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Add Viridis color LUT #2420

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Sep 10, 2018
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Add Viridis color LUT #2420

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484d089
Add Viridis color LUT
taketwo Sep 9, 2018
d8e02ac
Add basic unit test for ColorLUTs
taketwo Sep 9, 2018
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24 changes: 18 additions & 6 deletions common/include/pcl/common/colors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,19 +39,28 @@
#define PCL_COMMON_COLORS_H

#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>

namespace pcl
{

struct RGB;

PCL_EXPORTS RGB
getRandomColor (double min = 0.2, double max = 2.8);

/** Color lookup table consisting of 256 colors structured in a maximally
* discontinuous manner. Generated using the method of Glasbey et al.
* (see https://github.com/taketwo/glasbey) */
class PCL_EXPORTS GlasbeyLUT
enum ColorLUTName
{
/** Color lookup table consisting of 256 colors structured in a maximally
* discontinuous manner. Generated using the method of Glasbey et al.
* (see https://github.com/taketwo/glasbey) */
LUT_GLASBEY,
/** A perceptually uniform colormap created by Stéfan van der Walt and
* Nathaniel Smith for the Python matplotlib library.
* (see https://youtu.be/xAoljeRJ3lU for background and overview) */
LUT_VIRIDIS,
};

template <ColorLUTName T>
class ColorLUT
{

public:
Expand All @@ -72,6 +81,9 @@ namespace pcl

};

typedef ColorLUT<pcl::LUT_GLASBEY> GlasbeyLUT;
typedef ColorLUT<pcl::LUT_VIRIDIS> ViridisLUT;

}

#endif /* PCL_COMMON_COLORS_H */
Expand Down
296 changes: 283 additions & 13 deletions common/src/colors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
#include <pcl/point_types.h>
#include <pcl/common/colors.h>

/// Lookup table
/// Glasbey lookup table
static const unsigned char GLASBEY_LUT[] =
{
77 , 175, 74 ,
Expand Down Expand Up @@ -299,30 +299,297 @@ static const unsigned char GLASBEY_LUT[] =
117, 143, 207,
};

/// Viridis lookup table
static const unsigned char VIRIDIS_LUT[] =
{
68 , 1 , 84 ,
68 , 2 , 85 ,
69 , 3 , 87 ,
69 , 5 , 88 ,
69 , 6 , 90 ,
70 , 8 , 91 ,
70 , 9 , 93 ,
70 , 11 , 94 ,
70 , 12 , 96 ,
71 , 14 , 97 ,
71 , 15 , 98 ,
71 , 17 , 100,
71 , 18 , 101,
71 , 20 , 102,
72 , 21 , 104,
72 , 22 , 105,
72 , 24 , 106,
72 , 25 , 108,
72 , 26 , 109,
72 , 28 , 110,
72 , 29 , 111,
72 , 30 , 112,
72 , 32 , 113,
72 , 33 , 115,
72 , 34 , 116,
72 , 36 , 117,
72 , 37 , 118,
72 , 38 , 119,
72 , 39 , 120,
71 , 41 , 121,
71 , 42 , 121,
71 , 43 , 122,
71 , 44 , 123,
71 , 46 , 124,
70 , 47 , 125,
70 , 48 , 126,
70 , 49 , 126,
70 , 51 , 127,
69 , 52 , 128,
69 , 53 , 129,
69 , 54 , 129,
68 , 56 , 130,
68 , 57 , 131,
68 , 58 , 131,
67 , 59 , 132,
67 , 60 , 132,
67 , 62 , 133,
66 , 63 , 133,
66 , 64 , 134,
65 , 65 , 134,
65 , 66 , 135,
65 , 67 , 135,
64 , 69 , 136,
64 , 70 , 136,
63 , 71 , 136,
63 , 72 , 137,
62 , 73 , 137,
62 , 74 , 137,
61 , 75 , 138,
61 , 77 , 138,
60 , 78 , 138,
60 , 79 , 138,
59 , 80 , 139,
59 , 81 , 139,
58 , 82 , 139,
58 , 83 , 139,
57 , 84 , 140,
57 , 85 , 140,
56 , 86 , 140,
56 , 87 , 140,
55 , 88 , 140,
55 , 89 , 140,
54 , 91 , 141,
54 , 92 , 141,
53 , 93 , 141,
53 , 94 , 141,
52 , 95 , 141,
52 , 96 , 141,
51 , 97 , 141,
51 , 98 , 141,
51 , 99 , 141,
50 , 100, 142,
50 , 101, 142,
49 , 102, 142,
49 , 103, 142,
48 , 104, 142,
48 , 105, 142,
47 , 106, 142,
47 , 107, 142,
47 , 108, 142,
46 , 109, 142,
46 , 110, 142,
45 , 111, 142,
45 , 112, 142,
45 , 112, 142,
44 , 113, 142,
44 , 114, 142,
43 , 115, 142,
43 , 116, 142,
43 , 117, 142,
42 , 118, 142,
42 , 119, 142,
41 , 120, 142,
41 , 121, 142,
41 , 122, 142,
40 , 123, 142,
40 , 124, 142,
40 , 125, 142,
39 , 126, 142,
39 , 127, 142,
38 , 128, 142,
38 , 129, 142,
38 , 130, 142,
37 , 131, 142,
37 , 131, 142,
37 , 132, 142,
36 , 133, 142,
36 , 134, 142,
35 , 135, 142,
35 , 136, 142,
35 , 137, 142,
34 , 138, 141,
34 , 139, 141,
34 , 140, 141,
33 , 141, 141,
33 , 142, 141,
33 , 143, 141,
32 , 144, 141,
32 , 145, 140,
32 , 146, 140,
32 , 147, 140,
31 , 147, 140,
31 , 148, 140,
31 , 149, 139,
31 , 150, 139,
31 , 151, 139,
30 , 152, 139,
30 , 153, 138,
30 , 154, 138,
30 , 155, 138,
30 , 156, 137,
30 , 157, 137,
30 , 158, 137,
30 , 159, 136,
30 , 160, 136,
31 , 161, 136,
31 , 162, 135,
31 , 163, 135,
31 , 163, 134,
32 , 164, 134,
32 , 165, 134,
33 , 166, 133,
33 , 167, 133,
34 , 168, 132,
35 , 169, 131,
35 , 170, 131,
36 , 171, 130,
37 , 172, 130,
38 , 173, 129,
39 , 174, 129,
40 , 175, 128,
41 , 175, 127,
42 , 176, 127,
43 , 177, 126,
44 , 178, 125,
46 , 179, 124,
47 , 180, 124,
48 , 181, 123,
50 , 182, 122,
51 , 183, 121,
53 , 183, 121,
54 , 184, 120,
56 , 185, 119,
57 , 186, 118,
59 , 187, 117,
61 , 188, 116,
62 , 189, 115,
64 , 190, 114,
66 , 190, 113,
68 , 191, 112,
70 , 192, 111,
72 , 193, 110,
73 , 194, 109,
75 , 194, 108,
77 , 195, 107,
79 , 196, 106,
81 , 197, 105,
83 , 198, 104,
85 , 198, 102,
88 , 199, 101,
90 , 200, 100,
92 , 201, 99 ,
94 , 201, 98 ,
96 , 202, 96 ,
98 , 203, 95 ,
101, 204, 94 ,
103, 204, 92 ,
105, 205, 91 ,
108, 206, 90 ,
110, 206, 88 ,
112, 207, 87 ,
115, 208, 85 ,
117, 208, 84 ,
119, 209, 82 ,
122, 210, 81 ,
124, 210, 79 ,
127, 211, 78 ,
129, 212, 76 ,
132, 212, 75 ,
134, 213, 73 ,
137, 213, 72 ,
139, 214, 70 ,
142, 215, 68 ,
144, 215, 67 ,
147, 216, 65 ,
149, 216, 63 ,
152, 217, 62 ,
155, 217, 60 ,
157, 218, 58 ,
160, 218, 57 ,
163, 219, 55 ,
165, 219, 53 ,
168, 220, 51 ,
171, 220, 50 ,
173, 221, 48 ,
176, 221, 46 ,
179, 221, 45 ,
181, 222, 43 ,
184, 222, 41 ,
187, 223, 39 ,
189, 223, 38 ,
192, 223, 36 ,
195, 224, 35 ,
197, 224, 33 ,
200, 225, 32 ,
203, 225, 30 ,
205, 225, 29 ,
208, 226, 28 ,
211, 226, 27 ,
213, 226, 26 ,
216, 227, 25 ,
219, 227, 24 ,
221, 227, 24 ,
224, 228, 24 ,
226, 228, 24 ,
229, 228, 24 ,
232, 229, 25 ,
234, 229, 25 ,
237, 229, 26 ,
239, 230, 27 ,
242, 230, 28 ,
244, 230, 30 ,
247, 230, 31 ,
249, 231, 33 ,
251, 231, 35 ,
254, 231, 36 ,
};

/// Number of colors in Glasbey lookup table
static const size_t GLASBEY_LUT_SIZE = sizeof (GLASBEY_LUT) / (sizeof (GLASBEY_LUT[0]) * 3);

pcl::RGB
pcl::GlasbeyLUT::at (size_t color_id)
/// Number of colors in Viridis lookup table
static const size_t VIRIDIS_LUT_SIZE = sizeof (VIRIDIS_LUT) / (sizeof (VIRIDIS_LUT[0]) * 3);

static const unsigned char* LUTS[] = { GLASBEY_LUT, VIRIDIS_LUT };
static const size_t LUT_SIZES[] = { GLASBEY_LUT_SIZE, VIRIDIS_LUT_SIZE };

template<typename pcl::ColorLUTName T> pcl::RGB
pcl::ColorLUT<T>::at (size_t color_id)
{
assert (color_id < GLASBEY_LUT_SIZE);
assert (color_id < LUT_SIZES[T]);
pcl::RGB color;
color.r = GLASBEY_LUT[color_id * 3 + 0];
color.g = GLASBEY_LUT[color_id * 3 + 1];
color.b = GLASBEY_LUT[color_id * 3 + 2];
color.r = LUTS[T][color_id * 3 + 0];
color.g = LUTS[T][color_id * 3 + 1];
color.b = LUTS[T][color_id * 3 + 2];
return (color);
}

size_t
pcl::GlasbeyLUT::size ()
template<typename pcl::ColorLUTName T> size_t
pcl::ColorLUT<T>::size ()
{
return GLASBEY_LUT_SIZE;
return LUT_SIZES[T];
}

const unsigned char*
pcl::GlasbeyLUT::data ()
template<typename pcl::ColorLUTName T> const unsigned char*
pcl::ColorLUT<T>::data ()
{
return GLASBEY_LUT;
return LUTS[T];
}

pcl::RGB
Expand All @@ -346,3 +613,6 @@ pcl::getRandomColor (double min, double max)
color.b = uint8_t (b * 255.0);
return (color);
}

template class PCL_EXPORTS pcl::ColorLUT<pcl::LUT_GLASBEY>;
template class PCL_EXPORTS pcl::ColorLUT<pcl::LUT_VIRIDIS>;
1 change: 1 addition & 0 deletions test/common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ if (build)
PCL_ADD_TEST(common_bearing_angle_image test_bearing_angle_image FILES test_bearing_angle_image.cpp LINK_WITH pcl_gtest pcl_common)

PCL_ADD_TEST(common_point_type_conversion test_common_point_type_conversion FILES test_point_type_conversion.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_colors test_colors FILES test_colors.cpp LINK_WITH pcl_gtest pcl_common)

if(BUILD_io)
PCL_ADD_TEST(common_centroid test_centroid
Expand Down
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