void
pcl::visualization::RangeImageVisualizer::visualizeBorders (
const pcl::RangeImage& range_image, float min_value, float max_value, bool grayscale,
const pcl::PointCloud<pcl::BorderDescription>& border_descriptions)
{
setRangeImage(range_image, min_value, max_value, grayscale);
for (int y=0; y<(int)range_image.height; ++y)
{
for (int x=0; x<(int)range_image.width; ++x)
{
const pcl::BorderDescription& border_description = border_descriptions.points[y*range_image.width + x];
const pcl::BorderTraits& border_traits = border_description.traits;
if (border_traits[pcl::BORDER_TRAIT__OBSTACLE_BORDER])
{
markPoint (x, y, wxGREEN_PEN);
//for (unsigned int i = 0; i < border_description.neighbors.size(); ++i)
//range_image_widget->markLine (border_description.x, border_description.y,
//border_description.neighbors[i]->x, border_description.neighbors[i]->y, wxGREEN_PEN);
}
else if (border_traits[pcl::BORDER_TRAIT__SHADOW_BORDER])
markPoint(x, y, wxCYAN_PEN);
else if (border_traits[pcl::BORDER_TRAIT__VEIL_POINT])
markPoint(x, y, wxRED_PEN);
}
}
}
NarfDescriptor::NarfDescriptor (const RangeImage* range_image, const std::vector<int>* indices) :
BaseClass (), range_image_ (), parameters_ ()
{
setRangeImage (range_image, indices);
}
