Namespaces
	app

	gl_util

	gui

	rendering

	visualizer

	webrtc_server

Classes
class	ColorMap

class	ColorMapGray

class	ColorMapJet
	See Matlab's Jet colormap. More...

class	ColorMapSummer
	See Matlab's Summer colormap. More...

class	ColorMapWinter
	See Matlab's Winter colormap. More...

class	ColorMapHot

struct	DrawObject

struct	DrawAction

class	PointCloudPicker
	A utility class to store picked points of a pointcloud. More...

class	SelectionPolygon

class	SelectionPolygonVolume
	Select a polygon volume for cropping. More...

class	GuiSettingsModel

class	GuiSettingsView

class	GuiVisualizer

class	SmallButton

class	SmallToggleButton

class	MessageProcessor

class	RenderOption
	Defines rendering options for visualizer. More...

class	RenderOptionWithEditing

class	ViewControl
	View controller for visualizer. More...

class	ViewControlWithCustomAnimation

class	ViewControlWithEditing

class	ViewParameters

class	ViewTrajectory

class	GLFWContext
	GLFW context, handled as a singleton. More...

class	Visualizer
	The main Visualizer class. More...

class	VisualizerWithCustomAnimation

class	VisualizerWithEditing
	Visualizer with editing capabilities. More...

class	VisualizerWithKeyCallback
	Visualizer with custom key callack capabilities. More...

class	VisualizerWithVertexSelection

Enumerations
enum	MenuId { FILE_OPEN , FILE_EXPORT_RGB , FILE_QUIT , SETTINGS_LIGHT_AND_MATERIALS , HELP_KEYS , HELP_CAMERA , HELP_ABOUT , HELP_CONTACT , HELP_DEBUG }

Functions
const std::shared_ptr< const ColorMap >	GetGlobalColorMap ()
	Interface functions. More...

void	SetGlobalColorMap (ColorMap::ColorMapOption option)

void	Draw (const std::vector< std::shared_ptr< ccHObject >> &geometries, const std::string &window_name, int width, int height, const std::vector< DrawAction > &actions)

void	Draw (const std::vector< std::shared_ptr< t::geometry::Geometry >> &tgeometries, const std::string &window_name, int width, int height, const std::vector< DrawAction > &actions)

void	Draw (const std::vector< std::shared_ptr< rendering::TriangleMeshModel >> &models, const std::string &window_name, int width, int height, const std::vector< DrawAction > &actions)

void	Draw (const std::vector< DrawObject > &objects, const std::string &window_name, int width, int height, const std::vector< DrawAction > &actions)

bool	DrawGeometries (const std::vector< std::shared_ptr< const ccHObject >> &geometry_ptrs, const std::string &window_name="cloudViewer", int width=640, int height=480, int left=50, int top=50, bool point_show_normal=false, bool mesh_show_wireframe=false, bool mesh_show_back_face=false, Eigen::Vector3d lookat=nullptr, Eigen::Vector3d up=nullptr, Eigen::Vector3d front=nullptr, double zoom=nullptr)
	Function to draw a list of geometry objects. More...

bool	DrawGeometriesWithCustomAnimation (const std::vector< std::shared_ptr< const ccHObject >> &geometry_ptrs, const std::string &window_name="CloudViewer", int width=640, int height=480, int left=50, int top=50, const std::string &json_filename="")
	Function to draw a list of geometry objects with a GUI that supports animation. More...

bool	DrawGeometriesWithAnimationCallback (const std::vector< std::shared_ptr< const ccHObject >> &geometry_ptrs, std::function< bool(Visualizer *)> callback_func, const std::string &window_name="CloudViewer", int width=640, int height=480, int left=50, int top=50)
	Function to draw a list of geometry objects with a customized animation callback function. More...

bool	DrawGeometriesWithKeyCallbacks (const std::vector< std::shared_ptr< const ccHObject >> &geometry_ptrs, const std::map< int, std::function< bool(Visualizer *)>> &key_to_callback, const std::string &window_name="CloudViewer", int width=640, int height=480, int left=50, int top=50)
	Function to draw a list of geometry. More...

bool	DrawGeometriesWithEditing (const std::vector< std::shared_ptr< const ccHObject >> &geometry_ptrs, const std::string &window_name="CloudViewer", int width=640, int height=480, int left=50, int top=50)
	Function to draw a list of geometry. More...

bool	DrawGeometriesWithVertexSelection (const std::vector< std::shared_ptr< const ccHObject >> &geometry_ptrs, const std::string &window_name, int width, int height, int left, int top)

std::shared_ptr< gui::Slider >	MakeSlider (const gui::Slider::Type type, const double min, const double max, const double value)

Variables
static const char *	CUSTOM_LIGHTING = "Custom"

const std::string	MODEL_NAME = "__model__"

const std::string	INSPECT_MODEL_NAME = "__inspect_model__"

const std::string	WIREFRAME_NAME = "__wireframe_model__"

Enumeration Type Documentation

◆ MenuId

enum cloudViewer::visualization::MenuId

Enumerator
FILE_OPEN
FILE_EXPORT_RGB
FILE_QUIT
SETTINGS_LIGHT_AND_MATERIALS
HELP_KEYS
HELP_CAMERA
HELP_ABOUT
HELP_CONTACT
HELP_DEBUG

Definition at line 302 of file GuiVisualizer.cpp.

Function Documentation

◆ Draw() [1/4]

void cloudViewer::visualization::Draw	(	const std::vector< DrawObject > &	objects,
		const std::string &	window_name,
		int	width,
		int	height,
		const std::vector< DrawAction > &	actions
	)

Definition at line 92 of file Draw.cpp.

References cloudViewer::visualization::gui::Application::AddWindow(), cloudViewer::visualization::gui::Application::GetInstance(), height, cloudViewer::visualization::gui::Application::Initialize(), LogWarning, cloudViewer::visualization::gui::Application::Run(), and width.

◆ Draw() [2/4]

void cloudViewer::visualization::Draw	(	const std::vector< std::shared_ptr< ccHObject >> &	geometries,
		const std::string &	window_name,
		int	width,
		int	height,
		const std::vector< DrawAction > &	actions
	)

Definition at line 45 of file Draw.cpp.

References height, name, and width.

Referenced by Draw().

◆ Draw() [3/4]

void cloudViewer::visualization::Draw	(	const std::vector< std::shared_ptr< rendering::TriangleMeshModel >> &	models,
		const std::string &	window_name,
		int	width,
		int	height,
		const std::vector< DrawAction > &	actions
	)

Definition at line 76 of file Draw.cpp.

References Draw(), height, name, and width.

◆ Draw() [4/4]

void cloudViewer::visualization::Draw	(	const std::vector< std::shared_ptr< t::geometry::Geometry >> &	tgeometries,
		const std::string &	window_name,
		int	width,
		int	height,
		const std::vector< DrawAction > &	actions
	)

Definition at line 60 of file Draw.cpp.

References Draw(), height, name, and width.

◆ DrawGeometries()

bool cloudViewer::visualization::DrawGeometries	(	const std::vector< std::shared_ptr< const ccHObject >> &	geometry_ptrs,
		const std::string &	window_name = `"cloudViewer"`,
		int	width = `640`,
		int	height = `480`,
		int	left = `50`,
		int	top = `50`,
		bool	point_show_normal = `false`,
		bool	mesh_show_wireframe = `false`,
		bool	mesh_show_back_face = `false`,
		Eigen::Vector3d *	lookat = `nullptr`,
		Eigen::Vector3d *	up = `nullptr`,
		Eigen::Vector3d *	front = `nullptr`,
		double *	zoom = `nullptr`
	)

Function to draw a list of geometry objects.

The convenient function of drawing something This function is a wrapper that calls the core functions of Visualizer. This function MUST be called from the main thread. It blocks the main thread until the window is closed.

Parameters

geometry_ptrs	List of geometries to be visualized.
window_name	The displayed title of the visualization window.
width	The width of the visualization window.
height	The height of the visualization window.
left	margin of the visualization window.
top	The top margin of the visualization window.
point_show_normal	visualize point normals if set to true.
mesh_show_wireframe	visualize mesh wireframe if set to true.
mesh_show_back_face	visualize also the back face of the mesh triangles.
lookat	The lookat vector of the camera.
up	The up vector of the camera.
front	The front vector of the camera.
zoom	The zoom of the camera.

Definition at line 32 of file DrawGeometry.cpp.

Referenced by cloudViewer::t::pipelines::slac::VisualizeGridDeformation(), cloudViewer::t::pipelines::slac::VisualizePointCloudCorrespondences(), and cloudViewer::t::pipelines::slac::VisualizePointCloudDeformation().

◆ DrawGeometriesWithAnimationCallback()

bool cloudViewer::visualization::DrawGeometriesWithAnimationCallback	(	const std::vector< std::shared_ptr< const ccHObject >> &	geometry_ptrs,
		std::function< bool(Visualizer *)>	callback_func,
		const std::string &	window_name = `"CloudViewer"`,
		int	width = `640`,
		int	height = `480`,
		int	left = `50`,
		int	top = `50`
	)

Function to draw a list of geometry objects with a customized animation callback function.

Parameters

geometry_ptrs	List of geometries to be visualized.
callback_func	Call back function to be triggered at a key press event.
window_name	The displayed title of the visualization window.
width	The width of the visualization window.
height	The height of the visualization window.
left	margin of the visualization window.
top	The top margin of the visualization window.

Definition at line 130 of file DrawGeometry.cpp.

References cloudViewer::visualization::Visualizer::AddGeometry(), cloudViewer::visualization::Visualizer::CreateVisualizerWindow(), cloudViewer::visualization::Visualizer::DestroyVisualizerWindow(), height, LogWarning, cloudViewer::visualization::Visualizer::RegisterAnimationCallback(), cloudViewer::visualization::Visualizer::Run(), and width.

◆ DrawGeometriesWithCustomAnimation()

bool cloudViewer::visualization::DrawGeometriesWithCustomAnimation	(	const std::vector< std::shared_ptr< const ccHObject >> &	geometry_ptrs,
		const std::string &	window_name = `"CloudViewer"`,
		int	width = `640`,
		int	height = `480`,
		int	left = `50`,
		int	top = `50`,
		const std::string &	json_filename = `""`
	)

Function to draw a list of geometry objects with a GUI that supports animation.

Parameters

geometry_ptrs	List of geometries to be visualized.
window_name	The displayed title of the visualization window.
width	The width of the visualization window.
height	The height of the visualization window.
left	margin of the visualization window.
top	The top margin of the visualization window.
json_filename	Camera trajectory json file path for custom animation.

Definition at line 84 of file DrawGeometry.cpp.

References cloudViewer::visualization::Visualizer::AddGeometry(), cloudViewer::visualization::Visualizer::CreateVisualizerWindow(), cloudViewer::visualization::Visualizer::DestroyVisualizerWindow(), cloudViewer::visualization::Visualizer::GetViewControl(), height, LogWarning, cloudViewer::visualization::Visualizer::Run(), cloudViewer::visualization::VisualizerWithCustomAnimation::UpdateWindowTitle(), and width.

◆ DrawGeometriesWithEditing()

bool cloudViewer::visualization::DrawGeometriesWithEditing	(	const std::vector< std::shared_ptr< const ccHObject >> &	geometry_ptrs,
		const std::string &	window_name = `"CloudViewer"`,
		int	width = `640`,
		int	height = `480`,
		int	left = `50`,
		int	top = `50`
	)

Function to draw a list of geometry.

Geometry providing user interaction.

Parameters

geometry_ptrs	List of geometries to be visualized.
window_name	The displayed title of the visualization window.
width	The width of the visualization window.
height	The height of the visualization window.
left	margin of the visualization window.
top	The top margin of the visualization window.

Definition at line 199 of file DrawGeometry.cpp.

References cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), cloudViewer::visualization::Visualizer::CreateVisualizerWindow(), cloudViewer::visualization::Visualizer::DestroyVisualizerWindow(), height, LogWarning, cloudViewer::visualization::Visualizer::Run(), and width.

◆ DrawGeometriesWithKeyCallbacks()

bool cloudViewer::visualization::DrawGeometriesWithKeyCallbacks	(	const std::vector< std::shared_ptr< const ccHObject >> &	geometry_ptrs,
		const std::map< int, std::function< bool(Visualizer *)>> &	key_to_callback,
		const std::string &	window_name = `"CloudViewer"`,
		int	width = `640`,
		int	height = `480`,
		int	left = `50`,
		int	top = `50`
	)

Function to draw a list of geometry.

Geometry objects with a customized key-callback mapping

Parameters

geometry_ptrs	List of geometries to be visualized.
key_to_callback	Map of key to call back functions.
window_name	The displayed title of the visualization window.
width	The width of the visualization window.
height	The height of the visualization window.
left	margin of the visualization window.
top	The top margin of the visualization window.

Definition at line 163 of file DrawGeometry.cpp.

References cloudViewer::visualization::Visualizer::AddGeometry(), cloudViewer::visualization::Visualizer::CreateVisualizerWindow(), cloudViewer::visualization::Visualizer::DestroyVisualizerWindow(), height, LogWarning, cloudViewer::visualization::VisualizerWithKeyCallback::RegisterKeyCallback(), cloudViewer::visualization::Visualizer::Run(), and width.

◆ DrawGeometriesWithVertexSelection()

bool cloudViewer::visualization::DrawGeometriesWithVertexSelection	(	const std::vector< std::shared_ptr< const ccHObject >> &	geometry_ptrs,
		const std::string &	window_name,
		int	width,
		int	height,
		int	left,
		int	top
	)

Definition at line 228 of file DrawGeometry.cpp.

References cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), cloudViewer::visualization::Visualizer::CreateVisualizerWindow(), cloudViewer::visualization::Visualizer::DestroyVisualizerWindow(), height, LogWarning, cloudViewer::visualization::Visualizer::Run(), and width.

◆ GetGlobalColorMap()

const std::shared_ptr< const ColorMap > cloudViewer::visualization::GetGlobalColorMap ( )

Interface functions.

Definition at line 84 of file ColorMap.cpp.

References Runtime::GetInstance().

◆ MakeSlider()

std::shared_ptr<gui::Slider> cloudViewer::visualization::MakeSlider	(	const gui::Slider::Type	type,
		const double	min,
		const double	max,
		const double	value
	)

Definition at line 30 of file GuiSettingsView.cpp.

References type.

Referenced by cloudViewer::visualization::GuiSettingsView::GuiSettingsView().

◆ SetGlobalColorMap()

void cloudViewer::visualization::SetGlobalColorMap ( ColorMap::ColorMapOption option )

Definition at line 88 of file ColorMap.cpp.

References Runtime::GetInstance(), cloudViewer::visualization::ColorMap::Gray, cloudViewer::visualization::ColorMap::Hot, cloudViewer::visualization::ColorMap::Jet, cloudViewer::visualization::ColorMap::Summer, and cloudViewer::visualization::ColorMap::Winter.

Referenced by cloudViewer::visualization::Visualizer::KeyPressCallback().

Variable Documentation

◆ CUSTOM_LIGHTING

const char* cloudViewer::visualization::CUSTOM_LIGHTING = "Custom"

static

Definition at line 28 of file GuiSettingsView.cpp.

Referenced by cloudViewer::visualization::GuiSettingsView::GuiSettingsView(), and cloudViewer::visualization::GuiSettingsView::Update().

◆ INSPECT_MODEL_NAME

const std::string cloudViewer::visualization::INSPECT_MODEL_NAME = "__inspect_model__"

Definition at line 299 of file GuiVisualizer.cpp.

Referenced by cloudViewer::visualization::GuiVisualizer::Impl::SetBasicModeGeometry().

◆ MODEL_NAME

const std::string cloudViewer::visualization::MODEL_NAME = "__model__"

Definition at line 298 of file GuiVisualizer.cpp.

Referenced by cloudViewer::visualization::GuiVisualizer::Impl::SetBasicModeGeometry(), cloudViewer::visualization::GuiVisualizer::SetGeometry(), and cloudViewer::visualization::GuiVisualizer::Impl::UpdateFromModel().

◆ WIREFRAME_NAME

const std::string cloudViewer::visualization::WIREFRAME_NAME = "__wireframe_model__"

Definition at line 300 of file GuiVisualizer.cpp.

Referenced by cloudViewer::visualization::GuiVisualizer::Impl::UpdateFromModel().

Namespaces

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ MenuId

Function Documentation

◆ Draw() [1/4]

◆ Draw() [2/4]

◆ Draw() [3/4]

◆ Draw() [4/4]

◆ DrawGeometries()

◆ DrawGeometriesWithAnimationCallback()

◆ DrawGeometriesWithCustomAnimation()

◆ DrawGeometriesWithEditing()

◆ DrawGeometriesWithKeyCallbacks()

◆ DrawGeometriesWithVertexSelection()

◆ GetGlobalColorMap()

◆ MakeSlider()

◆ SetGlobalColorMap()

Variable Documentation

◆ CUSTOM_LIGHTING

◆ INSPECT_MODEL_NAME

◆ MODEL_NAME

◆ WIREFRAME_NAME