Point Cloud Library (PCL)
1.3.1
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Range image visualizer class. More...
#include <pcl/visualization/range_image_visualizer.h>
Public Member Functions | |
RangeImageVisualizer (const std::string &name="Range Image") | |
Constructor. | |
~RangeImageVisualizer () | |
Destructor. | |
void | visualizeBorders (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions) |
Visualize the given range image and the detected borders in it. | |
void | showRangeImage (const pcl::RangeImage &range_image, float min_value=-std::numeric_limits< float >::infinity(), float max_value=std::numeric_limits< float >::infinity(), bool grayscale=false) |
Visualize a range image. | |
void | showRGBImage (const unsigned char *data, unsigned width, unsigned height) |
void | showRGBImage (const pcl::PointCloud< pcl::PointXYZRGB > &data) |
void | showFloatImage (const float *data, unsigned int width, unsigned int height, float min_value, float max_value, bool grayscale=false) |
void | showShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value, unsigned short max_value, bool grayscale) |
void | showAngleImage (const float *data, unsigned width, unsigned height) |
void | showHalfAngleImage (const float *data, unsigned width, unsigned height) |
void | markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color=red_color, float radius=2) |
Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. | |
void | setName (const std::string &name) |
void | spin () |
Spin method. | |
void | spinOnce (int time=1, bool force_redraw=false) |
Spin once method. | |
boost::signals2::connection | registerKeyboardCallback (void(*callback)(const pcl::visualization::KeyboardEvent &, void *), void *cookie=NULL) |
registering a callback function for keyboard events | |
template<typename T > | |
boost::signals2::connection | registerKeyboardCallback (void(T::*callback)(const pcl::visualization::KeyboardEvent &, void *), T &instance, void *cookie=NULL) |
registering a callback function for keyboard events | |
boost::signals2::connection | registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)>) |
registering a callback boost::function for keyboard events | |
boost::signals2::connection | registerMouseCallback (void(*callback)(const pcl::visualization::MouseEvent &, void *), void *cookie=NULL) |
template<typename T > | |
boost::signals2::connection | registerMouseCallback (void(T::*callback)(const pcl::visualization::MouseEvent &, void *), T &instance, void *cookie=NULL) |
registering a callback function for mouse events | |
boost::signals2::connection | registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)>) |
registering a callback function for mouse events | |
Static Public Member Functions | |
static RangeImageVisualizer * | getRangeImageWidget (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const std::string &name="Range image") |
Get a widget visualizing the given range image. | |
static RangeImageVisualizer * | getRangeImageBordersWidget (const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions, const std::string &name="Range image with borders") |
Same as above, but returning a new widget. | |
static RangeImageVisualizer * | getAnglesWidget (const pcl::RangeImage &range_image, float *angles_image, const std::string &name) |
Get a widget visualizing the given angle image (assuming values in (-PI, PI]). | |
static RangeImageVisualizer * | getHalfAnglesWidget (const pcl::RangeImage &range_image, float *angles_image, const std::string &name) |
Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]). | |
static RangeImageVisualizer * | getInterestPointsWidget (const pcl::RangeImage &range_image, const float *interest_image, float min_value, float max_value, const pcl::PointCloud< pcl::InterestPoint > &interest_points, const std::string &name) |
Get a widget visualizing the interest values and extracted interest points. |
Range image visualizer class.
pcl::visualization::RangeImageVisualizer::RangeImageVisualizer | ( | const std::string & | name = "Range Image" | ) |
Constructor.
pcl::visualization::RangeImageVisualizer::~RangeImageVisualizer | ( | ) |
Destructor.
static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getAnglesWidget | ( | const pcl::RangeImage & | range_image, |
float * | angles_image, | ||
const std::string & | name | ||
) | [static] |
Get a widget visualizing the given angle image (assuming values in (-PI, PI]).
-PI and PI will return the same color You are responsible for deleting it after usage!
static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getHalfAnglesWidget | ( | const pcl::RangeImage & | range_image, |
float * | angles_image, | ||
const std::string & | name | ||
) | [static] |
Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).
-PI/2 and PI/2 will return the same color You are responsible for deleting it after usage!
static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getInterestPointsWidget | ( | const pcl::RangeImage & | range_image, |
const float * | interest_image, | ||
float | min_value, | ||
float | max_value, | ||
const pcl::PointCloud< pcl::InterestPoint > & | interest_points, | ||
const std::string & | name | ||
) | [static] |
Get a widget visualizing the interest values and extracted interest points.
The interest points will be marked green. You are responsible for deleting it after usage!
static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget | ( | const pcl::RangeImage & | range_image, |
float | min_value, | ||
float | max_value, | ||
bool | grayscale, | ||
const pcl::PointCloud< pcl::BorderDescription > & | border_descriptions, | ||
const std::string & | name = "Range image with borders" |
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) | [static] |
Same as above, but returning a new widget.
You are responsible for deleting it after usage!
static RangeImageVisualizer* pcl::visualization::RangeImageVisualizer::getRangeImageWidget | ( | const pcl::RangeImage & | range_image, |
float | min_value, | ||
float | max_value, | ||
bool | grayscale, | ||
const std::string & | name = "Range image" |
||
) | [static] |
Get a widget visualizing the given range image.
You are responsible for deleting it after usage!
void pcl::visualization::ImageViewer::markPoint | ( | size_t | u, |
size_t | v, | ||
Vector3ub | fg_color, | ||
Vector3ub | bg_color = red_color , |
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float | radius = 2 |
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) | [inherited] |
Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another.
fg_color | the pixel color |
bg_color | the neighborhood color |
radius | the circle radius around the pixel |
boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback | ( | void(*)(const pcl::visualization::KeyboardEvent &, void *) | callback, |
void * | cookie = NULL |
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) | [inline, inherited] |
registering a callback function for keyboard events
callback | the function that will be registered as a callback for a keyboard event |
cookie | user data that is passed to the callback |
Definition at line 120 of file image_viewer.h.
boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback | ( | void(T::*)(const pcl::visualization::KeyboardEvent &, void *) | callback, |
T & | instance, | ||
void * | cookie = NULL |
||
) | [inline, inherited] |
registering a callback function for keyboard events
callback | the member function that will be registered as a callback for a keyboard event |
instance | instance to the class that implements the callback function |
cookie | user data that is passed to the callback |
Definition at line 133 of file image_viewer.h.
boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback | ( | boost::function< void(const pcl::visualization::KeyboardEvent &)> | ) | [inherited] |
registering a callback boost::function for keyboard events
the | boost function that will be registered as a callback for a keyboard event |
boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback | ( | void(*)(const pcl::visualization::MouseEvent &, void *) | callback, |
void * | cookie = NULL |
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) | [inline, inherited] |
callback | the function that will be registered as a callback for a mouse event |
cookie | user data that is passed to the callback |
Definition at line 152 of file image_viewer.h.
boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback | ( | void(T::*)(const pcl::visualization::MouseEvent &, void *) | callback, |
T & | instance, | ||
void * | cookie = NULL |
||
) | [inline, inherited] |
registering a callback function for mouse events
callback | the member function that will be registered as a callback for a mouse event |
instance | instance to the class that implements the callback function |
cookie | user data that is passed to the callback |
Definition at line 165 of file image_viewer.h.
boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback | ( | boost::function< void(const pcl::visualization::MouseEvent &)> | ) | [inherited] |
registering a callback function for mouse events
the | boost function that will be registered as a callback for a mouse event |
void pcl::visualization::ImageViewer::setName | ( | const std::string & | name | ) | [inline, inherited] |
Definition at line 97 of file image_viewer.h.
void pcl::visualization::ImageViewer::showAngleImage | ( | const float * | data, |
unsigned | width, | ||
unsigned | height | ||
) | [inherited] |
void pcl::visualization::ImageViewer::showFloatImage | ( | const float * | data, |
unsigned int | width, | ||
unsigned int | height, | ||
float | min_value, | ||
float | max_value, | ||
bool | grayscale = false |
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) | [inherited] |
void pcl::visualization::ImageViewer::showHalfAngleImage | ( | const float * | data, |
unsigned | width, | ||
unsigned | height | ||
) | [inherited] |
void pcl::visualization::RangeImageVisualizer::showRangeImage | ( | const pcl::RangeImage & | range_image, |
float | min_value = -std::numeric_limits< float >::infinity() , |
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float | max_value = std::numeric_limits< float >::infinity() , |
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bool | grayscale = false |
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) |
Visualize a range image.
void pcl::visualization::ImageViewer::showRGBImage | ( | const unsigned char * | data, |
unsigned | width, | ||
unsigned | height | ||
) | [inherited] |
void pcl::visualization::ImageViewer::showRGBImage | ( | const pcl::PointCloud< pcl::PointXYZRGB > & | data | ) | [inherited] |
void pcl::visualization::ImageViewer::showShortImage | ( | const unsigned short * | short_image, |
unsigned int | width, | ||
unsigned int | height, | ||
unsigned short | min_value, | ||
unsigned short | max_value, | ||
bool | grayscale | ||
) | [inherited] |
void pcl::visualization::ImageViewer::spin | ( | ) | [inherited] |
Spin method.
Calls the interactor and runs an internal loop.
void pcl::visualization::ImageViewer::spinOnce | ( | int | time = 1 , |
bool | force_redraw = false |
||
) | [inherited] |
Spin once method.
Calls the interactor and updates the screen once.
time | - How long (in ms) should the visualization loop be allowed to run. |
force_redraw | - if false it might return without doing anything if the interactor's framerate does not require a redraw yet. |
void pcl::visualization::RangeImageVisualizer::visualizeBorders | ( | const pcl::RangeImage & | range_image, |
float | min_value, | ||
float | max_value, | ||
bool | grayscale, | ||
const pcl::PointCloud< pcl::BorderDescription > & | border_descriptions | ||
) |
Visualize the given range image and the detected borders in it.
Borders on the obstacles are marked green, borders on the background are marked bright blue.