Point Cloud Library (PCL) 1.12.0
colormap.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * $Id: $
37 * @author: Koen Buys, Anatoly Baksheev
38 */
39
40#pragma once
41
42#include <pcl/point_cloud.h>
43#include <pcl/point_types.h>
44#include <pcl/gpu/people/tree.h>
45#include <pcl/gpu/containers/device_array.h>
46
47namespace pcl
48{
49 namespace gpu
50 {
51 namespace people
52 {
53
54 /** @brief gives a label and returns the color out of the colormap */
55 pcl::RGB getLColor(unsigned char l);
56
57 /** @brief gives a label and returns the color out of the colormap */
59
60 void colorLMap(int W, int H, const trees::Label* l, unsigned char* c);
61 void colorLMap(const PointCloud<pcl::Label>& cloud_in, PointCloud<pcl::RGB>& colormap_out);
62
63
64 extern const unsigned char LUT_COLOR_LABEL[];
65 extern const int LUT_COLOR_LABEL_LENGTH;
66
69
70
71
73 const DeviceArray2D<RGB>& image, DeviceArray2D<RGB>& color_labels);
74
75
76 inline void colorFG ( int W, int H, const unsigned char* labels, unsigned char* c )
77 {
78 int numPix = W*H;
79 for(int pi = 0; pi < numPix; ++pi)
80 if(labels[pi] !=0 )
81 {
82 c[3*pi+0] = 0xFF;
83 c[3*pi+1] = 0x00;
84 c[3*pi+2] = 0x00;
85 }
86 }
87
88
89
90 } // end namespace people
91 } // end namespace gpu
92} // end namespace pcl
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
DeviceArray class
Definition: device_array.h:54
Defines all the PCL implemented PointT point type structures.
std::uint8_t Label
Definition: tree.h:73
pcl::RGB getLColor(unsigned char l)
gives a label and returns the color out of the colormap
PCL_EXPORTS void uploadColorMap(DeviceArray< pcl::RGB > &color_map)
const int LUT_COLOR_LABEL_LENGTH
void colorLMap(int W, int H, const trees::Label *l, unsigned char *c)
PCL_EXPORTS void colorizeMixedLabels(const DeviceArray< RGB > &color_map, const DeviceArray2D< unsigned char > &labels, const DeviceArray2D< RGB > &image, DeviceArray2D< RGB > &color_labels)
PCL_EXPORTS void colorizeLabels(const DeviceArray< pcl::RGB > &color_map, const DeviceArray2D< unsigned char > &labels, DeviceArray2D< pcl::RGB > &color_labels)
const unsigned char LUT_COLOR_LABEL[]
void colorFG(int W, int H, const unsigned char *labels, unsigned char *c)
Definition: colormap.h:76
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A structure representing RGB color information.