113 lines
3.6 KiB
C++
113 lines
3.6 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
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#define PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
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namespace pcl
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{
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namespace visualization
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{
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template <typename PointT> bool
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PCLPlotter::addFeatureHistogram (
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const pcl::PointCloud<PointT> &cloud, int hsize,
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const std::string &id, int win_width, int win_height)
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{
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std::vector<double> array_x(hsize), array_y(hsize);
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// Parse the cloud data and store it in the array
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for (int i = 0; i < hsize; ++i)
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{
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array_x[i] = i;
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array_y[i] = cloud[0].histogram[i];
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}
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this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
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setWindowSize (win_width, win_height);
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return true;
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}
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template <typename PointT> bool
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PCLPlotter::addFeatureHistogram (
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const pcl::PointCloud<PointT> &cloud,
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const std::string &field_name,
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const pcl::index_t index,
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const std::string &id, int win_width, int win_height)
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{
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if (index < 0 || index >= cloud.size ())
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{
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PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
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return (false);
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}
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// Get the fields present in this cloud
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std::vector<pcl::PCLPointField> fields;
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// Check if our field exists
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int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
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if (field_idx == -1)
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{
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PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
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return (false);
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}
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int hsize = fields[field_idx].count;
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std::vector<double> array_x (hsize), array_y (hsize);
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for (int i = 0; i < hsize; ++i)
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{
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array_x[i] = i;
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float data;
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// TODO: replace float with the real data type
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memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + i * sizeof (float), sizeof (float));
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array_y[i] = data;
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}
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this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
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setWindowSize (win_width, win_height);
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return (true);
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}
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} // namespace visualization
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} // namespace pcl
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#endif /* PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ */
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