Open3D (C++ API)
ColorMap.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 
32 namespace open3d {
33 namespace visualization {
34 
35 class ColorMap {
36 public:
37  enum class ColorMapOption {
38  Gray = 0,
39  Jet = 1,
40  Summer = 2,
41  Winter = 3,
42  Hot = 4,
43  };
44 
45 public:
46  ColorMap() {}
47  virtual ~ColorMap() {}
48 
49 public:
51  virtual Eigen::Vector3d GetColor(double value) const = 0;
52 
53 protected:
54  double Interpolate(
55  double value, double y0, double x0, double y1, double x1) const {
56  if (value < x0) return y0;
57  if (value > x1) return y1;
58  return (value - x0) * (y1 - y0) / (x1 - x0) + y0;
59  }
60  Eigen::Vector3d Interpolate(double value,
61  const Eigen::Vector3d &y0,
62  double x0,
63  const Eigen::Vector3d &y1,
64  double x1) const {
65  if (value < x0) return y0;
66  if (value > x1) return y1;
67  return (value - x0) * (y1 - y0) / (x1 - x0) + y0;
68  }
69 };
70 
71 class ColorMapGray final : public ColorMap {
72 public:
73  Eigen::Vector3d GetColor(double value) const final;
74 };
75 
77 class ColorMapJet final : public ColorMap {
78 public:
79  Eigen::Vector3d GetColor(double value) const final;
80 
81 protected:
82  double JetBase(double value) const {
83  if (value <= -0.75) {
84  return 0.0;
85  } else if (value <= -0.25) {
86  return Interpolate(value, 0.0, -0.75, 1.0, -0.25);
87  } else if (value <= 0.25) {
88  return 1.0;
89  } else if (value <= 0.75) {
90  return Interpolate(value, 1.0, 0.25, 0.0, 0.75);
91  } else {
92  return 0.0;
93  }
94  }
95 };
96 
98 class ColorMapSummer final : public ColorMap {
99 public:
100  Eigen::Vector3d GetColor(double value) const final;
101 };
102 
104 class ColorMapWinter final : public ColorMap {
105 public:
106  Eigen::Vector3d GetColor(double value) const final;
107 };
108 
109 class ColorMapHot final : public ColorMap {
110 public:
111  Eigen::Vector3d GetColor(double value) const final;
112 };
113 
115 const std::shared_ptr<const ColorMap> GetGlobalColorMap();
117 
118 } // namespace visualization
119 } // namespace open3d
void SetGlobalColorMap(ColorMap::ColorMapOption option)
Definition: ColorMap.cpp:107
ColorMapOption
Definition: ColorMap.h:37
Definition: ColorMap.h:109
double Interpolate(double value, double y0, double x0, double y1, double x1) const
Definition: ColorMap.h:54
virtual ~ColorMap()
Definition: ColorMap.h:47
See Matlab&#39;s Winter colormap.
Definition: ColorMap.h:104
See Matlab&#39;s Summer colormap.
Definition: ColorMap.h:98
See Matlab&#39;s Jet colormap.
Definition: ColorMap.h:77
Definition: PinholeCameraIntrinsic.cpp:34
virtual Eigen::Vector3d GetColor(double value) const =0
Function to get a color from a value in [0..1].
const std::shared_ptr< const ColorMap > GetGlobalColorMap()
Interface functions.
Definition: ColorMap.cpp:103
ColorMap()
Definition: ColorMap.h:46
Definition: ColorMap.h:71
Eigen::Vector3d Interpolate(double value, const Eigen::Vector3d &y0, double x0, const Eigen::Vector3d &y1, double x1) const
Definition: ColorMap.h:60
double JetBase(double value) const
Definition: ColorMap.h:82
Definition: ColorMap.h:35