Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/visualization/include/pcl/visualization/range_image_visualizer.h
00001 /*
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00036 
00037 #include <pcl/pcl_config.h>
00038 
00039 #ifndef PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
00040 #define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
00041 
00042 // PCL includes
00043 #include <pcl/range_image/range_image.h>
00044 #include <pcl/visualization/image_viewer.h>
00045 
00046 namespace pcl
00047 {
00048   namespace visualization
00049   {
00050     /** \brief Range image visualizer class.
00051       * \author Bastian Steder
00052       * \ingroup visualization
00053       */
00054     class PCL_EXPORTS RangeImageVisualizer : public ImageViewer
00055     {
00056       public:
00057         // =====CONSTRUCTOR & DESTRUCTOR=====
00058         //! Constructor
00059         RangeImageVisualizer (const std::string& name="Range Image");
00060         //! Destructor
00061         ~RangeImageVisualizer ();
00062         
00063         // =====PUBLIC STATIC METHODS=====
00064         /** Get a widget visualizing the given range image.
00065          *  You are responsible for deleting it after usage! */
00066         static RangeImageVisualizer* getRangeImageWidget (const pcl::RangeImage& range_image, float min_value,
00067                                                   float max_value, bool grayscale, const std::string& name="Range image");
00068         
00069         /** Visualize the given range image and the detected borders in it.
00070          *  Borders on the obstacles are marked green, borders on the background are marked bright blue. */
00071         void visualizeBorders (const pcl::RangeImage& range_image, float min_value, float max_value, bool grayscale,
00072                                const pcl::PointCloud<pcl::BorderDescription>& border_descriptions);
00073         
00074         /** Same as above, but returning a new widget. You are responsible for deleting it after usage! */
00075         static RangeImageVisualizer* getRangeImageBordersWidget (const pcl::RangeImage& range_image, float min_value,
00076                       float max_value, bool grayscale, const pcl::PointCloud<pcl::BorderDescription>& border_descriptions,
00077                       const std::string& name="Range image with borders");
00078         
00079         /** Get a widget visualizing the given angle image (assuming values in (-PI, PI]).
00080          *  -PI and PI will return the same color
00081          *  You are responsible for deleting it after usage! */
00082         static RangeImageVisualizer* getAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name);
00083         
00084         /** Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).
00085          *  -PI/2 and PI/2 will return the same color
00086          *  You are responsible for deleting it after usage! */
00087         static RangeImageVisualizer* getHalfAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name);
00088 
00089         
00090         /** Get a widget visualizing the interest values and extracted interest points.
00091          * The interest points will be marked green.
00092          *  You are responsible for deleting it after usage! */
00093         static RangeImageVisualizer* getInterestPointsWidget (const pcl::RangeImage& range_image, const float* interest_image, float min_value, float max_value,
00094                                                               const pcl::PointCloud<pcl::InterestPoint>& interest_points, const std::string& name);
00095 
00096         // =====PUBLIC METHODS=====
00097         //! Visualize a range image
00098         /* void  */
00099         /* setRangeImage (const pcl::RangeImage& range_image,  */
00100         /*                float min_value = -std::numeric_limits<float>::infinity (),  */
00101         /*                float max_value =  std::numeric_limits<float>::infinity (),  */
00102         /*                bool grayscale  = false); */
00103 
00104         void 
00105         showRangeImage (const pcl::RangeImage& range_image, 
00106                        float min_value = -std::numeric_limits<float>::infinity (), 
00107                        float max_value =  std::numeric_limits<float>::infinity (), 
00108                        bool grayscale  = false);
00109         
00110       protected:
00111         // =====PROTECTED MEMBER VARIABLES=====
00112         std::string name_;
00113     };
00114   }
00115 }
00116 
00117 #endif  //#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_