float_image_utils.h

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#include <pcl/pcl_config.h>

#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_
#define PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_

#include <pcl/pcl_macros.h>

#include <iostream>
#include <cmath>
#include <limits>

namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS FloatImageUtils
    {
      public:
        // =====STATIC METHODS=====
        static void 
        getColorForFloat (float value, unsigned char& r, unsigned char& g, unsigned char& b);
        
        static void 
        getColorForAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
        
        static void 
        getColorForHalfAngle (float value, unsigned char& r, unsigned char& g, unsigned char& b);
        
        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);
        
        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);
        
        static unsigned char* 
        getVisualAngleImage (const float* angle_image, int width, int height);

        static unsigned char* 
        getVisualHalfAngleImage (const float* angle_image, int width, int height);
    };

  }  // namespace end
}

#endif  //#ifndef PCL_VISUALIZATION_FLOAT_IMAGE_UTILS_H_