pcl::visualization::FloatImageUtils Class Reference

Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes More...

#include <pcl/visualization/common/float_image_utils.h>

List of all members.

Static Public Member Functions
static void	getColorForFloat (float value, unsigned char &r, unsigned char &g, unsigned char &b)
	Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)
static void	getColorForAngle (float value, unsigned char &r, unsigned char &g, unsigned char &b)
	Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between.
static void	getColorForHalfAngle (float value, unsigned char &r, unsigned char &g, unsigned char &b)
	Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between.
static unsigned char *	getVisualImage (const float *float_image, int width, int height, float min_value=-std::numeric_limits< float >::infinity(), float max_value=std::numeric_limits< float >::infinity(), bool gray_scale=false)
	Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1], either using the given min/max values or based on the actual minimal and maximal values existing in the array.
static unsigned char *	getVisualImage (const unsigned short *float_image, int width, int height, unsigned short min_value=0, unsigned short max_value=std::numeric_limits< unsigned short >::max(), bool gray_scale=false)
	Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1] with the given min/max values.
static unsigned char *	getVisualAngleImage (const float *angle_image, int width, int height)
	Use getColorForAngle for all elements of the given arrays.
static unsigned char *	getVisualHalfAngleImage (const float *angle_image, int width, int height)
	Use getColorForHalfAngle for all elements of the given arrays.

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Detailed Description

Provide some gerneral functionalities regarding 2d float arrays, e.g., for visualization purposes

Author:

Bastian Steder

Definition at line 54 of file float_image_utils.h.

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Member Function Documentation

static void pcl::visualization::FloatImageUtils::getColorForAngle	(	float	value,
		unsigned char &	r,
		unsigned char &	g,
		unsigned char &	b
	)		[static]

Get RGB color values for a given float in [-PI, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) The colors are black(-PI) -> blue(-PI/2) -> white(0) -> green(PI/2) -> black(PI) with accordant values in between.

static void pcl::visualization::FloatImageUtils::getColorForFloat	(	float	value,
		unsigned char &	r,
		unsigned char &	g,
		unsigned char &	b
	)		[static]

Get RGB color values for a given float in [0, 1] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red)

static void pcl::visualization::FloatImageUtils::getColorForHalfAngle	(	float	value,
		unsigned char &	r,
		unsigned char &	g,
		unsigned char &	b
	)		[static]

Get RGB color values for a given float in [0, PI] or special cases like -INFINITY(light green), INFINITY(light blue), NAN(light red) The colors are black(-PI/2) -> blue(-PI/4) -> white(0) -> green(PI/4) -> black(PI/2) with accordant values in between.

static unsigned char* pcl::visualization::FloatImageUtils::getVisualAngleImage	(	const float *	angle_image,
		int	width,
		int	height
	)		[static]

Use getColorForAngle for all elements of the given arrays.

static unsigned char* pcl::visualization::FloatImageUtils::getVisualHalfAngleImage	(	const float *	angle_image,
		int	width,
		int	height
	)		[static]

Use getColorForHalfAngle for all elements of the given arrays.

static unsigned char* pcl::visualization::FloatImageUtils::getVisualImage	(	const float *	float_image,
		int	width,
		int	height,
		float	min_value = -std::numeric_limits< float >::infinity(),
		float	max_value = std::numeric_limits< float >::infinity(),
		bool	gray_scale = false
	)		[static]

Use getColorForFloat for all elements of the given arrays, whereas the values are first normalized to [0,1], either using the given min/max values or based on the actual minimal and maximal values existing in the array.

The output is a byte array of size 3*width*height containing the colors in RGB order. If gray_scale is true, the outcome will still be an RGB image, but all colors apart for the special colors of non-finite numbers, will be gray values

static unsigned char* pcl::visualization::FloatImageUtils::getVisualImage	(	const unsigned short *	float_image,
		int	width,
		int	height,
		unsigned short	min_value = 0,
		unsigned short	max_value = std::numeric_limits< unsigned short >::max(),
		bool	gray_scale = false
	)		[static]

Use getColorForFloat for all elements of the given arrays, whereas the values are normalized to [0,1] with the given min/max values.

The output is a byte array of size 3*width*height containing the colors in RGB order. If gray_scale is true, the outcome will still be an RGB image, but all colors will be gray values.

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

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/visualization/include/pcl/visualization/common/float_image_utils.h