Open3D (C++ API)  0.16.0
ColorMap.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28
29#include <Eigen/Core>
30#include <memory>
31
32namespace open3d {
33namespace visualization {
34
35class ColorMap {
36public:
37 enum class ColorMapOption {
38 Gray = 0,
39 Jet = 1,
40 Summer = 2,
41 Winter = 3,
42 Hot = 4,
43 };
44
45public:
47 virtual ~ColorMap() {}
48
49public:
51 virtual Eigen::Vector3d GetColor(double value) const = 0;
52
53protected:
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
71class ColorMapGray final : public ColorMap {
72public:
73 Eigen::Vector3d GetColor(double value) const final;
74};
75
77class ColorMapJet final : public ColorMap {
78public:
79 Eigen::Vector3d GetColor(double value) const final;
80
81protected:
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
98class ColorMapSummer final : public ColorMap {
99public:
100 Eigen::Vector3d GetColor(double value) const final;
101};
102
104class ColorMapWinter final : public ColorMap {
105public:
106 Eigen::Vector3d GetColor(double value) const final;
107};
108
109class ColorMapHot final : public ColorMap {
110public:
111 Eigen::Vector3d GetColor(double value) const final;
112};
113
115const std::shared_ptr<const ColorMap> GetGlobalColorMap();
117
118} // namespace visualization
119} // namespace open3d
Definition: ColorMap.h:71
Eigen::Vector3d GetColor(double value) const final
Function to get a color from a value in [0..1].
Definition: ColorMap.cpp:63
Definition: ColorMap.h:109
Eigen::Vector3d GetColor(double value) const final
Function to get a color from a value in [0..1].
Definition: ColorMap.cpp:83
Definition: ColorMap.h:35
ColorMapOption
Definition: ColorMap.h:37
virtual ~ColorMap()
Definition: ColorMap.h:47
virtual Eigen::Vector3d GetColor(double value) const =0
Function to get a color from a value in [0..1].
Eigen::Vector3d Interpolate(double value, const Eigen::Vector3d &y0, double x0, const Eigen::Vector3d &y1, double x1) const
Definition: ColorMap.h:60
double Interpolate(double value, double y0, double x0, double y1, double x1) const
Definition: ColorMap.h:54
ColorMap()
Definition: ColorMap.h:46
See Matlab's Jet colormap.
Definition: ColorMap.h:77
double JetBase(double value) const
Definition: ColorMap.h:82
Eigen::Vector3d GetColor(double value) const final
Function to get a color from a value in [0..1].
Definition: ColorMap.cpp:67
See Matlab's Summer colormap.
Definition: ColorMap.h:98
Eigen::Vector3d GetColor(double value) const final
Function to get a color from a value in [0..1].
Definition: ColorMap.cpp:73
See Matlab's Winter colormap.
Definition: ColorMap.h:104
Eigen::Vector3d GetColor(double value) const final
Function to get a color from a value in [0..1].
Definition: ColorMap.cpp:78
const std::shared_ptr< const ColorMap > GetGlobalColorMap()
Interface functions.
Definition: ColorMap.cpp:103
void SetGlobalColorMap(ColorMap::ColorMapOption option)
Definition: ColorMap.cpp:107
Definition: PinholeCameraIntrinsic.cpp:35