range_image_visualizer.h
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#include <pcl/pcl_config.h>
#ifndef PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
// PCL includes
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/image_viewer.h>
namespace pcl
{
namespace visualization
{
/** \brief Range image visualizer class.
* \author Bastian Steder
* \ingroup visualization
*/
class PCL_EXPORTS RangeImageVisualizer : public ImageViewer
{
public:
// =====CONSTRUCTOR & DESTRUCTOR=====
//! Constructor
RangeImageVisualizer (const std::string& name="Range Image");
//! Destructor
~RangeImageVisualizer ();
// =====PUBLIC STATIC METHODS=====
/** Get a widget visualizing the given range image.
* You are responsible for deleting it after usage! */
static RangeImageVisualizer* getRangeImageWidget (const pcl::RangeImage& range_image, float min_value,
float max_value, bool grayscale, const std::string& name="Range image");
/** Visualize the given range image and the detected borders in it.
* Borders on the obstacles are marked green, borders on the background are marked bright blue. */
void visualizeBorders (const pcl::RangeImage& range_image, float min_value, float max_value, bool grayscale,
const pcl::PointCloud<pcl::BorderDescription>& border_descriptions);
/** Same as above, but returning a new widget. You are responsible for deleting it after usage! */
static RangeImageVisualizer* getRangeImageBordersWidget (const pcl::RangeImage& range_image, float min_value,
float max_value, bool grayscale, const pcl::PointCloud<pcl::BorderDescription>& border_descriptions,
const std::string& name="Range image with borders");
/** Get a widget visualizing the given angle image (assuming values in (-PI, PI]).
* -PI and PI will return the same color
* You are responsible for deleting it after usage! */
static RangeImageVisualizer* getAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name);
/** Get a widget visualizing the given angle image (assuming values in (-PI/2, PI/2]).
* -PI/2 and PI/2 will return the same color
* You are responsible for deleting it after usage! */
static RangeImageVisualizer* getHalfAnglesWidget (const pcl::RangeImage& range_image, float* angles_image, const std::string& name);
/** Get a widget visualizing the interest values and extracted interest points.
* The interest points will be marked green.
* You are responsible for deleting it after usage! */
static RangeImageVisualizer* getInterestPointsWidget (const pcl::RangeImage& range_image, const float* interest_image, float min_value, float max_value,
const pcl::PointCloud<pcl::InterestPoint>& interest_points, const std::string& name);
// =====PUBLIC METHODS=====
//! Visualize a range image
/* void */
/* setRangeImage (const pcl::RangeImage& range_image, */
/* float min_value = -std::numeric_limits<float>::infinity (), */
/* float max_value = std::numeric_limits<float>::infinity (), */
/* bool grayscale = false); */
void
showRangeImage (const pcl::RangeImage& range_image,
float min_value = -std::numeric_limits<float>::infinity (),
float max_value = std::numeric_limits<float>::infinity (),
bool grayscale = false);
protected:
// =====PROTECTED MEMBER VARIABLES=====
std::string name_;
};
}
}
#endif //#define PCL_VISUALIZATION_RANGE_IMAGE_VISUALIZER_H_
pcl::RangeImage
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:55
pcl
Definition: convolution.h:45
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:54
pcl::visualization::RangeImageVisualizer::name_
std::string name_
Definition: range_image_visualizer.h:112
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53