pcl_plotter.hpp

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#ifndef PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
#define PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_

template <typename PointT> bool
pcl::visualization::PCLPlotter::addFeatureHistogram (
    const pcl::PointCloud<PointT> &cloud, int hsize, 
    const std::string &id, int win_width, int win_height)
{
  std::vector<double> array_x(hsize), array_y(hsize);
  
  // Parse the cloud data and store it in the array
  for (int i = 0; i < hsize; ++i)
  {
    array_x[i] = i;
    array_y[i] = cloud.points[0].histogram[i];
  }
  
  this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
  setWindowSize (win_width, win_height);
  return true;
}


template <typename PointT> bool
pcl::visualization::PCLPlotter::addFeatureHistogram (
    const pcl::PointCloud<PointT> &cloud, 
    const std::string &field_name,
    const int index, 
    const std::string &id, int win_width, int win_height)
{
  if (index < 0 || index >= cloud.points.size ())
  {
    PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
    return (false);
  }

  // Get the fields present in this cloud
  std::vector<pcl::PCLPointField> fields;
  // Check if our field exists
  int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
  if (field_idx == -1)
  {
    PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
    return (false);
  }

  int hsize = fields[field_idx].count;
  std::vector<double> array_x (hsize), array_y (hsize);
  
  for (int i = 0; i < hsize; ++i)
  {
    array_x[i] = i;
    float data;
    // TODO: replace float with the real data type
    memcpy (&data, reinterpret_cast<const char*> (&cloud.points[index]) + fields[field_idx].offset + i * sizeof (float), sizeof (float));
    array_y[i] = data;
  }
  
  this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
  setWindowSize (win_width, win_height);
  return (true);
}

#endif  /* PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ */