histogram_visualizer.hpp

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#ifndef PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_
#define PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_
 
#include <vtkDoubleArray.h>
 
 
namespace pcl
{
 
namespace visualization
{
 
template <typename PointT> bool
PCLHistogramVisualizer::addFeatureHistogram (
    const pcl::PointCloud<PointT> &cloud, int hsize,
    const std::string &id, int win_width, int win_height)
{
  auto am_it = wins_.find (id);
  if (am_it != wins_.end ())
  {
    PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
    return (false);
  }
 
  vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
  xy_array->SetNumberOfComponents (2);
  xy_array->SetNumberOfTuples (hsize);
 
  // Parse the cloud data and store it in the array
  double xy[2];
  for (int d = 0; d < hsize; ++d)
  {
    xy[0] = d;
    xy[1] = cloud[0].histogram[d];
    xy_array->SetTuple (d, xy);
  }
  RenWinInteract renwinint;
  createActor (xy_array, renwinint, id, win_width, win_height);
 
  // Save the pointer/ID pair to the global window map
  wins_[id] = renwinint;
 
  return (true);
}
 
 
template <typename PointT> bool
PCLHistogramVisualizer::addFeatureHistogram (
    const pcl::PointCloud<PointT> &cloud,
    const std::string &field_name,
    const pcl::index_t index,
    const std::string &id, int win_width, int win_height)
{
  if (index < 0 || index >= cloud.size ())
  {
    PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
    return (false);
  }
 
  // Get the fields present in this cloud
  std::vector<pcl::PCLPointField> fields;
  // Check if our field exists
  int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
  if (field_idx == -1)
  {
    PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
    return (false);
  }
 
  auto am_it = wins_.find (id);
  if (am_it != wins_.end ())
  {
    PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
    return (false);
  }
 
  vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
  xy_array->SetNumberOfComponents (2);
  xy_array->SetNumberOfTuples (fields[field_idx].count);
 
  // Parse the cloud data and store it in the array
  double xy[2];
  for (uindex_t d = 0; d < fields[field_idx].count; ++d)
  {
    xy[0] = d;
    //xy[1] = cloud[index].histogram[d];
    float data;
    memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + d * sizeof (float), sizeof (float));
    xy[1] = data;
    xy_array->SetTuple (d, xy);
  }
  RenWinInteract renwinint;
  createActor (xy_array, renwinint, id, win_width, win_height);
 
  // Save the pointer/ID pair to the global window map
  wins_[id] = renwinint;
  return (true);
}
 
 
template <typename PointT> bool
PCLHistogramVisualizer::updateFeatureHistogram (
    const pcl::PointCloud<PointT> &cloud, int hsize,
    const std::string &id)
{
  auto am_it = wins_.find (id);
  if (am_it == wins_.end ())
  {
    PCL_WARN ("[updateFeatureHistogram] A window with id <%s> does not exists!.\n", id.c_str ());
    return (false);
  }
  RenWinInteract* renwinupd = &wins_[id];
 
  vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
  xy_array->SetNumberOfComponents (2);
  xy_array->SetNumberOfTuples (hsize);
 
  // Parse the cloud data and store it in the array
  double xy[2];
  for (int d = 0; d < hsize; ++d)
  {
    xy[0] = d;
    xy[1] = cloud[0].histogram[d];
    xy_array->SetTuple (d, xy);
  }
  reCreateActor (xy_array, renwinupd, hsize);
  return (true);
}
 
 
template <typename PointT> bool
PCLHistogramVisualizer::updateFeatureHistogram (
    const pcl::PointCloud<PointT> &cloud, const std::string &field_name, const pcl::index_t index,
    const std::string &id)
{
  if (index < 0 || index >= cloud.size ())
  {
    PCL_ERROR ("[updateFeatureHistogram] Invalid point index (%d) given!\n", index);
    return (false);
  }
 
  // Get the fields present in this cloud
  std::vector<pcl::PCLPointField> fields;
  // Check if our field exists
  int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
  if (field_idx == -1)
  {
    PCL_ERROR ("[updateFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
    return (false);
  }
 
  auto am_it = wins_.find (id);
  if (am_it == wins_.end ())
  {
    PCL_WARN ("[updateFeatureHistogram] A window with id <%s> does not exists!.\n", id.c_str ());
    return (false);
  }
  RenWinInteract* renwinupd = &wins_[id];
 
  vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
  xy_array->SetNumberOfComponents (2);
  xy_array->SetNumberOfTuples (fields[field_idx].count);
 
  // Parse the cloud data and store it in the array
  double xy[2];
  for (std::uint32_t d = 0; d < fields[field_idx].count; ++d)
  {
    xy[0] = d;
    //xy[1] = cloud[index].histogram[d];
    float data;
    memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + d * sizeof (float), sizeof (float));
    xy[1] = data;
    xy_array->SetTuple (d, xy);
  }
 
  reCreateActor (xy_array, renwinupd, cloud.fields[field_idx].count - 1);
  return (true);
}
 
} // namespace visualization
} // namespace pcl
 
#endif