Point Cloud Library (PCL) 1.12.0
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range_image_visualizer.h
1/*
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36
37#pragma once
38
39// PCL includes
40#include <pcl/pcl_config.h>
41#include <pcl/range_image/range_image.h>
42#include <pcl/visualization/image_viewer.h>
43
44namespace pcl
45{
46 namespace visualization
47 {
48 /** \brief Range image visualizer class.
49 * \author Bastian Steder
50 * \ingroup visualization
51 */
52 class PCL_EXPORTS RangeImageVisualizer : public ImageViewer
53 {
54 public:
55 // =====CONSTRUCTOR & DESTRUCTOR=====
56 //! Constructor
57 RangeImageVisualizer (const std::string& name="Range Image");
58 //! Destructor
60
61 // =====PUBLIC STATIC METHODS=====
62 /** Get a widget visualizing the given range image.
63 * You are responsible for deleting it after usage! */
64 static RangeImageVisualizer* getRangeImageWidget (const pcl::RangeImage& range_image, float min_value,
65 float max_value, bool grayscale, const std::string& name="Range image");
66
67 /** Visualize the given range image and the detected borders in it.
68 * Borders on the obstacles are marked green, borders on the background are marked bright blue. */
69 void visualizeBorders (const pcl::RangeImage& range_image, float min_value, float max_value, bool grayscale,
70 const pcl::PointCloud<pcl::BorderDescription>& border_descriptions);
71
72 /** Same as above, but returning a new widget. You are responsible for deleting it after usage! */
73 static RangeImageVisualizer* getRangeImageBordersWidget (const pcl::RangeImage& range_image, float min_value,
74 float max_value, bool grayscale, const pcl::PointCloud<pcl::BorderDescription>& border_descriptions,
75 const std::string& name="Range image with borders");
76
77 /** Get a widget visualizing the given angle image (assuming values in (-PI, PI]).
78 * -PI and PI will return the same color
79 * You are responsible for deleting it after usage! */
80 static RangeImageVisualizer* getAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name);
81
82 /** Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).
83 * -PI/2 and PI/2 will return the same color
84 * You are responsible for deleting it after usage! */
85 static RangeImageVisualizer* getHalfAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name);
86
87
88 /** Get a widget visualizing the interest values and extracted interest points.
89 * The interest points will be marked green.
90 * You are responsible for deleting it after usage! */
91 static RangeImageVisualizer* getInterestPointsWidget (const pcl::RangeImage& range_image, const float* interest_image, float min_value, float max_value,
92 const pcl::PointCloud<pcl::InterestPoint>& interest_points, const std::string& name);
93
94 // =====PUBLIC METHODS=====
95 //! Visualize a range image
96 /* void */
97 /* setRangeImage (const pcl::RangeImage& range_image, */
98 /* float min_value = -std::numeric_limits<float>::infinity (), */
99 /* float max_value = std::numeric_limits<float>::infinity (), */
100 /* bool grayscale = false); */
101
102 void
103 showRangeImage (const pcl::RangeImage& range_image,
104 float min_value = -std::numeric_limits<float>::infinity (),
105 float max_value = std::numeric_limits<float>::infinity (),
106 bool grayscale = false);
107
108 protected:
109 // =====PROTECTED MEMBER VARIABLES=====
110 std::string name_;
111 };
112 }
113}
PointCloud represents the base class in PCL for storing collections of 3D points.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition range_image.h:55
ImageViewer is a class for 2D image visualization.
static RangeImageVisualizer * getRangeImageBordersWidget(const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions, const std::string &name="Range image with borders")
Same as above, but returning a new widget.
static RangeImageVisualizer * getHalfAnglesWidget(const pcl::RangeImage &range_image, float *angles_image, const std::string &name)
Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).
static RangeImageVisualizer * getAnglesWidget(const pcl::RangeImage &range_image, float *angles_image, const std::string &name)
Get a widget visualizing the given angle image (assuming values in (-PI, PI]).
static RangeImageVisualizer * getInterestPointsWidget(const pcl::RangeImage &range_image, const float *interest_image, float min_value, float max_value, const pcl::PointCloud< pcl::InterestPoint > &interest_points, const std::string &name)
Get a widget visualizing the interest values and extracted interest points.
static RangeImageVisualizer * getRangeImageWidget(const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const std::string &name="Range image")
Get a widget visualizing the given range image.
void visualizeBorders(const pcl::RangeImage &range_image, float min_value, float max_value, bool grayscale, const pcl::PointCloud< pcl::BorderDescription > &border_descriptions)
Visualize the given range image and the detected borders in it.
void showRangeImage(const pcl::RangeImage &range_image, float min_value=-std::numeric_limits< float >::infinity(), float max_value=std::numeric_limits< float >::infinity(), bool grayscale=false)
Visualize a range image.
RangeImageVisualizer(const std::string &name="Range Image")
Constructor.