Point Cloud Library (PCL) 1.14.0
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histogram_visualizer.hpp
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38
39#ifndef PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_
40#define PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_
41
42#include <vtkDoubleArray.h>
43
44
45namespace pcl
46{
47
48namespace visualization
49{
50
51template <typename PointT> bool
53 const pcl::PointCloud<PointT> &cloud, int hsize,
54 const std::string &id, int win_width, int win_height)
55{
56 auto am_it = wins_.find (id);
57 if (am_it != wins_.end ())
58 {
59 PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
60 return (false);
61 }
62
64 xy_array->SetNumberOfComponents (2);
65 xy_array->SetNumberOfTuples (hsize);
66
67 // Parse the cloud data and store it in the array
68 double xy[2];
69 for (int d = 0; d < hsize; ++d)
70 {
71 xy[0] = d;
72 xy[1] = cloud[0].histogram[d];
73 xy_array->SetTuple (d, xy);
74 }
75 RenWinInteract renwinint;
76 createActor (xy_array, renwinint, id, win_width, win_height);
77
78 // Save the pointer/ID pair to the global window map
79 wins_[id] = renwinint;
80
81 return (true);
82}
83
84
85template <typename PointT> bool
87 const pcl::PointCloud<PointT> &cloud,
88 const std::string &field_name,
89 const pcl::index_t index,
90 const std::string &id, int win_width, int win_height)
91{
92 if (index < 0 || index >= cloud.size ())
93 {
94 PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
95 return (false);
96 }
97
98 // Get the fields present in this cloud
99 std::vector<pcl::PCLPointField> fields;
100 // Check if our field exists
101 int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
102 if (field_idx == -1)
103 {
104 PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
105 return (false);
106 }
107
108 auto am_it = wins_.find (id);
109 if (am_it != wins_.end ())
110 {
111 PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
112 return (false);
113 }
114
116 xy_array->SetNumberOfComponents (2);
117 xy_array->SetNumberOfTuples (fields[field_idx].count);
118
119 // Parse the cloud data and store it in the array
120 double xy[2];
121 for (uindex_t d = 0; d < fields[field_idx].count; ++d)
122 {
123 xy[0] = d;
124 //xy[1] = cloud[index].histogram[d];
125 float data;
126 memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + d * sizeof (float), sizeof (float));
127 xy[1] = data;
128 xy_array->SetTuple (d, xy);
129 }
130 RenWinInteract renwinint;
131 createActor (xy_array, renwinint, id, win_width, win_height);
132
133 // Save the pointer/ID pair to the global window map
134 wins_[id] = renwinint;
135 return (true);
136}
137
138
139template <typename PointT> bool
141 const pcl::PointCloud<PointT> &cloud, int hsize,
142 const std::string &id)
143{
144 auto am_it = wins_.find (id);
145 if (am_it == wins_.end ())
146 {
147 PCL_WARN ("[updateFeatureHistogram] A window with id <%s> does not exists!.\n", id.c_str ());
148 return (false);
149 }
150 RenWinInteract* renwinupd = &wins_[id];
151
153 xy_array->SetNumberOfComponents (2);
154 xy_array->SetNumberOfTuples (hsize);
155
156 // Parse the cloud data and store it in the array
157 double xy[2];
158 for (int d = 0; d < hsize; ++d)
159 {
160 xy[0] = d;
161 xy[1] = cloud[0].histogram[d];
162 xy_array->SetTuple (d, xy);
163 }
164 reCreateActor (xy_array, renwinupd, hsize);
165 return (true);
166}
167
168
169template <typename PointT> bool
171 const pcl::PointCloud<PointT> &cloud, const std::string &field_name, const pcl::index_t index,
172 const std::string &id)
173{
174 if (index < 0 || index >= cloud.size ())
175 {
176 PCL_ERROR ("[updateFeatureHistogram] Invalid point index (%d) given!\n", index);
177 return (false);
178 }
179
180 // Get the fields present in this cloud
181 std::vector<pcl::PCLPointField> fields;
182 // Check if our field exists
183 int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
184 if (field_idx == -1)
185 {
186 PCL_ERROR ("[updateFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
187 return (false);
188 }
189
190 auto am_it = wins_.find (id);
191 if (am_it == wins_.end ())
192 {
193 PCL_WARN ("[updateFeatureHistogram] A window with id <%s> does not exists!.\n", id.c_str ());
194 return (false);
195 }
196 RenWinInteract* renwinupd = &wins_[id];
197
199 xy_array->SetNumberOfComponents (2);
200 xy_array->SetNumberOfTuples (fields[field_idx].count);
201
202 // Parse the cloud data and store it in the array
203 double xy[2];
204 for (std::uint32_t d = 0; d < fields[field_idx].count; ++d)
205 {
206 xy[0] = d;
207 //xy[1] = cloud[index].histogram[d];
208 float data;
209 memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + d * sizeof (float), sizeof (float));
210 xy[1] = data;
211 xy_array->SetTuple (d, xy);
212 }
213
214 reCreateActor (xy_array, renwinupd, cloud.fields[field_idx].count - 1);
215 return (true);
216}
217
218} // namespace visualization
219} // namespace pcl
220
221#endif
222
PointCloud represents the base class in PCL for storing collections of 3D points.
std::size_t size() const
bool addFeatureHistogram(const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud", int win_width=640, int win_height=200)
Add a histogram feature to screen as a separate window, from a cloud containing a single histogram.
bool updateFeatureHistogram(const pcl::PointCloud< PointT > &cloud, int hsize, const std::string &id="cloud")
Update a histogram feature that is already on screen, with a cloud containing a single histogram.
void createActor(const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract &renwinint, const std::string &id, const int win_width, const int win_height)
Create a 2D actor from the given vtkDoubleArray histogram and add it to the screen.
void reCreateActor(const vtkSmartPointer< vtkDoubleArray > &xy_array, RenWinInteract *renwinupd, const int hsize)
Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add...
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112