ImageViewer is a class for 2D image visualization. More...

#include <image_viewer.h>

Inheritance diagram for pcl::visualization::ImageViewer:

Collaboration diagram for pcl::visualization::ImageViewer:

[legend]

Classes
struct	ExitCallback

struct	ExitMainLoopTimerCallback

struct	Layer
	Internal structure describing a layer. More...

struct	LayerComparator

Public Types
using	Ptr = shared_ptr< ImageViewer >

using	ConstPtr = shared_ptr< const ImageViewer >

Public Member Functions
	ImageViewer (const std::string &window_title="")
	Constructor. More...

virtual	~ImageViewer ()
	Destructor. More...

void	setInteractorStyle (vtkInteractorObserver *style)
	Set up the interactor style. By default the interactor style is set to vtkInteractorStyleImage you can use this to set it to another type. More...

void	showMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showMonoImage (const pcl::PointCloud< pcl::Intensity8u > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Show a monochrome 2D image on screen. More...

void	addMonoImage (const pcl::PointCloud< pcl::Intensity8u > &cloud, const std::string &layer_id="mono_image", double opacity=1.0)
	Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D RGB image on screen. More...

void	addRGBImage (const unsigned char *data, unsigned width, unsigned height, const std::string &layer_id="rgb_image", double opacity=1.0, bool autoresize=true)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...

template<typename T >
void	showRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D image on screen, obtained from the RGB channel of a point cloud. More...

template<typename T >
void	addRGBImage (const typename pcl::PointCloud< T >::ConstPtr &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...

template<typename T >
void	showRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Show a 2D image on screen, obtained from the RGB channel of a point cloud. More...

template<typename T >
void	addRGBImage (const pcl::PointCloud< T > &cloud, const std::string &layer_id="rgb_image", double opacity=1.0)
	Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update). More...

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, const std::string &layer_id="float_image", double opacity=1.0)
	Show a 2D image (float) on screen. More...

void	addFloatImage (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, const std::string &layer_id="float_image", double opacity=1.0)
	Add a float 2D image layer, but do not render it (use spin/spinOnce to update). More...

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, const std::string &layer_id="short_image", double opacity=1.0)
	Show a 2D image (unsigned short) on screen. More...

void	addShortImage (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, const std::string &layer_id="short_image", double opacity=1.0)
	Add a short 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
	Show a 2D image on screen representing angle data. More...

void	addAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="angle_image", double opacity=1.0)
	Add an angle 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	showHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
	Show a 2D image on screen representing half angle data. More...

void	addHalfAngleImage (const float *data, unsigned width, unsigned height, const std::string &layer_id="half_angle_image", double opacity=1.0)
	Add a half angle 2D image layer, but do not render it (use spin/spinOnce to update). More...

void	markPoint (std::size_t u, std::size_t v, Vector3ub fg_color, Vector3ub bg_color=red_color, double radius=3.0, const std::string &layer_id="points", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. More...

void	markPoints (const std::vector< int > &uv, Vector3ub fg_color, Vector3ub bg_color=red_color, double size=3.0, const std::string &layer_id="markers", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another. More...

void	markPoints (const std::vector< float > &uv, Vector3ub fg_color, Vector3ub bg_color=red_color, double size=3.0, const std::string &layer_id="markers", double opacity=1.0)
	Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another (float coordinates version). More...

void	setWindowTitle (const std::string &name)
	Set the window title name. More...

void	spin ()
	Spin method. Calls the interactor and runs an internal loop. More...

void	spinOnce (int time=1, bool force_redraw=true)
	Spin once method. Calls the interactor and updates the screen once. More...

boost::signals2::connection	registerKeyboardCallback (void(callback)(const pcl::visualization::KeyboardEvent &, void ), void *cookie=nullptr)
	Register a callback function for keyboard events. More...

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...

boost::signals2::connection	registerKeyboardCallback (std::function< void(const pcl::visualization::KeyboardEvent &)> cb)
	Register a callback std::function for keyboard events. More...

boost::signals2::connection	registerMouseCallback (void(callback)(const pcl::visualization::MouseEvent &, void ), void *cookie=nullptr)
	Register a callback std::function for mouse events. More...

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...

boost::signals2::connection	registerMouseCallback (std::function< void(const pcl::visualization::MouseEvent &)> cb)
	Register a callback function for mouse events. 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...

int *	getSize ()
	Return the window size in pixels. More...

bool	wasStopped () const
	Returns true when the user tried to close the window. More...

void	close ()
	Stop the interaction and close the visualizaton window. More...

bool	addCircle (unsigned int x, unsigned int y, double radius, const std::string &layer_id="circles", double opacity=1.0)
	Add a circle shape from a point and a radius. More...

bool	addCircle (unsigned int x, unsigned int y, double radius, double r, double g, double b, const std::string &layer_id="circles", double opacity=1.0)
	Add a circle shape from a point and a radius. More...

bool	addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

bool	addRectangle (const pcl::PointXY &min_pt, const pcl::PointXY &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

bool	addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

bool	addRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const T &min_pt, const T &max_pt, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box and color its edges with a given color. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="rectangles", double opacity=1.0)
	Add a 2D box that contains a given image mask and color its edges. More...

template<typename T >
bool	addRectangle (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=1.0)
	Add a 2D box that contains a given image mask and color its edges in red. More...

bool	addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, const std::string &layer_id="boxes", double opacity=0.5)
	Add a 2D box and fill it in with a given color. More...

bool	addFilledRectangle (unsigned int x_min, unsigned int x_max, unsigned int y_min, unsigned int y_max, double r, double g, double b, const std::string &layer_id="boxes", double opacity=0.5)
	Add a 2D box and fill it in with a given color. More...

bool	addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D line with a given color. More...

bool	addLine (unsigned int x_min, unsigned int y_min, unsigned int x_max, unsigned int y_max, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D line with a given color. More...

bool	addText (unsigned int x, unsigned int y, const std::string &text, double r, double g, double b, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D text with a given color. More...

bool	addText (unsigned int x, unsigned int y, const std::string &text, const std::string &layer_id="line", double opacity=1.0)
	Add a 2D text with a given color. More...

template<typename T >
bool	addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, double r, double g, double b, const std::string &layer_id="image_mask", double opacity=0.5)
	Add a generic 2D mask to an image. More...

template<typename T >
bool	addMask (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PointCloud< T > &mask, const std::string &layer_id="image_mask", double opacity=0.5)
	Add a generic 2D mask to an image (colored in red) More...

template<typename T >
bool	addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, double r, double g, double b, const std::string &layer_id="planar_polygon", double opacity=1.0)
	Add a generic 2D planar polygon to an image. More...

template<typename T >
bool	addPlanarPolygon (const typename pcl::PointCloud< T >::ConstPtr &image, const pcl::PlanarPolygon< T > &polygon, const std::string &layer_id="planar_polygon", double opacity=1.0)
	Add a generic 2D planar polygon to an image. More...

bool	addLayer (const std::string &layer_id, int width, int height, double opacity=0.5)
	Add a new 2D rendering layer to the viewer. More...

void	removeLayer (const std::string &layer_id)
	Remove a 2D layer given by its ID. More...

template<typename PointT >
bool	showCorrespondences (const pcl::PointCloud< PointT > &source_img, const pcl::PointCloud< PointT > &target_img, const pcl::Correspondences &correspondences, int nth=1, const std::string &layer_id="correspondences")
	Add the specified correspondences to the display. More...

Protected Types
using	LayerMap = std::vector< Layer >

Protected Member Functions
void	render ()
	Trigger a render call. More...

void	convertIntensityCloudToUChar (const pcl::PointCloud< pcl::Intensity > &cloud, boost::shared_array< unsigned char > data)
	Convert the Intensity information in a PointCloud<Intensity> to an unsigned char array. More...

void	convertIntensityCloud8uToUChar (const pcl::PointCloud< pcl::Intensity8u > &cloud, boost::shared_array< unsigned char > data)
	Convert the Intensity8u information in a PointCloud<Intensity8u> to an unsigned char array. More...

template<typename T >
void	convertRGBCloudToUChar (const pcl::PointCloud< T > &cloud, boost::shared_array< unsigned char > &data)
	Convert the RGB information in a PointCloud<T> to an unsigned char array. More...

void	resetStoppedFlag ()
	Set the stopped flag back to false. More...

void	emitMouseEvent (unsigned long event_id)
	Fire up a mouse event with a specified event ID. More...

void	emitKeyboardEvent (unsigned long event_id)
	Fire up a keyboard event with a specified event ID. More...

LayerMap::iterator	createLayer (const std::string &layer_id, int width, int height, double opacity=0.5, bool fill_box=true)
	Add a new 2D rendering layer to the viewer. More...

Static Protected Member Functions
static void	MouseCallback (vtkObject , unsigned long eid, void clientdata, void *calldata)

static void	KeyboardCallback (vtkObject , unsigned long eid, void clientdata, void *calldata)

Protected Attributes
boost::signals2::signal< void(const pcl::visualization::MouseEvent &)>	mouse_signal_

boost::signals2::signal< void(const pcl::visualization::KeyboardEvent &)>	keyboard_signal_

vtkSmartPointer< vtkRenderWindowInteractor >	interactor_

vtkSmartPointer< vtkCallbackCommand >	mouse_command_

vtkSmartPointer< vtkCallbackCommand >	keyboard_command_

vtkSmartPointer< ExitMainLoopTimerCallback >	exit_main_loop_timer_callback_
	Callback object enabling us to leave the main loop, when a timer fires. More...

vtkSmartPointer< ExitCallback >	exit_callback_

vtkSmartPointer< vtkImageViewer >	image_viewer_
	The ImageViewer widget. More...

vtkSmartPointer< vtkRenderWindow >	win_
	The render window. More...

vtkSmartPointer< vtkRenderer >	ren_
	The renderer. More...

vtkSmartPointer< vtkImageSlice >	slice_
	Global prop. This is the actual "actor". More...

vtkSmartPointer< ImageViewerInteractorStyle >	interactor_style_
	The interactor style. More...

boost::shared_array< unsigned char >	data_
	The data array representing the image. Used internally. More...

std::size_t	data_size_
	The data array (representing the image) size. Used internally. More...

bool	stopped_
	Set to false if the interaction loop is running. More...

int	timer_id_
	Global timer ID. Used in destructor only. More...

LayerMap	layer_map_
	Internal list with different 2D layers shapes. More...

vtkSmartPointer< vtkImageFlip >	algo_
	Image reslice, used for flipping the image. More...

std::vector< unsigned char * >	image_data_
	Internal data array. Used everytime add***Image is called. Cleared, everytime the render loop is executed. More...

Detailed Description

ImageViewer is a class for 2D image visualization.

Features include:

add and remove different layers with different opacity (transparency) values
add 2D geometric shapes (circles, boxes, etc) in separate layers
display RGB, monochrome, float, angle images

Simple usage example:

pcl::visualization::ImageViewer iv;
iv.addCircle (10, 10, 5, 1.0, 0.0, 0.0, "circles", 1.0);    // add a red,
fully opaque circle with radius 5 pixels at (10,10) in layer "circles"
iv.addFilledRectangle (10, 20, 10, 20, 0.0, 1.0, 0.0, "boxes", 0.5);    //
add a green, 50% transparent box at (10,10->20,20) in layer "boxes"
iv.addRGBImage<pcl::PointXYZRGBA> (cloud);                  // add a RGB
image from a point cloud dataset in an "rgb_image" default layer iv.spin ();
// press 'q' to exit iv.removeLayer ("circles"); // remove layer "circles"
iv.spin ();                                                 // press 'q' to
exit 

Author: Radu B. Rusu, Suat Gedikli

Definition at line 83 of file image_viewer.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::visualization::ImageViewer::ConstPtr = shared_ptr<const ImageViewer>

Definition at line 86 of file image_viewer.h.

◆ LayerMap

using pcl::visualization::ImageViewer::LayerMap = std::vector<Layer>

protected

Definition at line 1070 of file image_viewer.h.

◆ Ptr

using pcl::visualization::ImageViewer::Ptr = shared_ptr<ImageViewer>

Definition at line 85 of file image_viewer.h.

Constructor & Destructor Documentation

◆ ImageViewer()

pcl::visualization::ImageViewer::ImageViewer ( const std::string & window_title = "" )

Constructor.

Parameters

[in] window_title the title of the window

Definition at line 28 of file image_viewer.cpp.

References algo_, exit_callback_, exit_main_loop_timer_callback_, interactor_, interactor_style_, keyboard_command_, KeyboardCallback(), mouse_command_, MouseCallback(), ren_, resetStoppedFlag(), slice_, vtkRenderWindowInteractorFixNew(), and win_.

◆ ~ImageViewer()

pcl::visualization::ImageViewer::~ImageViewer ( )

virtual

Destructor.

Definition at line 99 of file image_viewer.cpp.

Member Function Documentation

◆ addAngleImage()

void pcl::visualization::ImageViewer::addAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"angle_image"`,
		double	opacity = `1.0`
	)

Add an angle 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 279 of file image_viewer.cpp.

References height, and width.

◆ addCircle() [1/2]

bool pcl::visualization::ImageViewer::addCircle	(	unsigned int	x,
		unsigned int	y,
		double	radius,
		const std::string &	layer_id = `"circles"`,
		double	opacity = `1.0`
	)

Add a circle shape from a point and a radius.

Parameters

[in]	x	the x coordinate of the circle center
[in]	y	the y coordinate of the circle center
[in]	radius	the radius of the circle
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 629 of file image_viewer.cpp.

References x, and y.

◆ addCircle() [2/2]

bool pcl::visualization::ImageViewer::addCircle	(	unsigned int	x,
		unsigned int	y,
		double	radius,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"circles"`,
		double	opacity = `1.0`
	)

Add a circle shape from a point and a radius.

Parameters

[in]	x	the x coordinate of the circle center
[in]	y	the y coordinate of the circle center
[in]	radius	the radius of the circle
[in]	r	the red channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the sphere should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 594 of file image_viewer.cpp.

References x, and y.

◆ addFilledRectangle() [1/2]

bool pcl::visualization::ImageViewer::addFilledRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		const std::string &	layer_id = `"boxes"`,
		double	opacity = `0.5`
	)

Add a 2D box and fill it in with a given color.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 676 of file image_viewer.cpp.

◆ addFilledRectangle() [2/2]

bool pcl::visualization::ImageViewer::addFilledRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"boxes"`,
		double	opacity = `0.5`
	)

Add a 2D box and fill it in with a given color.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 638 of file image_viewer.cpp.

◆ addFloatImage()

void pcl::visualization::ImageViewer::addFloatImage	(	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`,
		const std::string &	layer_id = `"float_image"`,
		double	opacity = `1.0`
	)

Add a float 2D image layer, but do not render it (use spin/spinOnce to update).

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 249 of file image_viewer.cpp.

References height, and width.

◆ addHalfAngleImage()

void pcl::visualization::ImageViewer::addHalfAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"half_angle_image"`,
		double	opacity = `1.0`
	)

Add a half angle 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 302 of file image_viewer.cpp.

References height, and width.

◆ addLayer()

bool pcl::visualization::ImageViewer::addLayer	(	const std::string &	layer_id,
		int	width,
		int	height,
		double	opacity = `0.5`
	)

Add a new 2D rendering layer to the viewer.

Parameters

[in]	layer_id	the name of the layer
[in]	width	the width of the layer
[in]	height	the height of the layer
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 555 of file image_viewer.cpp.

References height, and width.

◆ addLine() [1/2]

bool pcl::visualization::ImageViewer::addLine	(	unsigned int	x_min,
		unsigned int	y_min,
		unsigned int	x_max,
		unsigned int	y_max,
		const std::string &	layer_id = `"line"`,
		double	opacity = `1.0`
	)

Add a 2D line with a given color.

Parameters

[in]	x_min	the X min coordinate
[in]	y_min	the Y min coordinate
[in]	x_max	the X max coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 812 of file image_viewer.cpp.

◆ addLine() [2/2]

bool pcl::visualization::ImageViewer::addLine	(	unsigned int	x_min,
		unsigned int	y_min,
		unsigned int	x_max,
		unsigned int	y_max,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"line"`,
		double	opacity = `1.0`
	)

Add a 2D line with a given color.

Parameters

[in]	x_min	the X min coordinate
[in]	y_min	the Y min coordinate
[in]	x_max	the X max coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 776 of file image_viewer.cpp.

◆ addMask() [1/2]

template<typename T >

bool pcl::visualization::ImageViewer::addMask	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		const std::string &	layer_id = `"image_mask"`,
		double	opacity = `0.5`
	)

Add a generic 2D mask to an image (colored in red)

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 142 of file image_viewer.hpp.

References image.

◆ addMask() [2/2]

template<typename T >

bool pcl::visualization::ImageViewer::addMask	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"image_mask"`,
		double	opacity = `0.5`
	)

Add a generic 2D mask to an image.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	r	the red channel of the color that the mask should be rendered with
[in]	g	the green channel of the color that the mask should be rendered with
[in]	b	the blue channel of the color that the mask should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)

Definition at line 98 of file image_viewer.hpp.

References image, and points.

◆ addMonoImage() [1/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const pcl::PointCloud< pcl::Intensity > &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 199 of file image_viewer.cpp.

◆ addMonoImage() [2/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const pcl::PointCloud< pcl::Intensity >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 147 of file image_viewer.h.

◆ addMonoImage() [3/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const pcl::PointCloud< pcl::Intensity8u > &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 224 of file image_viewer.cpp.

◆ addMonoImage() [4/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 190 of file image_viewer.h.

◆ addMonoImage() [5/5]

void pcl::visualization::ImageViewer::addMonoImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

Add a monochrome 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 152 of file image_viewer.cpp.

References data, height, image, and width.

◆ addPlanarPolygon() [1/2]

template<typename T >

bool pcl::visualization::ImageViewer::addPlanarPolygon	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PlanarPolygon< T > &	polygon,
		const std::string &	layer_id = `"planar_polygon"`,
		double	opacity = `1.0`
	)

Add a generic 2D planar polygon to an image.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	polygon	the point data representing the polygon that we want to draw. A line will be drawn from each point to the next in the dataset.
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 200 of file image_viewer.hpp.

References image.

◆ addPlanarPolygon() [2/2]

template<typename T >

bool pcl::visualization::ImageViewer::addPlanarPolygon	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PlanarPolygon< T > &	polygon,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"planar_polygon"`,
		double	opacity = `1.0`
	)

Add a generic 2D planar polygon to an image.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	polygon	the point data representing the polygon that we want to draw. A line will be drawn from each point to the next in the dataset.
[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]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 152 of file image_viewer.hpp.

References image, and size.

◆ addRectangle() [1/8]

bool pcl::visualization::ImageViewer::addRectangle	(	const pcl::PointXY &	min_pt,
		const pcl::PointXY &	max_pt,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box and color its edges with a given color.

Parameters

[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 768 of file image_viewer.cpp.

◆ addRectangle() [2/8]

bool pcl::visualization::ImageViewer::addRectangle	(	const pcl::PointXY &	min_pt,
		const pcl::PointXY &	max_pt,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box and color its edges with a given color.

Parameters

[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 735 of file image_viewer.cpp.

◆ addRectangle() [3/8]

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		const std::string &	layer_id = `"image_mask"`,
		double	opacity = `1.0`
	)

Add a 2D box that contains a given image mask and color its edges in red.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 343 of file image_viewer.hpp.

References image.

◆ addRectangle() [4/8]

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const pcl::PointCloud< T > &	mask,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box that contains a given image mask and color its edges.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	mask	the point data representing the mask that we want to draw
[in]	r	the red channel of the color that the mask should be rendered with
[in]	g	the green channel of the color that the mask should be rendered with
[in]	b	the blue channel of the color that the mask should be rendered with
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 291 of file image_viewer.hpp.

References float, and image.

◆ addRectangle() [5/8]

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const T &	min_pt,
		const T &	max_pt,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box and color its edges with a given color.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 280 of file image_viewer.hpp.

References image.

◆ addRectangle() [6/8]

template<typename T >

bool pcl::visualization::ImageViewer::addRectangle	(	const typename pcl::PointCloud< T >::ConstPtr &	image,
		const T &	min_pt,
		const T &	max_pt,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box and color its edges with a given color.

Parameters

[in]	image	the organized point cloud dataset containing the image data
[in]	min_pt	the X,Y min coordinate
[in]	max_pt	the X,Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 210 of file image_viewer.hpp.

References float, and image.

◆ addRectangle() [7/8]

bool pcl::visualization::ImageViewer::addRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box and color its edges with a given color.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 724 of file image_viewer.cpp.

◆ addRectangle() [8/8]

bool pcl::visualization::ImageViewer::addRectangle	(	unsigned int	x_min,
		unsigned int	x_max,
		unsigned int	y_min,
		unsigned int	y_max,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"rectangles"`,
		double	opacity = `1.0`
	)

Add a 2D box and color its edges with a given color.

Parameters

[in]	x_min	the X min coordinate
[in]	x_max	the X max coordinate
[in]	y_min	the Y min coordinate
[in]	y_max	the Y max coordinate
[in]	r	the red channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the box should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 688 of file image_viewer.cpp.

◆ addRGBImage() [1/3]

template<typename T >

void pcl::visualization::ImageViewer::addRGBImage	(	const pcl::PointCloud< T > &	cloud,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 71 of file image_viewer.hpp.

◆ addRGBImage() [2/3]

template<typename T >

void pcl::visualization::ImageViewer::addRGBImage	(	const typename pcl::PointCloud< T >::ConstPtr &	cloud,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

inline

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 261 of file image_viewer.h.

◆ addRGBImage() [3/3]

void pcl::visualization::ImageViewer::addRGBImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`,
		bool	autoresize = `true`
	)

Add an RGB 2D image layer, but do not render it (use spin/spinOnce to update).

Parameters

[in]	data	the input data representing the image
[in]	width	the width of the image
[in]	height	the height of the image
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)
[in]	autoresize	flag to enable window to adapt to image size (default true)

Definition at line 104 of file image_viewer.cpp.

References data, height, image, and width.

◆ addShortImage()

void pcl::visualization::ImageViewer::addShortImage	(	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`,
		const std::string &	layer_id = `"short_image"`,
		double	opacity = `1.0`
	)

Add a short 2D image layer, but do not render it (use spin/spinOnce to update).

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 326 of file image_viewer.cpp.

References height, and width.

◆ addText() [1/2]

bool pcl::visualization::ImageViewer::addText	(	unsigned int	x,
		unsigned int	y,
		const std::string &	text,
		const std::string &	layer_id = `"line"`,
		double	opacity = `1.0`
	)

Add a 2D text with a given color.

Parameters

[in]	x	the X coordinate
[in]	y	the Y coordinate
[in]	text	the text string to be displayed
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 857 of file image_viewer.cpp.

References x, and y.

◆ addText() [2/2]

bool pcl::visualization::ImageViewer::addText	(	unsigned int	x,
		unsigned int	y,
		const std::string &	text,
		double	r,
		double	g,
		double	b,
		const std::string &	layer_id = `"line"`,
		double	opacity = `1.0`
	)

Add a 2D text with a given color.

Parameters

[in]	x	the X coordinate
[in]	y	the Y coordinate
[in]	text	the text string to be displayed
[in]	r	the red channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	g	the green channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	b	the blue channel of the color that the line should be rendered with (0.0 -> 1.0)
[in]	layer_id	the 2D layer ID where we want the extra information to be drawn.
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 1.0)

Definition at line 823 of file image_viewer.cpp.

References x, and y.

◆ close()

void pcl::visualization::ImageViewer::close ( )

inline

Stop the interaction and close the visualizaton window.

Definition at line 584 of file image_viewer.h.

◆ convertIntensityCloud8uToUChar()

void pcl::visualization::ImageViewer::convertIntensityCloud8uToUChar	(	const pcl::PointCloud< pcl::Intensity8u > &	cloud,
		boost::shared_array< unsigned char >	data
	)

protected

Convert the Intensity8u information in a PointCloud<Intensity8u> to an unsigned char array.

Parameters

[in]	cloud	the input cloud containing the grayscale intensity information
[out]	data	a boost shared array of unsigned char type

Note: The method assumes that the data array has already been allocated and contains enough space to copy all the data from cloud!

Definition at line 969 of file image_viewer.cpp.

References data.

◆ convertIntensityCloudToUChar()

void pcl::visualization::ImageViewer::convertIntensityCloudToUChar	(	const pcl::PointCloud< pcl::Intensity > &	cloud,
		boost::shared_array< unsigned char >	data
	)

protected

Convert the Intensity information in a PointCloud<Intensity> to an unsigned char array.

Parameters

[in]	cloud	the input cloud containing the grayscale intensity information
[out]	data	a boost shared array of unsigned char type

Note: The method assumes that the data array has already been allocated and contains enough space to copy all the data from cloud!

Definition at line 959 of file image_viewer.cpp.

References data.

◆ convertRGBCloudToUChar()

template<typename T >

void pcl::visualization::ImageViewer::convertRGBCloudToUChar	(	const pcl::PointCloud< T > &	cloud,
		boost::shared_array< unsigned char > &	data
	)

protected

Convert the RGB information in a PointCloud<T> to an unsigned char array.

Parameters

[in]	cloud	the input cloud containing the RGB information
[out]	data	a boost shared array of unsigned char type

Note: The method assumes that the data array has already been allocated and contains enough space to copy all the data from cloud!

Definition at line 56 of file image_viewer.hpp.

References data.

◆ createLayer()

pcl::visualization::ImageViewer::LayerMap::iterator pcl::visualization::ImageViewer::createLayer	(	const std::string &	layer_id,
		int	width,
		int	height,
		double	opacity = `0.5`,
		bool	fill_box = `true`
	)

protected

Add a new 2D rendering layer to the viewer.

Parameters

[in]	layer_id	the name of the layer
[in]	width	the width of the layer
[in]	height	the height of the layer
[in]	opacity	the opacity of the layer: 0 for invisible, 1 for opaque. (default: 0.5)
[in]	fill_box	set to true to fill in the image with one black box before starting

Definition at line 528 of file image_viewer.cpp.

References pcl::visualization::ImageViewer::Layer::actor, height, pcl::visualization::ImageViewer::Layer::layer_name, and width.

◆ emitKeyboardEvent()

void pcl::visualization::ImageViewer::emitKeyboardEvent ( unsigned long event_id )

protected

Fire up a keyboard event with a specified event ID.

Parameters

[in] event_id the id of the event

Definition at line 499 of file image_viewer.cpp.

References event.

Referenced by KeyboardCallback().

◆ emitMouseEvent()

void pcl::visualization::ImageViewer::emitMouseEvent ( unsigned long event_id )

protected

Fire up a mouse event with a specified event ID.

Parameters

[in] event_id the id of the event

Definition at line 427 of file image_viewer.cpp.

References event, x, and y.

Referenced by MouseCallback().

◆ getSize()

int * pcl::visualization::ImageViewer::getSize ( )

Return the window size in pixels.

Definition at line 1061 of file image_viewer.cpp.

Referenced by PclUtils::ImageVis::addText().

◆ KeyboardCallback()

void pcl::visualization::ImageViewer::KeyboardCallback	(	vtkObject *	,
		unsigned long	eid,
		void *	clientdata,
		void *	calldata
	)

staticprotected

Definition at line 518 of file image_viewer.cpp.

References emitKeyboardEvent().

Referenced by ImageViewer().

◆ markPoint()

void pcl::visualization::ImageViewer::markPoint	(	std::size_t	u,
		std::size_t	v,
		Vector3ub	fg_color,
		Vector3ub	bg_color = `red_color`,
		double	radius = `3.0`,
		const std::string &	layer_id = `"points"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "points")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 866 of file image_viewer.cpp.

◆ markPoints() [1/2]

void pcl::visualization::ImageViewer::markPoints	(	const std::vector< float > &	uv,
		Vector3ub	fg_color,
		Vector3ub	bg_color = `red_color`,
		double	size = `3.0`,
		const std::string &	layer_id = `"markers"`,
		double	opacity = `1.0`
	)

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

Parameters

[in]	uv	the u/x, v/y coordinate of the pixels to be marked
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	size	edge of the square surrounding each pixel
[in]	layer_id	the name of the layer (default: "markers")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 920 of file image_viewer.cpp.

References size, and uv.

◆ markPoints() [2/2]

void pcl::visualization::ImageViewer::markPoints	(	const std::vector< int > &	uv,
		Vector3ub	fg_color,
		Vector3ub	bg_color = `red_color`,
		double	size = `3.0`,
		const std::string &	layer_id = `"markers"`,
		double	opacity = `1.0`
	)

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

Parameters

[in]	uv	the u/x, v/y coordinate of the pixels to be marked
[in]	fg_color	the pixel color
[in]	bg_color	the neighborhood color
[in]	size	edge of the square surrounding each pixel
[in]	layer_id	the name of the layer (default: "markers")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 905 of file image_viewer.cpp.

References size, and uv.

◆ MouseCallback()

void pcl::visualization::ImageViewer::MouseCallback	(	vtkObject *	,
		unsigned long	eid,
		void *	clientdata,
		void *	calldata
	)

staticprotected

Definition at line 509 of file image_viewer.cpp.

References emitMouseEvent().

Referenced by ImageViewer().

◆ registerKeyboardCallback() [1/3]

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

Register a callback std::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.

Definition at line 413 of file image_viewer.cpp.

References callback.

◆ registerKeyboardCallback() [2/3]

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback	(	void()(const pcl::visualization::KeyboardEvent &, void )	callback,
		void *	cookie = `nullptr`
	)

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 488 of file image_viewer.h.

References e.

◆ registerKeyboardCallback() [3/3]

template<typename T >

boost::signals2::connection pcl::visualization::ImageViewer::registerKeyboardCallback	(	void(T::)(const pcl::visualization::KeyboardEvent &, void )	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

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 505 of file image_viewer.h.

References callback, and e.

◆ registerMouseCallback() [1/3]

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

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.

Definition at line 385 of file image_viewer.cpp.

References callback.

◆ registerMouseCallback() [2/3]

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback	(	void()(const pcl::visualization::MouseEvent &, void )	callback,
		void *	cookie = `nullptr`
	)

inline

Register a callback std::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 530 of file image_viewer.h.

References e.

Referenced by PclUtils::ImageVis::enable2Dviewer().

◆ registerMouseCallback() [3/3]

template<typename T >

boost::signals2::connection pcl::visualization::ImageViewer::registerMouseCallback	(	void(T::)(const pcl::visualization::MouseEvent &, void )	callback,
		T &	instance,
		void *	cookie = `nullptr`
	)

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 547 of file image_viewer.h.

References callback, and e.

◆ removeLayer()

void pcl::visualization::ImageViewer::removeLayer ( const std::string & layer_id )

Remove a 2D layer given by its ID.

Parameters

[in] layer_id the name of the layer

Definition at line 577 of file image_viewer.cpp.

Referenced by PclUtils::ImageVis::removeLayer().

◆ render()

void pcl::visualization::ImageViewer::render ( )

protected

Trigger a render call.

Definition at line 952 of file image_viewer.cpp.

Referenced by PclUtils::ImageVis::setRender().

◆ resetStoppedFlag()

void pcl::visualization::ImageViewer::resetStoppedFlag ( )

inlineprotected

Set the stopped flag back to false.

Definition at line 1010 of file image_viewer.h.

Referenced by ImageViewer(), and PclUtils::ImageVis::setRenderWindowInteractor().

◆ setInteractorStyle()

void pcl::visualization::ImageViewer::setInteractorStyle ( vtkInteractorObserver * style )

inline

Set up the interactor style. By default the interactor style is set to vtkInteractorStyleImage you can use this to set it to another type.

Parameters

[in] style user set interactor style.

Definition at line 100 of file image_viewer.h.

◆ setPosition()

void pcl::visualization::ImageViewer::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)

Definition at line 1056 of file image_viewer.cpp.

References x, and y.

◆ setSize()

void pcl::visualization::ImageViewer::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)

Definition at line 1064 of file image_viewer.cpp.

◆ setWindowTitle()

void pcl::visualization::ImageViewer::setWindowTitle ( const std::string & name )

Set the window title name.

Parameters

[in] name the window title

Definition at line 1051 of file image_viewer.cpp.

References name.

◆ showAngleImage()

void pcl::visualization::ImageViewer::showAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"angle_image"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 291 of file image_viewer.cpp.

References height, and width.

◆ showCorrespondences()

template<typename PointT >

bool pcl::visualization::ImageViewer::showCorrespondences	(	const pcl::PointCloud< PointT > &	source_img,
		const pcl::PointCloud< PointT > &	target_img,
		const pcl::Correspondences &	correspondences,
		int	nth = `1`,
		const std::string &	layer_id = `"correspondences"`
	)

Add the specified correspondences to the display.

Parameters

[in]	source_img	The source RGB image
[in]	target_img	The target RGB image
[in]	correspondences	The list of correspondences to display.
[in]	nth	display only the Nth correspondence (e.g., skip the rest)
[in]	layer_id	the layer id (default: "correspondences")

Definition at line 353 of file image_viewer.hpp.

References data, G3Point::getRandomColors(), and image.

◆ showFloatImage()

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`,
		const std::string &	layer_id = `"float_image"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 264 of file image_viewer.cpp.

References height, and width.

◆ showHalfAngleImage()

void pcl::visualization::ImageViewer::showHalfAngleImage	(	const float *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"half_angle_image"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 315 of file image_viewer.cpp.

References height, and width.

◆ showMonoImage() [1/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const pcl::PointCloud< pcl::Intensity > &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

Show a monochrome 2D image on screen.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 215 of file image_viewer.cpp.

◆ showMonoImage() [2/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const pcl::PointCloud< pcl::Intensity >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Show a monochrome 2D image on screen.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 134 of file image_viewer.h.

◆ showMonoImage() [3/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const pcl::PointCloud< pcl::Intensity8u > &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

Show a monochrome 2D image on screen.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 240 of file image_viewer.cpp.

◆ showMonoImage() [4/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const pcl::PointCloud< pcl::Intensity8u >::ConstPtr &	cloud,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

inline

Show a monochrome 2D image on screen.

Parameters

[in]	cloud	the input data representing the grayscale point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 177 of file image_viewer.h.

◆ showMonoImage() [5/5]

void pcl::visualization::ImageViewer::showMonoImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"mono_image"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 188 of file image_viewer.cpp.

References height, and width.

◆ showRGBImage() [1/3]

template<typename T >

void pcl::visualization::ImageViewer::showRGBImage	(	const pcl::PointCloud< T > &	cloud,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

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

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 88 of file image_viewer.hpp.

◆ showRGBImage() [2/3]

template<typename T >

void pcl::visualization::ImageViewer::showRGBImage	(	const typename pcl::PointCloud< T >::ConstPtr &	cloud,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

inline

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

Parameters

[in]	cloud	the input data representing the RGB point cloud
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 249 of file image_viewer.h.

◆ showRGBImage() [3/3]

void pcl::visualization::ImageViewer::showRGBImage	(	const unsigned char *	data,
		unsigned	width,
		unsigned	height,
		const std::string &	layer_id = `"rgb_image"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 141 of file image_viewer.cpp.

References height, and width.

◆ showShortImage()

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`,
		const std::string &	layer_id = `"short_image"`,
		double	opacity = `1.0`
	)

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
[in]	layer_id	the name of the layer (default: "image")
[in]	opacity	the opacity of the layer (default: 1.0)

Definition at line 342 of file image_viewer.cpp.

References height, and width.

◆ spin()

void pcl::visualization::ImageViewer::spin ( )

Spin method. Calls the interactor and runs an internal loop.

Definition at line 357 of file image_viewer.cpp.

◆ spinOnce()

void pcl::visualization::ImageViewer::spinOnce	(	int	time = `1`,
		bool	force_redraw = `true`
	)

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.

Definition at line 366 of file image_viewer.cpp.

◆ wasStopped()

bool pcl::visualization::ImageViewer::wasStopped ( ) const

inline

Returns true when the user tried to close the window.

Definition at line 581 of file image_viewer.h.

Member Data Documentation

◆ algo_

vtkSmartPointer<vtkImageFlip> pcl::visualization::ImageViewer::algo_

protected

Image reslice, used for flipping the image.

Definition at line 1134 of file image_viewer.h.

Referenced by ImageViewer().

◆ data_

boost::shared_array<unsigned char> pcl::visualization::ImageViewer::data_

protected

The data array representing the image. Used internally.

Definition at line 1116 of file image_viewer.h.

◆ data_size_

std::size_t pcl::visualization::ImageViewer::data_size_

protected

The data array (representing the image) size. Used internally.

Definition at line 1119 of file image_viewer.h.

◆ exit_callback_

vtkSmartPointer<ExitCallback> pcl::visualization::ImageViewer::exit_callback_

protected

Definition at line 1098 of file image_viewer.h.

Referenced by ImageViewer(), and PclUtils::ImageVis::setRenderWindowInteractor().

◆ exit_main_loop_timer_callback_

vtkSmartPointer<ExitMainLoopTimerCallback> pcl::visualization::ImageViewer::exit_main_loop_timer_callback_

protected

Callback object enabling us to leave the main loop, when a timer fires.

Definition at line 1097 of file image_viewer.h.

Referenced by ImageViewer(), and PclUtils::ImageVis::setRenderWindowInteractor().

◆ image_data_

std::vector<unsigned char*> pcl::visualization::ImageViewer::image_data_

protected

Internal data array. Used everytime add***Image is called. Cleared, everytime the render loop is executed.

Definition at line 1139 of file image_viewer.h.

◆ image_viewer_

vtkSmartPointer<vtkImageViewer> pcl::visualization::ImageViewer::image_viewer_

protected

The ImageViewer widget.

Definition at line 1101 of file image_viewer.h.

Referenced by PclUtils::ImageVis::createLayer().

◆ interactor_

vtkSmartPointer<vtkRenderWindowInteractor> pcl::visualization::ImageViewer::interactor_

protected

Definition at line 1091 of file image_viewer.h.

Referenced by PclUtils::ImageVis::getRenderWindowInteractor(), ImageViewer(), PclUtils::ImageVis::removeLayer(), and PclUtils::ImageVis::setRenderWindowInteractor().

◆ interactor_style_

vtkSmartPointer<ImageViewerInteractorStyle> pcl::visualization::ImageViewer::interactor_style_

protected

The interactor style.

Definition at line 1113 of file image_viewer.h.

Referenced by PclUtils::ImageVis::addText(), and ImageViewer().

◆ keyboard_command_

vtkSmartPointer<vtkCallbackCommand> pcl::visualization::ImageViewer::keyboard_command_

protected

Definition at line 1093 of file image_viewer.h.

Referenced by ImageViewer().

◆ keyboard_signal_

boost::signals2::signal<void(const pcl::visualization::KeyboardEvent&)> pcl::visualization::ImageViewer::keyboard_signal_

protected

Definition at line 1089 of file image_viewer.h.

◆ layer_map_

LayerMap pcl::visualization::ImageViewer::layer_map_

protected

Internal list with different 2D layers shapes.

Definition at line 1131 of file image_viewer.h.

Referenced by PclUtils::ImageVis::addText(), PclUtils::ImageVis::contains(), PclUtils::ImageVis::createLayer(), PclUtils::ImageVis::getLayer(), and PclUtils::ImageVis::pickItem().

◆ mouse_command_

vtkSmartPointer<vtkCallbackCommand> pcl::visualization::ImageViewer::mouse_command_

protected

Definition at line 1092 of file image_viewer.h.

Referenced by ImageViewer().

◆ mouse_signal_

boost::signals2::signal<void(const pcl::visualization::MouseEvent&)> pcl::visualization::ImageViewer::mouse_signal_

protected

Definition at line 1087 of file image_viewer.h.

◆ ren_

vtkSmartPointer<vtkRenderer> pcl::visualization::ImageViewer::ren_

protected

The renderer.

Definition at line 1107 of file image_viewer.h.

Referenced by PclUtils::ImageVis::addRGBImage(), PclUtils::ImageVis::addText(), PclUtils::ImageVis::createLayer(), PclUtils::ImageVis::getRender(), ImageViewer(), PclUtils::ImageVis::removeLayer(), and PclUtils::ImageVis::setRender().

◆ slice_

vtkSmartPointer<vtkImageSlice> pcl::visualization::ImageViewer::slice_

protected

Global prop. This is the actual "actor".

Definition at line 1110 of file image_viewer.h.

Referenced by PclUtils::ImageVis::addRGBImage(), ImageViewer(), and PclUtils::ImageVis::setRender().

◆ stopped_

bool pcl::visualization::ImageViewer::stopped_

protected

Set to false if the interaction loop is running.

Definition at line 1122 of file image_viewer.h.

◆ timer_id_

int pcl::visualization::ImageViewer::timer_id_

protected

Global timer ID. Used in destructor only.

Definition at line 1125 of file image_viewer.h.

Referenced by PclUtils::ImageVis::setRenderWindowInteractor().

◆ win_

vtkSmartPointer<vtkRenderWindow> pcl::visualization::ImageViewer::win_

protected

The render window.

Definition at line 1104 of file image_viewer.h.

Referenced by PclUtils::ImageVis::addRGBImage(), PclUtils::ImageVis::changeOpacity(), PclUtils::ImageVis::getRenderWindow(), ImageViewer(), and PclUtils::ImageVis::setRenderWindow().

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

/root/ACloudViewer/libs/PCLEngine/visualization/include/pcl/visualization/image_viewer.h
/root/ACloudViewer/libs/PCLEngine/visualization/include/pcl/visualization/impl/image_viewer.hpp
/root/ACloudViewer/libs/PCLEngine/visualization/src/image_viewer.cpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ LayerMap

◆ Ptr

Constructor & Destructor Documentation

◆ ImageViewer()

◆ ~ImageViewer()

Member Function Documentation

◆ addAngleImage()

◆ addCircle() [1/2]

◆ addCircle() [2/2]

◆ addFilledRectangle() [1/2]

◆ addFilledRectangle() [2/2]

◆ addFloatImage()

◆ addHalfAngleImage()

◆ addLayer()

◆ addLine() [1/2]

◆ addLine() [2/2]

◆ addMask() [1/2]

◆ addMask() [2/2]

◆ addMonoImage() [1/5]

◆ addMonoImage() [2/5]

◆ addMonoImage() [3/5]

◆ addMonoImage() [4/5]

◆ addMonoImage() [5/5]

◆ addPlanarPolygon() [1/2]

◆ addPlanarPolygon() [2/2]

◆ addRectangle() [1/8]

◆ addRectangle() [2/8]

◆ addRectangle() [3/8]

◆ addRectangle() [4/8]

◆ addRectangle() [5/8]

◆ addRectangle() [6/8]

◆ addRectangle() [7/8]

◆ addRectangle() [8/8]

◆ addRGBImage() [1/3]

◆ addRGBImage() [2/3]

◆ addRGBImage() [3/3]

◆ addShortImage()

◆ addText() [1/2]

◆ addText() [2/2]

◆ close()

◆ convertIntensityCloud8uToUChar()

◆ convertIntensityCloudToUChar()

◆ convertRGBCloudToUChar()

◆ createLayer()

◆ emitKeyboardEvent()

◆ emitMouseEvent()

◆ getSize()

◆ KeyboardCallback()

◆ markPoint()

◆ markPoints() [1/2]

◆ markPoints() [2/2]

◆ MouseCallback()

◆ registerKeyboardCallback() [1/3]

◆ registerKeyboardCallback() [2/3]

◆ registerKeyboardCallback() [3/3]

◆ registerMouseCallback() [1/3]

◆ registerMouseCallback() [2/3]

◆ registerMouseCallback() [3/3]

◆ removeLayer()

◆ render()

◆ resetStoppedFlag()

◆ setInteractorStyle()

◆ setPosition()

◆ setSize()

◆ setWindowTitle()

◆ showAngleImage()

◆ showCorrespondences()

◆ showFloatImage()

◆ showHalfAngleImage()

◆ showMonoImage() [1/5]