Add Viridis color LUT

PointCloudLibrary · Sep 9, 2018 · 7bdafde · 7bdafde
1 parent 711ce28
commit 7bdafde
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Showing 4 changed files with 320 additions and 19 deletions.
diff --git a/common/include/pcl/common/colors.h b/common/include/pcl/common/colors.h
@@ -48,10 +48,20 @@ namespace pcl
   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:
@@ -72,6 +82,9 @@ namespace pcl
 
   };
 
+  typedef ColorLUT<pcl::LUT_GLASBEY> GlasbeyLUT;
+  typedef ColorLUT<pcl::LUT_VIRIDIS> ViridisLUT;
+
 }
 
 #endif /* PCL_COMMON_COLORS_H */

diff --git a/common/src/colors.cpp b/common/src/colors.cpp
@@ -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 ,
@@ -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
@@ -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>;
diff --git a/visualization/include/pcl/visualization/common/common.h b/visualization/include/pcl/visualization/common/common.h
@@ -131,7 +131,8 @@ namespace pcl
       PCL_VISUALIZER_LUT_HSV_INVERSE,   /**< Inverse HSV colormap */
       PCL_VISUALIZER_LUT_GREY,          /**< Grey colormap (black to white) */
       PCL_VISUALIZER_LUT_BLUE2RED,      /**< Blue to red colormap (blue to white to red) */
-      PCL_VISUALIZER_LUT_RANGE_AUTO     /**< Set LUT range to min and max values of the data */
+      PCL_VISUALIZER_LUT_RANGE_AUTO,    /**< Set LUT range to min and max values of the data */
+      PCL_VISUALIZER_LUT_VIRIDIS        /**< Viridis colormap */
     };
 
     /** \brief Generate a lookup table for a colormap.