CARLA
ColorConverter.h
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1 // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
2 // de Barcelona (UAB).
3 //
4 // This work is licensed under the terms of the MIT license.
5 // For a copy, see <https://opensource.org/licenses/MIT>.
6 
7 #pragma once
8 
9 #include "carla/image/BoostGil.h"
11 
12 namespace carla {
13 namespace image {
14 
16  public:
17 
19  template <typename DstPixelT>
20  void operator()(const boost::gil::gray32fc_pixel_t &src, DstPixelT &dst) const {
21  using namespace boost::gil;
22  const float value = 1.0f + std::log(src[0u]) / 5.70378f;
23  const float clamped = std::max(std::min(value, 1.0f), 0.005f);
24  color_convert(gray32fc_pixel_t{clamped}, dst);
25  }
26  };
27 
28  struct Depth {
29  template <typename SrcPixelT, typename DstPixelT>
30  void operator()(const SrcPixelT &src, DstPixelT &dst) const {
31  using namespace boost::gil;
32  static_assert(
33  sizeof(typename color_space_type<SrcPixelT>::type) == sizeof(uint8_t),
34  "Invalid pixel type.");
35  const float depth =
36  get_color(src, red_t()) +
37  (get_color(src, green_t()) * 256) +
38  (get_color(src, blue_t()) * 256 * 256);
39  const float normalized = depth / static_cast<float>(256 * 256 * 256 - 1);
40  color_convert(gray32fc_pixel_t{normalized}, dst);
41  }
42  };
43 
44  struct LogarithmicDepth {};
45 
47  template <typename SrcPixelT, typename DstPixelT>
48  void operator()(const SrcPixelT &src, DstPixelT &dst) const {
49  using namespace boost::gil;
50  static_assert(
51  sizeof(typename color_space_type<SrcPixelT>::type) == sizeof(uint8_t),
52  "Invalid pixel type.");
53  const auto color = image::CityScapesPalette::GetColor(get_color(src, red_t()));
54  color_convert(rgb8c_pixel_t{color[0u], color[1u], color[2u]}, dst);
55  }
56  };
57  };
58 
59 } // namespace image
60 } // namespace carla
static void log(Args &&... args)
Definition: Logging.h:59
void operator()(const SrcPixelT &src, DstPixelT &dst) const
This file contains definitions of common data structures used in traffic manager. ...
Definition: Carla.cpp:99
static constexpr auto GetColor(uint8_t tag)
Return an RGB uint8_t array.
void operator()(const boost::gil::gray32fc_pixel_t &src, DstPixelT &dst) const
void operator()(const SrcPixelT &src, DstPixelT &dst) const