Point Cloud Library (PCL)  1.10.0
float_image_utils.h
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34 
35 #pragma once
36 
37 #include <pcl/pcl_config.h>
38 #include <pcl/pcl_macros.h>
39 
40 #include <iostream>
41 #include <cmath>
42 #include <limits>
43 
44 namespace pcl
45 {
46  namespace visualization
47  {
48  /** @b Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
49  * \author Bastian Steder
50  * \ingroup visualization
51  */
53  {
54  public:
55  // =====STATIC METHODS=====
56  /** Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) */
57  static void
58  getColorForFloat (float value, unsigned char& r, unsigned char& g, unsigned char& b);
59 
60  /** Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
61  * The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between */
62  static void
63  getColorForAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
64 
65  /** Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
66  * The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between */
67  static void
68  getColorForHalfAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
69 
70  /** Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1],
71  * either using the given min/max values or based on the actual minimal and maximal values existing in the array.
72  * The output is a byte array of size 3*width*height containing the colors in RGB order.
73  * If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of
74  * non-finite numbers, will be gray values */
75  static unsigned char*
76  getVisualImage (const float* float_image, int width, int height, float min_value=-std::numeric_limits<float>::infinity (), float max_value=std::numeric_limits<float>::infinity (), bool gray_scale=false);
77 
78  /** Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1]
79  * with the given min/max values.
80  * The output is a byte array of size 3*width*height containing the colors in RGB order.
81  * If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values. */
82  static unsigned char*
83  getVisualImage (const unsigned short* float_image, int width, int height,
84  unsigned short min_value=0,
85  unsigned short max_value=std::numeric_limits<unsigned short>::max (),
86  bool gray_scale=false);
87 
88  /** Use getColorForAngle for all elements of the given arrays. */
89  static unsigned char*
90  getVisualAngleImage (const float* angle_image, int width, int height);
91 
92  /** Use getColorForHalfAngle for all elements of the given arrays. */
93  static unsigned char*
94  getVisualHalfAngleImage (const float* angle_image, int width, int height);
95  };
96 
97  } // namespace end
98 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::visualization::FloatImageUtils
Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
Definition: float_image_utils.h:52
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253