PclCloudLUT.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "PclCloudLUT.h"
 
#include <pcl/point_types.h>
// #include <pcl/common/colors.h>
#include <ecvColorTypes.h>
 
static const unsigned char CloudLUT[] = {
        255, 255, 255,  // default
        255, 0,   0,    // highted
};
 
static const unsigned int CloudLUT_SIZE =
        sizeof(CloudLUT) / (sizeof(CloudLUT[0]) * 3);
 
pcl::RGB PclCloudLUT::at(int color_id) {
    // assert (color_id < CloudLUT_SIZE);
    pcl::RGB color;
    if (color_id == -1) {
        color_id = -color_id;
        color.r = CloudLUT[color_id * 3 + 0];
        color.g = CloudLUT[color_id * 3 + 1];
        color.b = CloudLUT[color_id * 3 + 2];
    } else if (color_id == 0) {
        color.r = CloudLUT[color_id * 3 + 0];
        color.g = CloudLUT[color_id * 3 + 1];
        color.b = CloudLUT[color_id * 3 + 2];
    } else if (color_id > 0) {
        // color = pcl::GlasbeyLUT::at(color_id + 20);
        ecvColor::Rgb col = ecvColor::LookUpTable::at(color_id);
        color.r = col.r;
        color.g = col.g;
        color.b = col.b;
    }
 
    return (color);
}
 
size_t PclCloudLUT::size() { return CloudLUT_SIZE; }
 
const unsigned char* PclCloudLUT::data() { return CloudLUT; }