPosition()
| void pcl::visualization::PCLVisualizer::setPosition | ( | int | x, |
| int | y | ||
| ) |
Set the position in screen coordinates.
- Parameters
-
[in] x where to move the window to (X) [in] y where to move the window to (Y)
setRepresentationToPointsForAllActors()
| void pcl::visualization::PCLVisualizer::setRepresentationToPointsForAllActors | ( | ) |
Changes the visual representation for all actors to points representation.
setRepresentationToSurfaceForAllActors()
| void pcl::visualization::PCLVisualizer::setRepresentationToSurfaceForAllActors | ( | ) |
Changes the visual representation for all actors to surface representation.
setRepresentationToWireframeForAllActors()
| void pcl::visualization::PCLVisualizer::setRepresentationToWireframeForAllActors | ( | ) |
Changes the visual representation for all actors to wireframe representation.
setShapeRenderingProperties() [1/3]
| bool pcl::visualization::PCLVisualizer::setShapeRenderingProperties | ( | int | property, |
| double | val1, | ||
| double | val2, | ||
| const std::string & | id, | ||
| int | viewport = 0 |
||
| ) |
Set the rendering properties of a shape (2x values - e.g., LUT minmax values)
- Parameters
-
[in] property the property type [in] val1 the first value to be set [in] val2 the second value to be set [in] id the shape object id [in] viewport the view port where the shape's properties should be modified (default: all)
- Note
- When using addPolygonMesh you you should use setPointCloudRenderingProperties
setShapeRenderingProperties() [2/3]
| bool pcl::visualization::PCLVisualizer::setShapeRenderingProperties | ( | int | property, |
| double | val1, | ||
| double | val2, | ||
| double | val3, | ||
| const std::string & | id, | ||
| int | viewport = 0 |
||
| ) |
Set the rendering properties of a shape (3x values - e.g., RGB)
- Parameters
-
[in] property the property type [in] val1 the first value to be set [in] val2 the second value to be set [in] val3 the third value to be set [in] id the shape object id [in] viewport the view port where the shape's properties should be modified (default: all)
- Note
- When using addPolygonMesh you you should use setPointCloudRenderingProperties
setShapeRenderingProperties() [3/3]
| bool pcl::visualization::PCLVisualizer::setShapeRenderingProperties | ( | int | property, |
| double | value, | ||
| const std::string & | id, | ||
| int | viewport = 0 |
||
| ) |
Set the rendering properties of a shape.
- Parameters
-
[in] property the property type [in] value the value to be set [in] id the shape object id [in] viewport the view port where the shape's properties should be modified (default: all)
- Note
- When using addPolygonMesh you you should use setPointCloudRenderingProperties
- The list of properties can be found in pcl::visualization::LookUpTableRepresentationProperties.
Referenced by pcl::people::PersonCluster< PointT >::drawTBoundingBox().
setShowFPS()
| void pcl::visualization::PCLVisualizer::setShowFPS | ( | bool | show_fps | ) |
Sets whether the 2D overlay text showing the framerate of the window is displayed or not.
- Parameters
-
[in] show_fps determines whether the fps text will be shown or not.
setSize()
| void pcl::visualization::PCLVisualizer::setSize | ( | int | xw, |
| int | yw | ||
| ) |
Set the window size in screen coordinates.
- Parameters
-
[in] xw window size in horizontal (pixels) [in] yw window size in vertical (pixels)
setupInteractor() [1/2]
| void pcl::visualization::PCLVisualizer::setupInteractor | ( | vtkRenderWindowInteractor * | iren, |
| vtkRenderWindow * | win | ||
| ) |
Set up our unique PCL interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow.
- Parameters
-
[in,out] iren the vtkRenderWindowInteractor object to set up [in,out] win a vtkRenderWindow object that the interactor is attached to
setupInteractor() [2/2]
| void pcl::visualization::PCLVisualizer::setupInteractor | ( | vtkRenderWindowInteractor * | iren, |
| vtkRenderWindow * | win, | ||
| vtkInteractorStyle * | style | ||
| ) |
Set up PCLVisualizer with custom interactor style for a given vtkRenderWindowInteractor object attached to a given vtkRenderWindow.
- Parameters
-
[in,out] iren the vtkRenderWindowInteractor object to set up [in,out] win a vtkRenderWindow object that the interactor is attached to [in,out] style a vtkInteractorStyle object
setUseVbos()
| void pcl::visualization::PCLVisualizer::setUseVbos | ( | bool | use_vbos | ) |
Use Vertex Buffer Objects renderers.
This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex buffer objects by default, transparently for the user.
- Parameters
-
[in] use_vbos set to true to use VBOs
setWindowBorders()
| void pcl::visualization::PCLVisualizer::setWindowBorders | ( | bool | mode | ) |
Enables or disable the underlying window borders.
- Note
- This might or might not work, depending on your window manager. See the VTK documentation for additional details.
- Parameters
-
[in] mode true for borders, false otherwise
setWindowName()
| void pcl::visualization::PCLVisualizer::setWindowName | ( | const std::string & | name | ) |
Set the visualizer window name.
- Parameters
-
[in] name the name of the window
spin()
| void pcl::visualization::PCLVisualizer::spin | ( | ) |
Spin method.
Calls the interactor and runs an internal loop.
spinOnce()
| void pcl::visualization::PCLVisualizer::spinOnce | ( | int | time = 1, |
| bool | force_redraw = false |
||
| ) |
Spin once method.
Calls the interactor and updates the screen once.
- Parameters
-
[in] time - How long (in ms) should the visualization loop be allowed to run. [in] force_redraw - if false it might return without doing anything if the interactor's framerate does not require a redraw yet.
updateCamera()
|
inline |
Update camera parameters and render.
- Deprecated:
-
Scheduled for removal in version 1 . 15 : "updateCamera will be removed, as it does nothing."
Definition at line 1813 of file pcl_visualizer.h.
updateColorHandlerIndex()
| bool pcl::visualization::PCLVisualizer::updateColorHandlerIndex | ( | const std::string & | id, |
| int | index | ||
| ) |
Update/set the color index of a rendered PointCloud based on its ID.
- Parameters
-
[in] id the point cloud object id [in] index the color handler index to use
updateCoordinateSystemPose()
| bool pcl::visualization::PCLVisualizer::updateCoordinateSystemPose | ( | const std::string & | id, |
| const Eigen::Affine3f & | pose | ||
| ) |
Set the pose of an existing coordinate system.
Returns false if the coordinate system doesn't exist, true if the pose was successfully updated.
- Parameters
-
[in] id the point cloud object id (i.e., given on addCoordinateSystem etc.) [in] pose the new pose
- Returns
- false if no coordinate system with the specified ID was found
updateCorrespondences() [1/2]
template<typename PointT >
|
inline |
Update the specified correspondences to the display.
- Parameters
-
[in] source_points The source points [in] target_points The target points [in] correspondences The mapping from source points to target points. Each element must be an index into target_points [in] id the polygon object id (default: "correspondences") [in] viewport the view port where the correspondences should be updated (default: all)
Definition at line 1106 of file pcl_visualizer.h.
updateCorrespondences() [2/2]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::updateCorrespondences | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | source_points, |
| const typename pcl::PointCloud< PointT >::ConstPtr & | target_points, | ||
| const pcl::Correspondences & | correspondences, | ||
| int | nth, | ||
| const std::string & | id = "correspondences", |
||
| int | viewport = 0 |
||
| ) |
Update the specified correspondences to the display.
- Parameters
-
[in] source_points The source points [in] target_points The target points [in] correspondences The mapping from source points to target points. Each element must be an index into target_points [in] nth display only the Nth correspondence (e.g., skip the rest) [in] id the polygon object id (default: "correspondences") [in] viewport the view port where the correspondences should be updated (default: all)
Definition at line 1325 of file pcl_visualizer.hpp.
updatePointCloud() [1/7]
|
inline |
Updates the XYZ data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 923 of file pcl_visualizer.h.
updatePointCloud() [2/7]
|
inline |
Updates the XYZL data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 961 of file pcl_visualizer.h.
updatePointCloud() [3/7]
|
inline |
Updates the XYZRGB data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 935 of file pcl_visualizer.h.
updatePointCloud() [4/7]
|
inline |
Updates the XYZRGBA data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 948 of file pcl_visualizer.h.
updatePointCloud() [5/7]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::updatePointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const PointCloudColorHandler< PointT > & | color_handler, | ||
| const std::string & | id = "cloud" |
||
| ) |
Updates the XYZ data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] color_handler the color handler to use [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 1593 of file pcl_visualizer.hpp.
References pcl::visualization::PointCloudColorHandler< PointT >::getColor().
updatePointCloud() [6/7]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::updatePointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const PointCloudGeometryHandler< PointT > & | geometry_handler, | ||
| const std::string & | id = "cloud" |
||
| ) |
Updates the XYZ data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] geometry_handler the geometry handler to use [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 1558 of file pcl_visualizer.hpp.
updatePointCloud() [7/7]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::updatePointCloud | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const std::string & | id = "cloud" |
||
| ) |
Updates the XYZ data for an existing cloud object id on screen.
- Parameters
-
[in] cloud the input point cloud dataset [in] id the point cloud object id to update (default: cloud)
- Returns
- false if no cloud with the specified ID was found
Definition at line 1525 of file pcl_visualizer.hpp.
updatePointCloudPose()
| bool pcl::visualization::PCLVisualizer::updatePointCloudPose | ( | const std::string & | id, |
| const Eigen::Affine3f & | pose | ||
| ) |
Set the pose of an existing point cloud.
Returns false if the point cloud doesn't exist, true if the pose was successfully updated.
- Parameters
-
[in] id the point cloud object id (i.e., given on addPointCloud etc.) [in] pose the new pose
- Returns
- false if no point cloud with the specified ID was found
updatePolygonMesh() [1/2]
| bool pcl::visualization::PCLVisualizer::updatePolygonMesh | ( | const pcl::PolygonMesh & | polymesh, |
| const std::string & | id = "polygon" |
||
| ) |
Update a PolygonMesh object on screen.
- Parameters
-
[in] polymesh the polygonal mesh [in] id the polygon object id (default: "polygon")
- Returns
- false if no polygonmesh with the specified ID was found
updatePolygonMesh() [2/2]
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::updatePolygonMesh | ( | const typename pcl::PointCloud< PointT >::ConstPtr & | cloud, |
| const std::vector< pcl::Vertices > & | vertices, | ||
| const std::string & | id = "polygon" |
||
| ) |
Update a PolygonMesh object on screen.
- Parameters
-
[in] cloud the polygonal mesh point cloud [in] vertices the polygonal mesh vertices [in] id the polygon object id (default: "polygon")
- Returns
- false if no polygonmesh with the specified ID was found
Definition at line 1783 of file pcl_visualizer.hpp.
References pcl::visualization::details::fillCells(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::console::print_error(), and pcl::PointCloud< PointT >::size().
updateShapePose()
| bool pcl::visualization::PCLVisualizer::updateShapePose | ( | const std::string & | id, |
| const Eigen::Affine3f & | pose | ||
| ) |
Set the pose of an existing shape.
Returns false if the shape doesn't exist, true if the pose was successfully updated.
- Parameters
-
[in] id the shape or cloud object id (i.e., given on addLine etc.) [in] pose the new pose
- Returns
- false if no shape or cloud with the specified ID was found
updateSphere()
template<typename PointT >
| bool pcl::visualization::PCLVisualizer::updateSphere | ( | const PointT & | center, |
| double | radius, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "sphere" |
||
| ) |
Update an existing sphere shape from a point and a radius.
- Parameters
-
[in] center the center of the sphere [in] radius the radius of the sphere [in] r the red channel of the color that the sphere should be rendered with [in] g the green channel of the color that the sphere should be rendered with [in] b the blue channel of the color that the sphere should be rendered with [in] id the sphere id/name (default: "sphere")
Definition at line 659 of file pcl_visualizer.hpp.
updateText() [1/3]
| bool pcl::visualization::PCLVisualizer::updateText | ( | const std::string & | text, |
| int | xpos, | ||
| int | ypos, | ||
| const std::string & | id = "" |
||
| ) |
Update a text to screen.
- Parameters
-
[in] text the text to update [in] xpos the new X position on screen [in] ypos the new Y position on screen [in] id the text object id (default: equal to the "text" parameter)
updateText() [2/3]
| bool pcl::visualization::PCLVisualizer::updateText | ( | const std::string & | text, |
| int | xpos, | ||
| int | ypos, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "" |
||
| ) |
Update a text to screen.
- Parameters
-
[in] text the text to update [in] xpos the new X position on screen [in] ypos the new Y position on screen [in] r the red color value [in] g the green color value [in] b the blue color value [in] id the text object id (default: equal to the "text" parameter)
updateText() [3/3]
| bool pcl::visualization::PCLVisualizer::updateText | ( | const std::string & | text, |
| int | xpos, | ||
| int | ypos, | ||
| int | fontsize, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| const std::string & | id = "" |
||
| ) |
Update a text to screen.
- Parameters
-
[in] text the text to update [in] xpos the new X position on screen [in] ypos the new Y position on screen [in] fontsize the fontsize of the text [in] r the red color value [in] g the green color value [in] b the blue color value [in] id the text object id (default: equal to the "text" parameter)
wasStopped()
| bool pcl::visualization::PCLVisualizer::wasStopped | ( | ) | const |
Returns true when the user tried to close the window.
Member Data Documentation
interactor_
|
protected |
The render window interactor.
Definition at line 1999 of file pcl_visualizer.h.
The documentation for this class was generated from the following files:
- pcl/visualization/pcl_visualizer.h
- pcl/visualization/impl/pcl_visualizer.hpp
© 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_visualizer.html
