range_image_visualizer.h
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00001 /*
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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_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:32:01