Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ 00039 #define PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ 00040 00041 template <typename PointT> bool 00042 pcl::visualization::PCLPlotter::addFeatureHistogram ( 00043 const pcl::PointCloud<PointT> &cloud, int hsize, 00044 const std::string &id, int win_width, int win_height) 00045 { 00046 std::vector<double> array_x(hsize), array_y(hsize); 00047 00048 // Parse the cloud data and store it in the array 00049 for (int i = 0; i < hsize; ++i) 00050 { 00051 array_x[i] = i; 00052 array_y[i] = cloud.points[0].histogram[i]; 00053 } 00054 00055 this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE); 00056 setWindowSize (win_width, win_height); 00057 return true; 00058 } 00059 00060 00061 template <typename PointT> bool 00062 pcl::visualization::PCLPlotter::addFeatureHistogram ( 00063 const pcl::PointCloud<PointT> &cloud, 00064 const std::string &field_name, 00065 const int index, 00066 const std::string &id, int win_width, int win_height) 00067 { 00068 if (index < 0 || index >= cloud.points.size ()) 00069 { 00070 PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index); 00071 return (false); 00072 } 00073 00074 // Get the fields present in this cloud 00075 std::vector<pcl::PCLPointField> fields; 00076 // Check if our field exists 00077 int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields); 00078 if (field_idx == -1) 00079 { 00080 PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ()); 00081 return (false); 00082 } 00083 00084 int hsize = fields[field_idx].count; 00085 std::vector<double> array_x (hsize), array_y (hsize); 00086 00087 for (int i = 0; i < hsize; ++i) 00088 { 00089 array_x[i] = i; 00090 float data; 00091 // TODO: replace float with the real data type 00092 memcpy (&data, reinterpret_cast<const char*> (&cloud.points[index]) + fields[field_idx].offset + i * sizeof (float), sizeof (float)); 00093 array_y[i] = data; 00094 } 00095 00096 this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE); 00097 setWindowSize (win_width, win_height); 00098 return (true); 00099 } 00100 00101 #endif /* PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ */ 00102