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<div class="local-toc"><ul>
<li><a class="reference internal" href="#">PCLPlotter</a><ul>
<li><a class="reference internal" href="#basic-code-structure">Basic code structure</a></li>
</ul>
</li>
<li><a class="reference internal" href="#auto-coloring">Auto-coloring</a></li>
<li><a class="reference internal" href="#different-types-of-plot-input">Different types of plot input</a><ul>
<li><a class="reference internal" href="#point-correspondences">Point-Correspondences</a></li>
<li><a class="reference internal" href="#table">Table</a></li>
<li><a class="reference internal" href="#polynomial-and-rational-functions">Polynomial and Rational Functions</a></li>
<li><a class="reference internal" href="#a-custom-explicit-function">A custom explicit function</a></li>
</ul>
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<li><a class="reference internal" href="#adding-other-properties-and-decorations">Adding other properties and decorations</a></li>
<li><a class="reference internal" href="#other-functionalities">Other Functionalities</a><ul>
<li><a class="reference internal" href="#plotting-histogram">‘Plotting’ Histogram</a></li>
<li><a class="reference internal" href="#pclhistogramvisualizer-functions">PCLHistogramVisualizer functions</a></li>
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<li><a class="reference internal" href="#display">Display</a></li>
<li><a class="reference internal" href="#demo">Demo</a><ul>
<li><a class="reference internal" href="#compiling-and-running-the-program">Compiling and running the program</a></li>
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<div class="section" id="pclplotter">
<span id="pcl-plotter"></span><h1>PCLPlotter</h1>
<p>PCLPlotter provides a very straightforward and easy interface for plotting graphs. One can visualize all sort of important plots -
from polynomial functions to histograms - inside the library without going to any other software (like MATLAB).
Please go through the <a class="reference external" href="http://docs.pointclouds.org/trunk/a01175.html">documentation</a> when some specific concepts are introduced in this tutorial to know the exact method signatures.</p>
<p>The code for the visualization of a plot are usually as simple as the following snippet.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span><span class="cpf">&lt;vector&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;iostream&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;utility&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;pcl/visualization/pcl_plotter.h&gt;</span><span class="cp"></span>
<span class="c1">//...</span>
<span class="kt">int</span>
<span class="nf">main</span> <span class="p">()</span>
<span class="p">{</span>
<span class="c1">//defining a plotter</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">PCLPlotter</span> <span class="o">*</span> <span class="n">plotter</span> <span class="o">=</span> <span class="k">new</span> <span class="n">PCLPlotter</span> <span class="p">();</span>
<span class="c1">//defining the polynomial function, y = x^2. Index of x^2 is 1, rest is 0</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">func1</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span><span class="mi">0</span><span class="p">);</span>
<span class="n">func1</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="c1">//adding the polynomial func1 to the plotter with [-10, 10] as the range in X axis and &quot;y = x^2&quot; as title</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">func1</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;y = x^2&quot;</span><span class="p">);</span>
<span class="c1">//display the plot, DONE!</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">plot</span> <span class="p">();</span>
<span class="k">return</span> <span class="mi">0</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
<p>If this program is compiled and run, you will get the following output</p>
<a class="reference internal image-reference" href="_images/pcl_plotter_x2.png"><img alt="_images/pcl_plotter_x2.png" src="_images/pcl_plotter_x2.png" style="width: 640px;" /></a>
<div class="section" id="basic-code-structure">
<h2>Basic code structure</h2>
<p>The following snippet shows the basic structure of code for using PCLPlotter</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="c1">//1. define a plotter. Change the colorscheme if you want some different colorscheme in auto-coloring.</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">PCLPlotter</span> <span class="o">*</span><span class="n">plotter</span> <span class="o">=</span> <span class="k">new</span> <span class="n">PCLPlotter</span> <span class="p">(</span><span class="s">&quot;My Plotter&quot;</span><span class="p">);</span>
<span class="p">...</span>
<span class="c1">//2. add data to be plotted using addPlotData* () functions</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span><span class="o">*</span> <span class="p">();</span>
<span class="p">...</span>
<span class="c1">//3. add some properties if required</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setWindowSize</span> <span class="p">(</span><span class="mi">900</span><span class="p">,</span> <span class="mi">600</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setYTitle</span> <span class="p">(</span><span class="s">&quot;this is my own function&quot;</span><span class="p">);</span>
<span class="p">...</span>
<span class="c1">//4. display the plot</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">plot</span> <span class="p">()</span>
</pre></div>
</div>
<p>All the subsequent sections will elaborate the above concept in detail.</p>
</div>
</div>
<div class="section" id="auto-coloring">
<h1>Auto-coloring</h1>
<p>You have the choice to add your own color to the plot in addPlotData*() functions. But if left empty, the plotter will auto-color depending upon a color-scheme.
The default color-scheme is <code class="docutils literal notranslate"><span class="pre">vtkColorSeries::SPECTRUM</span></code> which contains 7 different (normal) hues over the entire spectrum. The other values are <code class="docutils literal notranslate"><span class="pre">vtkColorSeries::WARM</span></code>, <code class="docutils literal notranslate"><span class="pre">vtkColorSeries::COOL</span></code>, <code class="docutils literal notranslate"><span class="pre">vtkColorSeries::BLUES</span></code>, <code class="docutils literal notranslate"><span class="pre">vtkColorSeries::WILD_FLOWER</span></code>, <code class="docutils literal notranslate"><span class="pre">vtkColorSeries::CITRUS</span></code>.
You can change the colorscheme by <em>setColorScheme ()</em> function. To reflect the effect of the color-scheme to all the plots call this function before calling any <em>addPlotData*()</em> functions.</p>
</div>
<div class="section" id="different-types-of-plot-input">
<h1>Different types of plot input</h1>
<p>Have a look at the <em>addPlotData()</em> functions in the documentation for their detailed signatures. The prototypes pretty much tell about their functionalities. The following subsections contains some of the important input method of the plot.</p>
<div class="section" id="point-correspondences">
<h2>Point-Correspondences</h2>
<p>This the most fundamental way of providing input. Provide the point correspondences, that is (x,y) coordinates, for the plot using a std::vector&lt;std::pair&gt; in <em>addPlotData</em></p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="n">std</span><span class="o">::</span><span class="n">pair</span><span class="o">&lt;</span><span class="kt">double</span><span class="p">,</span> <span class="kt">double</span><span class="o">&gt;</span> <span class="o">&gt;</span> <span class="n">data</span><span class="p">;</span>
<span class="n">populateData</span> <span class="p">(</span><span class="n">data</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">data</span><span class="p">,</span><span class="s">&quot;cos&quot;</span><span class="p">);</span>
<span class="p">...</span>
</pre></div>
</div>
<p>The other ways of input for point correspondences are two arrays of same length denoting the X and Y values of the correspondences.</p>
</div>
<div class="section" id="table">
<h2>Table</h2>
<p>This is same as the previous one except the fact that the user stores the correspondences in a text file in the form of an space delimited table. This forms a substitute for the plotting using MS Excel. A very simple executable (without decoration) which performs the functionalities of MS Excel Plotter will be the following.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span><span class="cpf">&lt;pcl/visualization/pcl_plotter.h&gt;</span><span class="cp"></span>
<span class="kt">int</span>
<span class="nf">main</span> <span class="p">(</span><span class="kt">int</span> <span class="n">argc</span><span class="p">,</span> <span class="kt">char</span> <span class="o">**</span> <span class="n">argv</span><span class="p">)</span>
<span class="p">{</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="o">::</span><span class="n">PCLPlotter</span> <span class="o">*</span> <span class="n">plotter</span> <span class="o">=</span> <span class="k">new</span> <span class="n">PCLPlotter</span> <span class="p">();</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">argv</span><span class="p">[</span><span class="mi">1</span><span class="p">]);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">plot</span> <span class="p">();</span>
<span class="k">return</span> <span class="mi">0</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="polynomial-and-rational-functions">
<h2>Polynomial and Rational Functions</h2>
<p>Polynomial are defined in terms of vector of coefficients and Rational functions are defined in terms of pair of polynomial (pair of numerator and denominator) . See the definition in the documentation. The following snippet plots the function y = 1/x</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">func1</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">0</span><span class="p">);</span>
<span class="n">func1</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">func2</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span><span class="mi">0</span><span class="p">);</span>
<span class="n">func1</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="n">make_pair</span> <span class="p">(</span><span class="n">func1</span><span class="p">,</span> <span class="n">func2</span><span class="p">),</span><span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;y = 1/x&quot;</span><span class="p">);</span>
<span class="p">...</span>
</pre></div>
</div>
</div>
<div class="section" id="a-custom-explicit-function">
<h2>A custom explicit function</h2>
<p>User can specify a custom function, <em>f</em> depicting the relation: <em>Y = f(X)</em> in the form of a callback</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="kt">double</span>
<span class="n">identity</span> <span class="p">(</span><span class="kt">double</span> <span class="n">val</span><span class="p">)</span>
<span class="p">{</span>
<span class="k">return</span> <span class="n">val</span><span class="p">;</span>
<span class="p">}</span>
<span class="p">...</span>
<span class="p">...</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">identity</span><span class="p">,</span><span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span><span class="s">&quot;identity&quot;</span><span class="p">);</span>
<span class="p">...</span>
</pre></div>
</div>
</div>
</div>
<div class="section" id="adding-other-properties-and-decorations">
<h1>Adding other properties and decorations</h1>
<p>One can add other properties of the plot like <em>title</em>, <em>legends</em>, <em>background colours</em> etc. You can call these functions at any time before any display (<em>plot()/spin*()</em>) function call.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setTitle</span> <span class="p">(</span><span class="s">&quot;My plot&quot;</span><span class="p">);</span> <span class="c1">//global title</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setXTitle</span> <span class="p">(</span><span class="s">&quot;degrees&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setYTitle</span> <span class="p">(</span><span class="s">&quot;cos&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setShowLegend</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span> <span class="c1">//show legends</span>
<span class="p">...</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">plot</span> <span class="p">();</span>
<span class="p">...</span>
</pre></div>
</div>
</div>
<div class="section" id="other-functionalities">
<h1>Other Functionalities</h1>
<p>PCLPlotter provides few other important functionalities other than plotting given a well defined plots and correspondences. These includes a histogram plotting functions and all functionalities of the legacy class PCLHistogramVisualizer.</p>
<div class="section" id="plotting-histogram">
<h2>‘Plotting’ Histogram</h2>
<p>PCLPlotter provides a very convenient MATLAB like histogram plotting function (<a class="reference external" href="http://www.mathworks.fr/fr/help/matlab/ref/hist.html">hist()</a> in MATLAB). It takes raw data and bins them according to their frequency and plot them as bar chart.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">freqdata</span> <span class="o">=</span> <span class="n">generateNomalDistData</span> <span class="p">();</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addHistogramData</span> <span class="p">(</span><span class="n">freqdata</span><span class="p">,</span><span class="mi">10</span><span class="p">);</span> <span class="c1">//number of bins are 10</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">plot</span> <span class="p">();</span>
<span class="p">...</span>
</pre></div>
</div>
</div>
<div class="section" id="pclhistogramvisualizer-functions">
<h2>PCLHistogramVisualizer functions</h2>
<p>All functionalities of PCLHistogramVisualizer has been rewritten and added to the plotter with their signature retained. See the documentation for method details.</p>
</div>
</div>
<div class="section" id="display">
<h1>Display</h1>
<p>To display all the plots added use the simple function - <em>plot()</em>. PCLPlotter is also provided with the legacy <em>spin*()</em> functions which can be used for animations or updating the plots with time.
The following snippet shows the functionality.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="p">...</span>
<span class="c1">//data and callback defined here</span>
<span class="p">...</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">func1</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;y = x^2&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span> <span class="c1">//display the plot for 2 seconds</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">clearPlots</span> <span class="p">();</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">identity</span><span class="p">,</span><span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span><span class="s">&quot;identity&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">clearPlots</span> <span class="p">();</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">abs</span><span class="p">,</span><span class="o">-</span><span class="mi">5</span><span class="p">,</span> <span class="mi">5</span><span class="p">,</span><span class="s">&quot;abs&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="p">...</span>
</pre></div>
</div>
</div>
<div class="section" id="demo">
<h1>Demo</h1>
<p>Following is a complete example depicting many usage of the Plotter. Copy it into a file named <code class="docutils literal notranslate"><span class="pre">pcl_plotter_demo.cpp</span></code>.</p>
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109</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cm">/* \author Kripasindhu Sarkar */</span>
<span class="cp">#include</span><span class="cpf">&lt;pcl/visualization/pcl_plotter.h&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;iostream&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;vector&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;utility&gt;</span><span class="cp"></span>
<span class="cp">#include</span><span class="cpf">&lt;cmath&gt; //for std::abs()</span><span class="cp"></span>
<span class="k">using</span> <span class="k">namespace</span> <span class="n">pcl</span><span class="o">::</span><span class="n">visualization</span><span class="p">;</span>
<span class="kt">void</span>
<span class="nf">generateData</span> <span class="p">(</span><span class="kt">double</span> <span class="o">*</span><span class="n">ax</span><span class="p">,</span> <span class="kt">double</span> <span class="o">*</span><span class="n">acos</span><span class="p">,</span> <span class="kt">double</span> <span class="o">*</span><span class="n">asin</span><span class="p">,</span> <span class="kt">int</span> <span class="n">numPoints</span><span class="p">)</span>
<span class="p">{</span>
<span class="kt">double</span> <span class="n">inc</span> <span class="o">=</span> <span class="mf">7.5</span> <span class="o">/</span> <span class="p">(</span><span class="n">numPoints</span> <span class="o">-</span> <span class="mi">1</span><span class="p">);</span>
<span class="k">for</span> <span class="p">(</span><span class="kt">int</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">numPoints</span><span class="p">;</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="p">{</span>
<span class="n">ax</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">=</span> <span class="n">i</span><span class="o">*</span><span class="n">inc</span><span class="p">;</span>
<span class="n">acos</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">=</span> <span class="n">std</span><span class="o">::</span><span class="n">cos</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">inc</span><span class="p">);</span>
<span class="n">asin</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">=</span> <span class="n">sin</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">inc</span><span class="p">);</span>
<span class="p">}</span>
<span class="p">}</span>
<span class="c1">//.....................callback functions defining Y= f(X)....................</span>
<span class="kt">double</span>
<span class="nf">step</span> <span class="p">(</span><span class="kt">double</span> <span class="n">val</span><span class="p">)</span>
<span class="p">{</span>
<span class="k">if</span> <span class="p">(</span><span class="n">val</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span>
<span class="k">return</span> <span class="p">(</span><span class="kt">double</span><span class="p">)</span> <span class="p">(</span><span class="kt">int</span><span class="p">)</span> <span class="n">val</span><span class="p">;</span>
<span class="k">else</span>
<span class="k">return</span> <span class="p">(</span><span class="kt">double</span><span class="p">)</span> <span class="p">((</span><span class="kt">int</span><span class="p">)</span> <span class="n">val</span> <span class="o">-</span> <span class="mi">1</span><span class="p">);</span>
<span class="p">}</span>
<span class="kt">double</span>
<span class="nf">identity</span> <span class="p">(</span><span class="kt">double</span> <span class="n">val</span><span class="p">)</span>
<span class="p">{</span>
<span class="k">return</span> <span class="n">val</span><span class="p">;</span>
<span class="p">}</span>
<span class="c1">//............................................................................</span>
<span class="kt">int</span>
<span class="nf">main</span> <span class="p">()</span>
<span class="p">{</span>
<span class="c1">//defining a plotter</span>
<span class="n">PCLPlotter</span> <span class="o">*</span><span class="n">plotter</span> <span class="o">=</span> <span class="k">new</span> <span class="n">PCLPlotter</span> <span class="p">(</span><span class="s">&quot;My Plotter&quot;</span><span class="p">);</span>
<span class="c1">//setting some properties</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setShowLegend</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
<span class="c1">//generating point correspondances</span>
<span class="kt">int</span> <span class="n">numPoints</span> <span class="o">=</span> <span class="mi">69</span><span class="p">;</span>
<span class="kt">double</span> <span class="n">ax</span><span class="p">[</span><span class="mi">100</span><span class="p">],</span> <span class="n">acos</span><span class="p">[</span><span class="mi">100</span><span class="p">],</span> <span class="n">asin</span><span class="p">[</span><span class="mi">100</span><span class="p">];</span>
<span class="n">generateData</span> <span class="p">(</span><span class="n">ax</span><span class="p">,</span> <span class="n">acos</span><span class="p">,</span> <span class="n">asin</span><span class="p">,</span> <span class="n">numPoints</span><span class="p">);</span>
<span class="c1">//adding plot data</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">ax</span><span class="p">,</span> <span class="n">acos</span><span class="p">,</span> <span class="n">numPoints</span><span class="p">,</span> <span class="s">&quot;cos&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">ax</span><span class="p">,</span> <span class="n">asin</span><span class="p">,</span> <span class="n">numPoints</span><span class="p">,</span> <span class="s">&quot;sin&quot;</span><span class="p">);</span>
<span class="c1">//display for 2 seconds</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">3000</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">clearPlots</span> <span class="p">();</span>
<span class="c1">//...................plotting implicit functions and custom callbacks....................</span>
<span class="c1">//make a fixed axis</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">setYRange</span> <span class="p">(</span><span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">);</span>
<span class="c1">//defining polynomials</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">func1</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span>
<span class="n">func1</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span> <span class="c1">//y = 1</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">func2</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span>
<span class="n">func2</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span> <span class="c1">//y = x^2</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="n">make_pair</span> <span class="p">(</span><span class="n">func1</span><span class="p">,</span> <span class="n">func2</span><span class="p">),</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;y = 1/x^2&quot;</span><span class="p">,</span> <span class="mi">100</span><span class="p">,</span> <span class="n">vtkChart</span><span class="o">::</span><span class="n">POINTS</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">func2</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;y = x^2&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="c1">//callbacks</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">identity</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;identity&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="n">abs</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;abs&quot;</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">step</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="s">&quot;step&quot;</span><span class="p">,</span> <span class="mi">100</span><span class="p">,</span> <span class="n">vtkChart</span><span class="o">::</span><span class="n">POINTS</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">2000</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">clearPlots</span> <span class="p">();</span>
<span class="c1">//........................A simple animation..............................</span>
<span class="n">std</span><span class="o">::</span><span class="n">vector</span><span class="o">&lt;</span><span class="kt">double</span><span class="o">&gt;</span> <span class="n">fsq</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span>
<span class="n">fsq</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="mi">100</span><span class="p">;</span> <span class="c1">//y = x^2</span>
<span class="k">while</span> <span class="p">(</span><span class="o">!</span><span class="n">plotter</span><span class="o">-&gt;</span><span class="n">wasStopped</span> <span class="p">())</span>
<span class="p">{</span>
<span class="k">if</span> <span class="p">(</span><span class="n">fsq</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">==</span> <span class="mi">100</span><span class="p">)</span> <span class="n">fsq</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="mi">100</span><span class="p">;</span>
<span class="n">fsq</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="o">++</span><span class="p">;</span>
<span class="kt">char</span> <span class="n">str</span><span class="p">[</span><span class="mi">50</span><span class="p">];</span>
<span class="n">sprintf</span> <span class="p">(</span><span class="n">str</span><span class="p">,</span> <span class="s">&quot;y = %dx^2&quot;</span><span class="p">,</span> <span class="p">(</span><span class="kt">int</span><span class="p">)</span> <span class="n">fsq</span><span class="p">[</span><span class="mi">2</span><span class="p">]);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">addPlotData</span> <span class="p">(</span><span class="n">fsq</span><span class="p">,</span> <span class="o">-</span><span class="mi">10</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="n">str</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">spinOnce</span> <span class="p">(</span><span class="mi">100</span><span class="p">);</span>
<span class="n">plotter</span><span class="o">-&gt;</span><span class="n">clearPlots</span> <span class="p">();</span>
<span class="p">}</span>
<span class="k">return</span> <span class="mi">1</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</td></tr></table></div>
<div class="section" id="compiling-and-running-the-program">
<h2>Compiling and running the program</h2>
<p>Add the following lines to your <cite>CMakeLists.txt</cite> file:</p>
<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1
2
3
4
5
6
7
8</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
<span class="nb">project</span><span class="p">(</span><span class="s">pcl_plotter</span><span class="p">)</span>
<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.7</span> <span class="s">REQUIRED</span> <span class="s">COMPONENTS</span> <span class="s">common</span> <span class="s">visualization</span><span class="p">)</span>
<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">add_executable</span><span class="p">(</span><span class="s">pcl_plotter</span> <span class="s">pcl_plotter_demo.cpp</span><span class="p">)</span>
<span class="nb">target_link_libraries</span><span class="p">(</span><span class="s">pcl_plotter</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
</pre></div>
</td></tr></table></div>
<p>Compile and run the code by the following commands</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ cmake .
$ make
$ ./pcl_plotter_demo
</pre></div>
</div>
</div>
<div class="section" id="video">
<h2>Video</h2>
<p>The following video shows the the output of the demo.</p>
<iframe width="480" height="270" src="https://www.youtube.com/embed/2Xgd67nkwzs" frameborder="0" allowfullscreen></iframe></div>
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