Point Cloud Library (PCL)  1.11.1-dev
pcl_plotter.hpp
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37 
38 #ifndef PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
39 #define PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
40 
41 
42 namespace pcl
43 {
44 
45 namespace visualization
46 {
47 
48 template <typename PointT> bool
50  const pcl::PointCloud<PointT> &cloud, int hsize,
51  const std::string &id, int win_width, int win_height)
52 {
53  std::vector<double> array_x(hsize), array_y(hsize);
54 
55  // Parse the cloud data and store it in the array
56  for (int i = 0; i < hsize; ++i)
57  {
58  array_x[i] = i;
59  array_y[i] = cloud[0].histogram[i];
60  }
61 
62  this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
63  setWindowSize (win_width, win_height);
64  return true;
65 }
66 
67 
68 template <typename PointT> bool
70  const pcl::PointCloud<PointT> &cloud,
71  const std::string &field_name,
72  const pcl::index_t index,
73  const std::string &id, int win_width, int win_height)
74 {
75  if (index < 0 || index >= cloud.size ())
76  {
77  PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
78  return (false);
79  }
80 
81  // Get the fields present in this cloud
82  std::vector<pcl::PCLPointField> fields;
83  // Check if our field exists
84  int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
85  if (field_idx == -1)
86  {
87  PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
88  return (false);
89  }
90 
91  int hsize = fields[field_idx].count;
92  std::vector<double> array_x (hsize), array_y (hsize);
93 
94  for (int i = 0; i < hsize; ++i)
95  {
96  array_x[i] = i;
97  float data;
98  // TODO: replace float with the real data type
99  memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + i * sizeof (float), sizeof (float));
100  array_y[i] = data;
101  }
102 
103  this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
104  setWindowSize (win_width, win_height);
105  return (true);
106 }
107 
108 } // namespace visualization
109 } // namespace pcl
110 
111 #endif /* PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ */
112 
pcl
Definition: convolution.h:46
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::index_t
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:110
pcl::visualization::PCLPlotter::setWindowSize
void setWindowSize(int w, int h)
set/get method for the window size.
pcl::visualization::PCLPlotter::addPlotData
void addPlotData(double const *array_X, double const *array_Y, unsigned long size, char const *name="Y Axis", int type=vtkChart::LINE, char const *color=nullptr)
Adds a plot with correspondences in the arrays arrayX and arrayY.
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:437
pcl::visualization::PCLPlotter::addFeatureHistogram
bool addFeatureHistogram(const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud", int win_width=640, int win_height=200)
Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
Definition: pcl_plotter.hpp:49