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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 00040 #ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_ 00041 #define PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_ 00042 00043 #include <iostream> 00044 #include <cmath> 00045 #include <limits> 00046 00047 namespace pcl_visualization 00048 { 00051 class FloatImageUtils 00052 { 00053 public: 00054 // =====STATIC METHODS===== 00056 static void getColorForFloat(float value, unsigned char& r, unsigned char& g, unsigned char& b); 00057 00060 static void getColorForAngle(float value, unsigned char& r, unsigned char& g, unsigned char& b); 00061 00064 static void getColorForHalfAngle(float value, unsigned char& r, unsigned char& g, unsigned char& b); 00065 00071 static unsigned char* getVisualImage(const float* floatImage, int width, int height, float minValue=-std::numeric_limits<float>::infinity (), float maxValue=std::numeric_limits<float>::infinity (), bool grayScale=false); 00072 00074 static unsigned char* getVisualAngleImage(const float* angle_image, int width, int height); 00075 00077 static unsigned char* getVisualHalfAngleImage(const float* angle_image, int width, int height); 00078 }; 00079 00080 } // namespace end 00081 00082 #endif //#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_