3D visualization class for point clouds and geometric primitives. More...

#include <Visualizer.hpp>

Public Member Functions
	Visualizer (std::shared_ptr< std::vector< int > > vps=nullptr)
	Construct a new Visualizer object.
	~Visualizer ()
	Destroy the Visualizer object.
	Visualizer (const Visualizer &)=delete
Visualizer &	operator= (const Visualizer &)=delete
	Visualizer (Visualizer &&)=delete
Visualizer &	operator= (Visualizer &&)=delete
std::shared_ptr< const std::vector< int > >	getViewports () const
	Get the configured viewports.
void	reset_camera_viewpoint (const std::string &name="")
	Reset camera viewpoint to default.
void	add_point_cloud (CloudConstPtr cloud, std::string name="cloud", int vp=0)
	Add a point cloud to the visualization.
void	add_plane (const Eigen::Vector4d &plane, const Eigen::Vector3d &origin, const pcl::RGB &color, const std::string_view &name="plane", int vp=0)
	Add a single plane to the visualization.
void	add_planes (const std::vector< Pair > &planes, const std::string_view &name="plane", int vp=0)
	Add multiple planes to the visualization.
void	add_pair (const PlanePair &plane_pair, const std::string_view &name="plane_pair", int vp=0)
	Add a plane pair to the visualization.
void	add_plane_pairs (const std::vector< PlanePair > &plane_pairs, const std::string_view &name="plane_pair", int vp=0)
	Add multiple plane pairs to the visualization.
void	add_floor (const double height, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::string_view &name="floor", int vp=0)
	Add a floor plane at specified height.
void	add_floors (const std::vector< double > &heights, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::string_view &name="floor", int vp=0)
	Add multiple floor planes at different heights.
void	add_cell_complex (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::string_view &name="cell_complex", int vp=0)
void	add_room_probabilities (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::string_view &name="room_probabilities", int vp=0)
void	add_support_probabilities (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::string_view &name="support_probabilities", int vp=0)
void	add_rooms (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::pair< std::unordered_map< ReUseX::geometry::CellComplex::Vertex, int >, std::unordered_map< ReUseX::geometry::CellComplex::Vertex, std::set< int > > > &results, const std::string_view &name="rooms", int vp=0)
void	resetCameraViewpoint (const std::string &name="")
void	addPointCloud (CloudConstPtr cloud, std::string name="cloud", int vp=0)
void	addPlane (const Eigen::Vector4d &plane, const Eigen::Vector3d &origin, const pcl::RGB &color, const std::string_view &name="plane", int vp=0)
void	addPlanes (const std::vector< Pair > &planes, const std::string_view &name="plane", int vp=0)
void	addPair (const PlanePair &plane_pair, const std::string_view &name="plane_pair", int vp=0)
void	addPlanePairs (const std::vector< PlanePair > &plane_pairs, const std::string_view &name="plane_pair", int vp=0)
void	addFloor (const double height, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::string_view &name="floor", int vp=0)
void	addFloors (const std::vector< double > &heights, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::string_view &name="floor", int vp=0)
void	addCellComplex (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::string_view &name="cell_complex", int vp=0)
void	addRoomProbabilities (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::string_view &name="room_probabilities", int vp=0)
void	addSupportProbabilities (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::string_view &name="support_probabilities", int vp=0)
void	addRooms (const std::shared_ptr< ReUseX::geometry::CellComplex > &cc, const std::pair< std::unordered_map< ReUseX::geometry::CellComplex::Vertex, int >, std::unordered_map< ReUseX::geometry::CellComplex::Vertex, std::set< int > > > &results, const std::string_view &name="rooms", int vp=0)

Detailed Description

3D visualization class for point clouds and geometric primitives.

Provides methods to visualize point clouds, planes, cell complexes, and other geometric data using PCL visualization.

Definition at line 25 of file Visualizer.hpp.

Constructor & Destructor Documentation

◆ Visualizer() [1/3]

ReUseX::visualize::Visualizer::Visualizer ( std::shared_ptr< std::vector< int > > vps = nullptr )

Construct a new Visualizer object.

Parameters

vps	Optional viewport configuration.

Referenced by operator=(), operator=(), Visualizer(), and Visualizer().

◆ ~Visualizer()

ReUseX::visualize::Visualizer::~Visualizer ( )

Destroy the Visualizer object.

◆ Visualizer() [2/3]

ReUseX::visualize::Visualizer::Visualizer ( const Visualizer & )

delete

References Visualizer().

◆ Visualizer() [3/3]

ReUseX::visualize::Visualizer::Visualizer ( Visualizer && )

delete

References Visualizer().

Member Function Documentation

◆ add_cell_complex()

void ReUseX::visualize::Visualizer::add_cell_complex	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::string_view &	name = "cell_complex",
		int	vp = 0 )

Referenced by addCellComplex().

◆ add_floor()

void ReUseX::visualize::Visualizer::add_floor	(	const double	height,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::string_view &	name = "floor",
		int	vp = 0 )

Add a floor plane at specified height.

Parameters

height	Height of the floor.
min	Minimum extent of the floor.
max	Maximum extent of the floor.
name	Identifier for the floor. Default "floor".
vp	Viewport index. Default 0.

Referenced by addFloor().

◆ add_floors()

void ReUseX::visualize::Visualizer::add_floors	(	const std::vector< double > &	heights,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::string_view &	name = "floor",
		int	vp = 0 )

Add multiple floor planes at different heights.

Parameters

heights	Vector of floor heights.
min	Minimum extent of the floors.
max	Maximum extent of the floors.
name	Base identifier for floors. Default "floor".
vp	Viewport index. Default 0.

Referenced by addFloors().

◆ add_pair()

void ReUseX::visualize::Visualizer::add_pair	(	const PlanePair &	plane_pair,
		const std::string_view &	name = "plane_pair",
		int	vp = 0 )

Add a plane pair to the visualization.

Parameters

plane_pair	Pair of planes to visualize.
name	Identifier for the plane pair. Default "plane_pair".
vp	Viewport index. Default 0.

Referenced by addPair().

◆ add_plane()

void ReUseX::visualize::Visualizer::add_plane	(	const Eigen::Vector4d &	plane,
		const Eigen::Vector3d &	origin,
		const pcl::RGB &	color,
		const std::string_view &	name = "plane",
		int	vp = 0 )

Add a single plane to the visualization.

Parameters

plane	Plane coefficients (nx, ny, nz, d).
origin	Plane origin point.
color	RGB color for the plane.
name	Identifier for the plane. Default "plane".
vp	Viewport index. Default 0.

Referenced by addPlane().

◆ add_plane_pairs()

void ReUseX::visualize::Visualizer::add_plane_pairs	(	const std::vector< PlanePair > &	plane_pairs,
		const std::string_view &	name = "plane_pair",
		int	vp = 0 )

Add multiple plane pairs to the visualization.

Parameters

plane_pairs	Vector of plane pairs.
name	Base identifier for plane pairs. Default "plane_pair".
vp	Viewport index. Default 0.

Referenced by addPlanePairs().

◆ add_planes()

void ReUseX::visualize::Visualizer::add_planes	(	const std::vector< Pair > &	planes,
		const std::string_view &	name = "plane",
		int	vp = 0 )

Add multiple planes to the visualization.

Parameters

planes	Vector of plane pairs to visualize.
name	Base identifier for planes. Default "plane".
vp	Viewport index. Default 0.

Referenced by addPlanes().

◆ add_point_cloud()

void ReUseX::visualize::Visualizer::add_point_cloud	(	CloudConstPtr	cloud,
		std::string	name = "cloud",
		int	vp = 0 )

Add a point cloud to the visualization.

Parameters

cloud	Point cloud to visualize.
name	Identifier for the cloud. Default "cloud".
vp	Viewport index. Default 0.

Referenced by addPointCloud().

◆ add_room_probabilities()

void ReUseX::visualize::Visualizer::add_room_probabilities	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::string_view &	name = "room_probabilities",
		int	vp = 0 )

Referenced by addRoomProbabilities().

◆ add_rooms()

void ReUseX::visualize::Visualizer::add_rooms	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::pair< std::unordered_map< ReUseX::geometry::CellComplex::Vertex, int >, std::unordered_map< ReUseX::geometry::CellComplex::Vertex, std::set< int > > > &	results,
		const std::string_view &	name = "rooms",
		int	vp = 0 )

Referenced by addRooms().

◆ add_support_probabilities()

void ReUseX::visualize::Visualizer::add_support_probabilities	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::string_view &	name = "support_probabilities",
		int	vp = 0 )

Referenced by addSupportProbabilities().

◆ addCellComplex()

void ReUseX::visualize::Visualizer::addCellComplex	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::string_view &	name = "cell_complex",
		int	vp = 0 )

inline

Definition at line 196 of file Visualizer.hpp.

References add_cell_complex().

◆ addFloor()

void ReUseX::visualize::Visualizer::addFloor	(	const double	height,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::string_view &	name = "floor",
		int	vp = 0 )

inline

Definition at line 184 of file Visualizer.hpp.

References add_floor().

◆ addFloors()

void ReUseX::visualize::Visualizer::addFloors	(	const std::vector< double > &	heights,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::string_view &	name = "floor",
		int	vp = 0 )

inline

Definition at line 190 of file Visualizer.hpp.

References add_floors().

◆ addPair()

void ReUseX::visualize::Visualizer::addPair	(	const PlanePair &	plane_pair,
		const std::string_view &	name = "plane_pair",
		int	vp = 0 )

inline

Definition at line 174 of file Visualizer.hpp.

References add_pair().

◆ addPlane()

void ReUseX::visualize::Visualizer::addPlane	(	const Eigen::Vector4d &	plane,
		const Eigen::Vector3d &	origin,
		const pcl::RGB &	color,
		const std::string_view &	name = "plane",
		int	vp = 0 )

inline

Definition at line 163 of file Visualizer.hpp.

References add_plane().

◆ addPlanePairs()

void ReUseX::visualize::Visualizer::addPlanePairs	(	const std::vector< PlanePair > &	plane_pairs,
		const std::string_view &	name = "plane_pair",
		int	vp = 0 )

inline

Definition at line 179 of file Visualizer.hpp.

References add_plane_pairs().

◆ addPlanes()

void ReUseX::visualize::Visualizer::addPlanes	(	const std::vector< Pair > &	planes,
		const std::string_view &	name = "plane",
		int	vp = 0 )

inline

Definition at line 169 of file Visualizer.hpp.

References add_planes().

◆ addPointCloud()

void ReUseX::visualize::Visualizer::addPointCloud	(	CloudConstPtr	cloud,
		std::string	name = "cloud",
		int	vp = 0 )

inline

Definition at line 159 of file Visualizer.hpp.

References add_point_cloud().

◆ addRoomProbabilities()

void ReUseX::visualize::Visualizer::addRoomProbabilities	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::string_view &	name = "room_probabilities",
		int	vp = 0 )

inline

Definition at line 201 of file Visualizer.hpp.

References add_room_probabilities().

◆ addRooms()

void ReUseX::visualize::Visualizer::addRooms	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::pair< std::unordered_map< ReUseX::geometry::CellComplex::Vertex, int >, std::unordered_map< ReUseX::geometry::CellComplex::Vertex, std::set< int > > > &	results,
		const std::string_view &	name = "rooms",
		int	vp = 0 )

inline

Definition at line 213 of file Visualizer.hpp.

References add_rooms().

◆ addSupportProbabilities()

void ReUseX::visualize::Visualizer::addSupportProbabilities	(	const std::shared_ptr< ReUseX::geometry::CellComplex > &	cc,
		const std::string_view &	name = "support_probabilities",
		int	vp = 0 )

inline

Definition at line 207 of file Visualizer.hpp.

References add_support_probabilities().

◆ getViewports()

std::shared_ptr< const std::vector< int > > ReUseX::visualize::Visualizer::getViewports ( ) const

Get the configured viewports.

Returns: Shared pointer to viewport configuration.

◆ operator=() [1/2]

Visualizer & ReUseX::visualize::Visualizer::operator= ( const Visualizer & )

delete

References Visualizer().

◆ operator=() [2/2]

Visualizer & ReUseX::visualize::Visualizer::operator= ( Visualizer && )

delete

References Visualizer().

◆ reset_camera_viewpoint()

void ReUseX::visualize::Visualizer::reset_camera_viewpoint ( const std::string & name = "" )

Reset camera viewpoint to default.

Parameters

name	Optional viewport name.

Referenced by resetCameraViewpoint().

◆ resetCameraViewpoint()

void ReUseX::visualize::Visualizer::resetCameraViewpoint ( const std::string & name = "" )

inline

Definition at line 155 of file Visualizer.hpp.

References reset_camera_viewpoint().

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

libs/reusex/include/ReUseX/visualize/Visualizer.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Visualizer() [1/3]

◆ ~Visualizer()

◆ Visualizer() [2/3]

◆ Visualizer() [3/3]

Member Function Documentation

◆ add_cell_complex()

◆ add_floor()

◆ add_floors()

◆ add_pair()

◆ add_plane()

◆ add_plane_pairs()

◆ add_planes()

◆ add_point_cloud()

◆ add_room_probabilities()

◆ add_rooms()

◆ add_support_probabilities()

◆ addCellComplex()

◆ addFloor()

◆ addFloors()

◆ addPair()

◆ addPlane()

◆ addPlanePairs()

◆ addPlanes()

◆ addPointCloud()

◆ addRoomProbabilities()

◆ addRooms()

◆ addSupportProbabilities()

◆ getViewports()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ reset_camera_viewpoint()

◆ resetCameraViewpoint()