colormap.h
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* $Id: $
* @author: Koen Buys, Anatoly Baksheev
*/
#pragma once
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/gpu/people/tree.h>
#include <pcl/gpu/containers/device_array.h>
namespace pcl
{
namespace gpu
{
namespace people
{
/** @brief gives a label and returns the color out of the colormap */
pcl::RGB getLColor(unsigned char l);
/** @brief gives a label and returns the color out of the colormap */
pcl::RGB getLColor (pcl::Label l);
void colorLMap(int W, int H, const trees::Label* l, unsigned char* c);
void colorLMap(const PointCloud<pcl::Label>& cloud_in, PointCloud<pcl::RGB>& colormap_out);
extern const unsigned char LUT_COLOR_LABEL[];
extern const int LUT_COLOR_LABEL_LENGTH;
PCL_EXPORTS void uploadColorMap(DeviceArray<pcl::RGB>& color_map);
PCL_EXPORTS void colorizeLabels(const DeviceArray<pcl::RGB>& color_map, const DeviceArray2D<unsigned char>& labels, DeviceArray2D<pcl::RGB>& color_labels);
PCL_EXPORTS void colorizeMixedLabels(const DeviceArray<RGB>& color_map, const DeviceArray2D<unsigned char>& labels,
const DeviceArray2D<RGB>& image, DeviceArray2D<RGB>& color_labels);
inline void colorFG ( int W, int H, const unsigned char* labels, unsigned char* c )
{
int numPix = W*H;
for(int pi = 0; pi < numPix; ++pi)
if(labels[pi] !=0 )
{
c[3*pi+0] = 0xFF;
c[3*pi+1] = 0x00;
c[3*pi+2] = 0x00;
}
}
} // end namespace people
} // end namespace gpu
} // end namespace pcl
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
point_types.h
pcl::gpu::people::uploadColorMap
PCL_EXPORTS void uploadColorMap(DeviceArray< pcl::RGB > &color_map)
pcl::gpu::people::colorLMap
void colorLMap(int W, int H, const trees::Label *l, unsigned char *c)
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::gpu::people::colorFG
void colorFG(int W, int H, const unsigned char *labels, unsigned char *c)
Definition: colormap.h:76
pcl::gpu::people::trees::Label
std::uint8_t Label
Definition: tree.h:73
pcl::Label
Definition: point_types.hpp:520
pcl::gpu::people::colorizeMixedLabels
PCL_EXPORTS void colorizeMixedLabels(const DeviceArray< RGB > &color_map, const DeviceArray2D< unsigned char > &labels, const DeviceArray2D< RGB > &image, DeviceArray2D< RGB > &color_labels)
pcl::gpu::people::getLColor
pcl::RGB getLColor(unsigned char l)
gives a label and returns the color out of the colormap
pcl::RGB
A structure representing RGB color information.
Definition: point_types.hpp:343
pcl::gpu::people::LUT_COLOR_LABEL_LENGTH
const int LUT_COLOR_LABEL_LENGTH
pcl::gpu::people::LUT_COLOR_LABEL
const unsigned char LUT_COLOR_LABEL[]
pcl::gpu::people::colorizeLabels
PCL_EXPORTS void colorizeLabels(const DeviceArray< pcl::RGB > &color_map, const DeviceArray2D< unsigned char > &labels, DeviceArray2D< pcl::RGB > &color_labels)
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253