56 lines
1.7 KiB
C++
Executable File
56 lines
1.7 KiB
C++
Executable File
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_IO_COLOR_H_
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#define CARTOGRAPHER_IO_COLOR_H_
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#include <array>
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#include "cartographer/common/math.h"
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#include "cartographer/common/port.h"
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namespace cartographer {
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namespace io {
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using Uint8Color = std::array<uint8, 3>;
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using FloatColor = std::array<float, 3>;
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// A function for on-demand generation of a color palette, with every two
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// direct successors having large contrast.
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FloatColor GetColor(int id);
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inline uint8 FloatComponentToUint8(float c) {
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return static_cast<uint8>(cartographer::common::RoundToInt(
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cartographer::common::Clamp(c, 0.f, 1.f) * 255));
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}
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inline float Uint8ComponentToFloat(uint8 c) { return c / 255.f; }
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inline Uint8Color ToUint8Color(const FloatColor& color) {
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return {{FloatComponentToUint8(color[0]), FloatComponentToUint8(color[1]),
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FloatComponentToUint8(color[2])}};
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}
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inline FloatColor ToFloatColor(const Uint8Color& color) {
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return {{Uint8ComponentToFloat(color[0]), Uint8ComponentToFloat(color[1]),
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Uint8ComponentToFloat(color[2])}};
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}
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_COLOR_H_
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