Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #include <pcl/pcl_config.h> 00036 00037 #ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_ 00038 #define PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_ 00039 00040 #include <pcl/pcl_macros.h> 00041 00042 #include <iostream> 00043 #include <cmath> 00044 #include <limits> 00045 00046 namespace pcl 00047 { 00048 namespace visualization 00049 { 00050 /** @b Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes 00051 * \author Bastian Steder 00052 * \ingroup visualization 00053 */ 00054 class PCL_EXPORTS FloatImageUtils 00055 { 00056 public: 00057 // =====STATIC METHODS===== 00058 /** Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) */ 00059 static void 00060 getColorForFloat (float value, unsigned char& r, unsigned char& g, unsigned char& b); 00061 00062 /** Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) 00063 * The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between */ 00064 static void 00065 getColorForAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b); 00066 00067 /** Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) 00068 * The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between */ 00069 static void 00070 getColorForHalfAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b); 00071 00072 /** Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1], 00073 * either using the given min/max values or based on the actual minimal and maximal values existing in the array. 00074 * The output is a byte array of size 3*width*height containing the colors in RGB order. 00075 * If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of 00076 * non-finite numbers, will be gray values */ 00077 static unsigned char* 00078 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); 00079 00080 /** Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1] 00081 * with the given min/max values. 00082 * The output is a byte array of size 3*width*height containing the colors in RGB order. 00083 * If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values. */ 00084 static unsigned char* 00085 getVisualImage (const unsigned short* float_image, int width, int height, 00086 unsigned short min_value=0, 00087 unsigned short max_value=std::numeric_limits<unsigned short>::max (), 00088 bool gray_scale=false); 00089 00090 /** Use getColorForAngle for all elements of the given arrays. */ 00091 static unsigned char* 00092 getVisualAngleImage (const float* angle_image, int width, int height); 00093 00094 /** Use getColorForHalfAngle for all elements of the given arrays. */ 00095 static unsigned char* 00096 getVisualHalfAngleImage (const float* angle_image, int width, int height); 00097 }; 00098 00099 } // namespace end 00100 } 00101 00102 #endif //#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_ 00103