Range image visualizer class. More...

#include <pcl/visualization/range_image_visualizer.h>

Inheritance diagram for pcl::visualization::RangeImageVisualizer:

Collaboration diagram for pcl::visualization::RangeImageVisualizer:

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)
	Show a 2D image on screen.
void	showRGBImage (const pcl::PointCloud< pcl::PointXYZRGB > &data)
	Show a 2D image on screen, obtained from the RGB channel of a PointXYZRGB-type point cloud.
void	showFloatImage (const float *data, unsigned int width, unsigned int height, float min_value, float max_value, bool grayscale=false)
	Show a 2D image (float) on screen.
void	showShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value, unsigned short max_value, bool grayscale=false)
	Show a 2D image (unsigned short) on screen.
void	showAngleImage (const float *data, unsigned width, unsigned height)
	Show a 2D image on screen representing angle data.
void	showHalfAngleImage (const float *data, unsigned width, unsigned height)
	Show a 2D image on screen representing half angle data.
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	setWindowTitle (const std::string &name)
	Set the window title 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)
	Register 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)
	Register a callback function for keyboard events.
boost::signals2::connection	registerKeyboardCallback (boost::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback boost::function for keyboard events.
boost::signals2::connection	registerMouseCallback (void(callback)(const pcl::visualization::MouseEvent &, void ), void *cookie=NULL)
	Register a callback boost::function for mouse events.
template<typename T >
boost::signals2::connection	registerMouseCallback (void(T::callback)(const pcl::visualization::MouseEvent &, void ), T &instance, void *cookie=NULL)
	Register a callback function for mouse events.
boost::signals2::connection	registerMouseCallback (boost::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register 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.

Detailed Description

Range image visualizer class.

Author:: Bastian Steder

Definition at line 54 of file range_image_visualizer.h.

Constructor & Destructor Documentation

pcl::visualization::RangeImageVisualizer::RangeImageVisualizer ( const std::string & name = "Range Image" )

Constructor.

pcl::visualization::RangeImageVisualizer::~RangeImageVisualizer ( )

Destructor.

Member Function Documentation

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"`
	)		`[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`,
		float	radius = `2`
	)		`[inherited]`

Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another.

Parameters:

[in]	u	the u/x coordinate of the pixel
[in]	v	the v/y coordinate of the pixel
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	radius	the circle radius around the pixel

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback	(	void()(const pcl::visualization::KeyboardEvent &, void )	callback,
		void *	cookie = `NULL`
	)		`[inline, inherited]`

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 168 of file image_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback	(	void(T::)(const pcl::visualization::KeyboardEvent &, void )	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline, inherited]`

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 181 of file image_viewer.h.

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

Register a callback boost::function for keyboard events.

Parameters:

[in] cb the boost function that will be registered as a callback for a keyboard event

Returns:: a connection object that allows to disconnect the callback function.

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback	(	void()(const pcl::visualization::MouseEvent &, void )	callback,
		void *	cookie = `NULL`
	)		`[inline, inherited]`

Register a callback boost::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 200 of file image_viewer.h.

template<typename T >

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback	(	void(T::)(const pcl::visualization::MouseEvent &, void )	callback,
		T &	instance,
		void *	cookie = `NULL`
	)		`[inline, inherited]`

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 213 of file image_viewer.h.

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

Register a callback function for mouse events.

Parameters:

[in] cb the boost function that will be registered as a callback for a mouse event

Returns:: a connection object that allows to disconnect the callback function.

void pcl::visualization::ImageViewer::setWindowTitle ( const std::string & name ) [inline, inherited]

Set the window title name.

Parameters:

[in] name the window title

Definition at line 145 of file image_viewer.h.

void pcl::visualization::ImageViewer::showAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height
	)		`[inherited]`

Show a 2D image on screen representing angle data.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image

void pcl::visualization::ImageViewer::showFloatImage	(	const float *	data,
		unsigned int	width,
		unsigned int	height,
		float	min_value,
		float	max_value,
		bool	grayscale = `false`
	)		`[inherited]`

Show a 2D image (float) on screen.

Parameters:

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

void pcl::visualization::ImageViewer::showHalfAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height
	)		`[inherited]`

Show a 2D image on screen representing half angle data.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image

void pcl::visualization::RangeImageVisualizer::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 pcl::visualization::ImageViewer::showRGBImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height
	)		`[inherited]`

Show a 2D image on screen.

Parameters:

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image

void pcl::visualization::ImageViewer::showRGBImage ( const pcl::PointCloud< pcl::PointXYZRGB > & data ) [inherited]

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

Parameters:

[in] data the input data representing the PointXYZRGB point cloud

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 = `false`
	)		`[inherited]`

Show a 2D image (unsigned short) on screen.

Parameters:

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

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.

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.

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.

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

/builddir/build/BUILD/PCL-1.4.0-Source/visualization/include/pcl/visualization/range_image_visualizer.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation