cob_3d_mapping_common::PPMWriter Class Reference

2D image PPM file format writer. More...

#include <io.h>

List of all members.

Public Member Functions
	PPMWriter ()
void	setMaxZ (const float &max)
	Sets the maximum Z value for the color gradient.
void	setMinZ (const float &min)
	Sets the minimum Z value for the color gradient.
int	writeDepth (const std::string &file_name, const pcl::PointCloud< pcl::PointXYZRGB > &cloud)
	Writes the depth information of a point cloud to an ASCII formated .ppm 2D color image.
int	writeDepthLinear (const std::string &file_name, const pcl::PointCloud< pcl::PointXYZRGB > &cloud)
int	writeRGB (const std::string &file_name, const pcl::PointCloud< pcl::PointXYZRGB > &cloud)
	Writes the color information of a point cloud to an ASCII formated .ppm 2D image.
	~PPMWriter ()
Public Attributes
bool	fixed_max_
	Flag whether a max value was defined manually.
bool	fixed_min_
	Flag whether a min value was defined manually.
float	max_z_
	Holds the maximum Z value.
float	min_z_
	Holds the minimum Z value.

---

Detailed Description

2D image PPM file format writer.

Definition at line 96 of file io.h.

---

Constructor & Destructor Documentation

cob_3d_mapping_common::PPMWriter::PPMWriter

(

)

[inline]

Empty constructor

Definition at line 100 of file io.h.

cob_3d_mapping_common::PPMWriter::~PPMWriter

(

)

[inline]

Empty destructor

Definition at line 104 of file io.h.

---

Member Function Documentation

void cob_3d_mapping_common::PPMWriter::setMaxZ

(

const float &

max

)

Sets the maximum Z value for the color gradient.

Parameters:

[in]

max

the maximum Z value

Definition at line 425 of file io.cpp.

void cob_3d_mapping_common::PPMWriter::setMinZ

(

const float &

min

)

Sets the minimum Z value for the color gradient.

Parameters:

[in]

min

the minimum Z value

Definition at line 431 of file io.cpp.

int cob_3d_mapping_common::PPMWriter::writeDepth	(	const std::string &	file_name,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud
	)

Writes the depth information of a point cloud to an ASCII formated .ppm 2D color image.

The Z values of the point cloud are encoded as a color gradient with the minimum value defined by setMinZ as RGB(255,0,0) and the maximum value defined by setMaxZ as RGB(0,0,255). If no values are defined, the minimum and maximum values of the point cloud are determined automatically.

Parameters:

[in]	file_name	the output .ppm filename
[in]	cloud	the input organized point cloud

Returns:

< 0 (-1) on error, else 0

Definition at line 296 of file io.cpp.

int cob_3d_mapping_common::PPMWriter::writeDepthLinear	(	const std::string &	file_name,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud
	)

Definition at line 360 of file io.cpp.

int cob_3d_mapping_common::PPMWriter::writeRGB	(	const std::string &	file_name,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud
	)

Writes the color information of a point cloud to an ASCII formated .ppm 2D image.

Parameters:

[in]	file_name	the output .ppm filename
[in]	cloud	the input organized point cloud providing RGB fields

Returns:

-1 for error, else 0

Definition at line 261 of file io.cpp.

---

Member Data Documentation

bool cob_3d_mapping_common::PPMWriter::fixed_max_

Flag whether a max value was defined manually.

Definition at line 142 of file io.h.

bool cob_3d_mapping_common::PPMWriter::fixed_min_

Flag whether a min value was defined manually.

Definition at line 144 of file io.h.

float cob_3d_mapping_common::PPMWriter::max_z_

Holds the maximum Z value.

Definition at line 146 of file io.h.

float cob_3d_mapping_common::PPMWriter::min_z_

Holds the minimum Z value.

Definition at line 148 of file io.h.

---

The documentation for this class was generated from the following files:

• io.h
• io.cpp