pcl::visualization::RangeImageVisualizer Class Reference

Range image visualizer class. More...

#include <pcl/visualization/range_image_visualizer.h>

Inheritance diagram for pcl::visualization::RangeImageVisualizer:

Collaboration diagram for pcl::visualization::RangeImageVisualizer:

List of all members.

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	showMonoImage (const unsigned char *data, unsigned width, unsigned height)
	Show a monochrome 2D image on screen.
void	showRGBImage (const unsigned char *data, unsigned width, unsigned height)
	Show a 2D RGB 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	showRGBImage (const pcl::PointCloud< pcl::PointXYZRGBA > &data)
	Show a 2D image on screen, obtained from the RGB channel of a PointXYZRGBA-type point cloud.
void	showFloatImage (const float *data, unsigned int width, unsigned int height, float min_value=std::numeric_limits< float >::min(), float max_value=std::numeric_limits< float >::max(), bool grayscale=false)
	Show a 2D image (float) on screen.
void	showShortImage (const unsigned short *short_image, unsigned int width, unsigned int height, unsigned short min_value=std::numeric_limits< unsigned short >::min(), unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool grayscale=false)
	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.
void	setPosition (int x, int y)
	Set the position in screen coordinates.
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 184 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 197 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 216 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 229 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::setPosition	(	int	x,
		int	y
	)		[inline, inherited]

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)

Definition at line 247 of file image_viewer.h.

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 161 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 = std::numeric_limits< float >::min(),
		float	max_value = std::numeric_limits< float >::max(),
		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::ImageViewer::showMonoImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height
	)		[inherited]

Show a monochrome 2D image on screen.

Parameters:

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

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 RGB image on screen.

Parameters:

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

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::showRGBImage

(

const pcl::PointCloud< pcl::PointXYZRGBA > &

data

)

[inherited]

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

Parameters:

[in]

data

the input data representing the PointXYZRGBA point cloud

void pcl::visualization::ImageViewer::showShortImage	(	const unsigned short *	short_image,
		unsigned int	width,
		unsigned int	height,
		unsigned short	min_value = std::numeric_limits< unsigned short >::min(),
		unsigned short	max_value = std::numeric_limits< unsigned short >::max(),
		bool	grayscale = false
	)		[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.

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

• /builddir/build/BUILD/PCL-1.5.1-Source/visualization/include/pcl/visualization/range_image_visualizer.h