Point Cloud Library (PCL)  1.9.1
float_image_utils.h
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34 
35 #include <pcl/pcl_config.h>
36 
37 #ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
38 #define PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
39 
40 #include <pcl/pcl_macros.h>
41 
42 #include <iostream>
43 #include <cmath>
44 #include <limits>
45 
46 namespace pcl
47 {
48  namespace visualization
49  {
50  /** @b Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
51  * \author Bastian Steder
52  * \ingroup visualization
53  */
54  class PCL_EXPORTS FloatImageUtils
55  {
56  public:
57  // =====STATIC METHODS=====
58  /** Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) */
59  static void
60  getColorForFloat (float value, unsigned char& r, unsigned char& g, unsigned char& b);
61 
62  /** Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
63  * The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between */
64  static void
65  getColorForAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
66 
67  /** Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
68  * The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between */
69  static void
70  getColorForHalfAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
71 
72  /** Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1],
73  * either using the given min/max values or based on the actual minimal and maximal values existing in the array.
74  * The output is a byte array of size 3*width*height containing the colors in RGB order.
75  * If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of
76  * non-finite numbers, will be gray values */
77  static unsigned char*
78  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);
79 
80  /** Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1]
81  * with the given min/max values.
82  * The output is a byte array of size 3*width*height containing the colors in RGB order.
83  * If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values. */
84  static unsigned char*
85  getVisualImage (const unsigned short* float_image, int width, int height,
86  unsigned short min_value=0,
87  unsigned short max_value=std::numeric_limits<unsigned short>::max (),
88  bool gray_scale=false);
89 
90  /** Use getColorForAngle for all elements of the given arrays. */
91  static unsigned char*
92  getVisualAngleImage (const float* angle_image, int width, int height);
93 
94  /** Use getColorForHalfAngle for all elements of the given arrays. */
95  static unsigned char*
96  getVisualHalfAngleImage (const float* angle_image, int width, int height);
97  };
98 
99  } // namespace end
100 }
101 
102 #endif //#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
103 
Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45