Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: histogram_visualizer.hpp 3000 2011-10-31 22:57:26Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_ 00039 #define PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_ 00040 00042 template <typename PointT> bool 00043 pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram ( 00044 const pcl::PointCloud<PointT> &cloud, int hsize, 00045 const std::string &id, int win_width, int win_height) 00046 { 00047 RenWinInteractMap::iterator am_it = wins_.find (id); 00048 if (am_it != wins_.end ()) 00049 { 00050 PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ()); 00051 return (false); 00052 } 00053 00054 vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New (); 00055 xy_array->SetNumberOfComponents (2); 00056 xy_array->SetNumberOfTuples (hsize); 00057 00058 // Parse the cloud data and store it in the array 00059 double xy[2]; 00060 for (int d = 0; d < hsize; ++d) 00061 { 00062 xy[0] = d; 00063 xy[1] = cloud.points[0].histogram[d]; 00064 xy_array->SetTuple (d, xy); 00065 } 00066 RenWinInteract renwinint; 00067 createActor (xy_array, renwinint, id, win_width, win_height); 00068 00069 // Save the pointer/ID pair to the global window map 00070 wins_[id] = renwinint; 00071 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00072 resetStoppedFlag (); 00073 #endif 00074 return (true); 00075 } 00076 00078 template <typename PointT> bool 00079 pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram ( 00080 const pcl::PointCloud<PointT> &cloud, 00081 const std::string &field_name, 00082 const int index, 00083 const std::string &id, int win_width, int win_height) 00084 { 00085 if (index < 0 || index >= cloud.points.size ()) 00086 { 00087 PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index); 00088 return (false); 00089 } 00090 00091 // Get the fields present in this cloud 00092 std::vector<sensor_msgs::PointField> fields; 00093 // Check if our field exists 00094 int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields); 00095 if (field_idx == -1) 00096 { 00097 PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ()); 00098 return (false); 00099 } 00100 00101 RenWinInteractMap::iterator am_it = wins_.find (id); 00102 if (am_it != wins_.end ()) 00103 { 00104 PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ()); 00105 return (false); 00106 } 00107 00108 vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New (); 00109 xy_array->SetNumberOfComponents (2); 00110 xy_array->SetNumberOfTuples (fields[field_idx].count); 00111 00112 // Parse the cloud data and store it in the array 00113 double xy[2]; 00114 for (int d = 0; d < fields[field_idx].count; ++d) 00115 { 00116 xy[0] = d; 00117 //xy[1] = cloud.points[index].histogram[d]; 00118 float data; 00119 memcpy (&data, (const char*)&cloud.points[index] + fields[field_idx].offset + d * sizeof (float), sizeof (float)); 00120 xy[1] = data; 00121 xy_array->SetTuple (d, xy); 00122 } 00123 RenWinInteract renwinint; 00124 createActor (xy_array, renwinint, id, win_width, win_height); 00125 00126 // Save the pointer/ID pair to the global window map 00127 wins_[id] = renwinint; 00128 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4)) 00129 resetStoppedFlag (); 00130 #endif 00131 return (true); 00132 } 00133 00134 #endif 00135