Point Cloud Library (PCL)  1.12.1-dev
float_image_utils.h
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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 
42 namespace 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  */
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 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 unsigned char * getVisualHalfAngleImage(const float *angle_image, int width, int height)
Use getColorForHalfAngle for all elements of the given arrays.
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 * getVisualAngleImage(const float *angle_image, int width, int height)
Use getColorForAngle for all elements of the given arrays.
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...
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323