Point Cloud Library (PCL)
1.7.0
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include
pcl
visualization
common
float_image_utils.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <pcl/pcl_config.h>
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#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
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#define PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
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#include <pcl/pcl_macros.h>
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#include <iostream>
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#include <cmath>
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#include <limits>
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namespace
pcl
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{
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namespace
visualization
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{
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/** @b Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
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* \author Bastian Steder
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* \ingroup visualization
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*/
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class
PCL_EXPORTS
FloatImageUtils
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{
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public
:
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// =====STATIC METHODS=====
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/** Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) */
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static
void
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getColorForFloat (
float
value,
unsigned
char
& r,
unsigned
char
& g,
unsigned
char
& b);
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/** Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
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* The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between */
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static
void
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getColorForAngle (
float
value,
unsigned
char
& r,
unsigned
char
& g,
unsigned
char
& b);
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/** Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
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* The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between */
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static
void
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getColorForHalfAngle (
float
value,
unsigned
char
& r,
unsigned
char
& g,
unsigned
char
& b);
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/** Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1],
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* either using the given min/max values or based on the actual minimal and maximal values existing in the array.
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* The output is a byte array of size 3*width*height containing the colors in RGB order.
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* If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of
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* non-finite numbers, will be gray values */
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static
unsigned
char
*
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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
);
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/** Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1]
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* with the given min/max values.
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* The output is a byte array of size 3*width*height containing the colors in RGB order.
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* If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values. */
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static
unsigned
char
*
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getVisualImage (
const
unsigned
short
* float_image,
int
width,
int
height,
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unsigned
short
min_value=0,
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unsigned
short
max_value=std::numeric_limits<unsigned short>::max (),
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bool
gray_scale=
false
);
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/** Use getColorForAngle for all elements of the given arrays. */
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static
unsigned
char
*
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getVisualAngleImage (
const
float
* angle_image,
int
width,
int
height);
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/** Use getColorForHalfAngle for all elements of the given arrays. */
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static
unsigned
char
*
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getVisualHalfAngleImage (
const
float
* angle_image,
int
width,
int
height);
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};
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}
// namespace end
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}
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#endif //#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
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