Point Cloud Library (PCL)  1.12.0-dev
range_image_visualizer.h
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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 
44 namespace pcl
45 {
46  namespace visualization
47  {
48  /** \brief Range image visualizer class.
49  * \author Bastian Steder
50  * \ingroup visualization
51  */
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 }
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::RangeImage
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:54
pcl::visualization::ImageViewer
ImageViewer is a class for 2D image visualization.
Definition: image_viewer.h:118
pcl::visualization::RangeImageVisualizer
Range image visualizer class.
Definition: range_image_visualizer.h:52
pcl::visualization::RangeImageVisualizer::name_
std::string name_
Definition: range_image_visualizer.h:110
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323