colormap.h

/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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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