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 * 00035 */ 00036 00037 #include <pcl/pcl_config.h> 00038 00039 #ifndef PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_ 00040 #define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_ 00041 00042 // PCL includes 00043 #include <pcl/range_image/range_image.h> 00044 #include <pcl/visualization/image_viewer.h> 00045 00046 namespace pcl 00047 { 00048 namespace visualization 00049 { 00054 class PCL_EXPORTS RangeImageVisualizer : public ImageViewer 00055 { 00056 public: 00057 // =====CONSTRUCTOR & DESTRUCTOR===== 00059 RangeImageVisualizer (const std::string& name="Range Image"); 00061 ~RangeImageVisualizer (); 00062 00063 // =====PUBLIC STATIC METHODS===== 00066 static RangeImageVisualizer* getRangeImageWidget (const pcl::RangeImage& range_image, float min_value, 00067 float max_value, bool grayscale, const std::string& name="Range image"); 00068 00071 void visualizeBorders (const pcl::RangeImage& range_image, float min_value, float max_value, bool grayscale, 00072 const pcl::PointCloud<pcl::BorderDescription>& border_descriptions); 00073 00075 static RangeImageVisualizer* getRangeImageBordersWidget (const pcl::RangeImage& range_image, float min_value, 00076 float max_value, bool grayscale, const pcl::PointCloud<pcl::BorderDescription>& border_descriptions, 00077 const std::string& name="Range image with borders"); 00078 00082 static RangeImageVisualizer* getAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name); 00083 00087 static RangeImageVisualizer* getHalfAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name); 00088 00089 00093 static RangeImageVisualizer* getInterestPointsWidget (const pcl::RangeImage& range_image, const float* interest_image, float min_value, float max_value, 00094 const pcl::PointCloud<pcl::InterestPoint>& interest_points, const std::string& name); 00095 00096 // =====PUBLIC METHODS===== 00098 /* void */ 00099 /* setRangeImage (const pcl::RangeImage& range_image, */ 00100 /* float min_value = -std::numeric_limits<float>::infinity (), */ 00101 /* float max_value = std::numeric_limits<float>::infinity (), */ 00102 /* bool grayscale = false); */ 00103 00104 void 00105 showRangeImage (const pcl::RangeImage& range_image, 00106 float min_value = -std::numeric_limits<float>::infinity (), 00107 float max_value = std::numeric_limits<float>::infinity (), 00108 bool grayscale = false); 00109 00110 protected: 00111 // =====PROTECTED MEMBER VARIABLES===== 00112 std::string name_; 00113 }; 00114 } 00115 } 00116 00117 #endif //#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_