Point Cloud Library (PCL) 1.13.0
pcl_plotter.hpp
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37
38#ifndef PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
39#define PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_
40
41
42namespace pcl
43{
44
45namespace visualization
46{
47
48template <typename PointT> bool
50 const pcl::PointCloud<PointT> &cloud, int hsize,
51 const std::string &id, int win_width, int win_height)
52{
53 std::vector<double> array_x(hsize), array_y(hsize);
54
55 // Parse the cloud data and store it in the array
56 for (int i = 0; i < hsize; ++i)
57 {
58 array_x[i] = i;
59 array_y[i] = cloud[0].histogram[i];
60 }
61
62 this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
63 setWindowSize (win_width, win_height);
64 return true;
65}
66
67
68template <typename PointT> bool
70 const pcl::PointCloud<PointT> &cloud,
71 const std::string &field_name,
72 const pcl::index_t index,
73 const std::string &id, int win_width, int win_height)
74{
75 if (index < 0 || index >= cloud.size ())
76 {
77 PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
78 return (false);
79 }
80
81 // Get the fields present in this cloud
82 std::vector<pcl::PCLPointField> fields;
83 // Check if our field exists
84 int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
85 if (field_idx == -1)
86 {
87 PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
88 return (false);
89 }
90
91 int hsize = fields[field_idx].count;
92 std::vector<double> array_x (hsize), array_y (hsize);
93
94 for (int i = 0; i < hsize; ++i)
95 {
96 array_x[i] = i;
97 float data;
98 // TODO: replace float with the real data type
99 memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + i * sizeof (float), sizeof (float));
100 array_y[i] = data;
101 }
102
103 this->addPlotData(array_x, array_y, id.c_str(), vtkChart::LINE);
104 setWindowSize (win_width, win_height);
105 return (true);
106}
107
108} // namespace visualization
109} // namespace pcl
110
111#endif /* PCL_VISUALUALIZATION_PCL_PLOTTER_IMPL_H_ */
112
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
std::size_t size() const
Definition: point_cloud.h:443
void addPlotData(double const *array_X, double const *array_Y, unsigned long size, char const *name="Y Axis", int type=vtkChart::LINE, char const *color=nullptr)
Adds a plot with correspondences in the arrays arrayX and arrayY.
void setWindowSize(int w, int h)
set/get method for the window size.
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.
Definition: pcl_plotter.hpp:49
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