Point Cloud Library (PCL) 1.12.0
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float_image_utils.h
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2010, Willow Garage, Inc.
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34
35#pragma once
36
37#include <pcl/pcl_config.h>
38#include <pcl/pcl_macros.h>
39
40#include <limits>
41
42namespace pcl
43{
44 namespace visualization
45 {
46 /** @b Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
47 * \author Bastian Steder
48 * \ingroup visualization
49 */
50 class PCL_EXPORTS FloatImageUtils
51 {
52 public:
53 // =====STATIC METHODS=====
54 /** Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) */
55 static void
56 getColorForFloat (float value, unsigned char& r, unsigned char& g, unsigned char& b);
57
58 /** Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
59 * The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between */
60 static void
61 getColorForAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
62
63 /** Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
64 * The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between */
65 static void
66 getColorForHalfAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
67
68 /** Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1],
69 * either using the given min/max values or based on the actual minimal and maximal values existing in the array.
70 * The output is a byte array of size 3*width*height containing the colors in RGB order.
71 * If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of
72 * non-finite numbers, will be gray values */
73 static unsigned char*
74 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);
75
76 /** Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1]
77 * with the given min/max values.
78 * The output is a byte array of size 3*width*height containing the colors in RGB order.
79 * If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values. */
80 static unsigned char*
81 getVisualImage (const unsigned short* float_image, int width, int height,
82 unsigned short min_value=0,
83 unsigned short max_value=std::numeric_limits<unsigned short>::max (),
84 bool gray_scale=false);
85
86 /** Use getColorForAngle for all elements of the given arrays. */
87 static unsigned char*
88 getVisualAngleImage (const float* angle_image, int width, int height);
89
90 /** Use getColorForHalfAngle for all elements of the given arrays. */
91 static unsigned char*
92 getVisualHalfAngleImage (const float* angle_image, int width, int height);
93 };
94
95 } // namespace end
96}
Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
static unsigned char * getVisualHalfAngleImage(const float *angle_image, int width, int height)
Use getColorForHalfAngle for all elements of the given arrays.
static void getColorForHalfAngle(float value, unsigned char &r, unsigned char &g, unsigned char &b)
Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green),...
static void getColorForFloat(float value, unsigned char &r, unsigned char &g, unsigned char &b)
Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green),...
static void getColorForAngle(float value, unsigned char &r, unsigned char &g, unsigned char &b)
Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green),...
static unsigned char * getVisualImage(const unsigned short *float_image, int width, int height, unsigned short min_value=0, unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool gray_scale=false)
Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,...
static unsigned char * 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)
Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to...
static unsigned char * getVisualAngleImage(const float *angle_image, int width, int height)
Use getColorForAngle for all elements of the given arrays.
Defines all the PCL and non-PCL macros used.