pcl::visualization::FloatImageUtils Class Reference

Provide some general functionalities regarding 2d float arrays, e.g., for visualization purposes More...

#include <pcl/visualization/common/float_image_utils.h>

Static Public Member Functions
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), INFINITY(light blue), NAN(light red) More...
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), INFINITY(light blue), NAN(light red) The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between. More...
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), INFINITY(light blue), NAN(light red) The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between. More...
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 [0,1], either using the given min/max values or based on the actual minimal and maximal values existing in the array. More...
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 [0,1] with the given min/max values. More...
static unsigned char *	getVisualAngleImage (const float *angle_image, int width, int height)
	Use getColorForAngle for all elements of the given arrays. More...
static unsigned char *	getVisualHalfAngleImage (const float *angle_image, int width, int height)
	Use getColorForHalfAngle for all elements of the given arrays. More...

Detailed Description

Provide some general functionalities regarding 2d float arrays, e.g., for visualization purposes

Author

Bastian Steder

Definition at line 50 of file float_image_utils.h.

Member Function Documentation

getColorForAngle()

static void pcl::visualization::FloatImageUtils::getColorForAngle ( float  value, unsigned char &  r, unsigned char &  g, unsigned char &  b  )

static

Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between.

getColorForFloat()

static void pcl::visualization::FloatImageUtils::getColorForFloat ( float  value, unsigned char &  r, unsigned char &  g, unsigned char &  b  )

static

Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)

getColorForHalfAngle()

static void pcl::visualization::FloatImageUtils::getColorForHalfAngle ( float  value, unsigned char &  r, unsigned char &  g, unsigned char &  b  )

static

Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between.

getVisualAngleImage()

static unsigned char* pcl::visualization::FloatImageUtils::getVisualAngleImage ( const float *  angle_image, int  width, int  height  )

static

Use getColorForAngle for all elements of the given arrays.

getVisualHalfAngleImage()

static unsigned char* pcl::visualization::FloatImageUtils::getVisualHalfAngleImage ( const float *  angle_image, int  width, int  height  )

static

Use getColorForHalfAngle for all elements of the given arrays.

getVisualImage() [1/2]

static unsigned char* pcl::visualization::FloatImageUtils::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  )

static

Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1], either using the given min/max values or based on the actual minimal and maximal values existing in the array.

The output is a byte array of size 3*width*height containing the colors in RGB order. If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of non-finite numbers, will be gray values

getVisualImage() [2/2]

static unsigned char* pcl::visualization::FloatImageUtils::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  )

static

Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1] with the given min/max values.

The output is a byte array of size 3*width*height containing the colors in RGB order. If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values.

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The documentation for this class was generated from the following file:

• pcl/visualization/common/float_image_utils.h