61 lines
2.0 KiB
C
61 lines
2.0 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/image/BoostGil.h"
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#include "carla/image/CityScapesPalette.h"
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namespace carla {
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namespace image {
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class ColorConverter {
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public:
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struct LogarithmicLinear {
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template <typename DstPixelT>
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void operator()(const boost::gil::gray32fc_pixel_t &src, DstPixelT &dst) const {
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using namespace boost::gil;
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const float value = 1.0f + std::log(src[0u]) / 5.70378f;
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const float clamped = std::max(std::min(value, 1.0f), 0.005f);
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color_convert(gray32fc_pixel_t{clamped}, dst);
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}
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};
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struct Depth {
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template <typename SrcPixelT, typename DstPixelT>
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void operator()(const SrcPixelT &src, DstPixelT &dst) const {
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using namespace boost::gil;
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static_assert(
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sizeof(typename color_space_type<SrcPixelT>::type) == sizeof(uint8_t),
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"Invalid pixel type.");
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const float depth =
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get_color(src, red_t()) +
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(get_color(src, green_t()) * 256) +
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(get_color(src, blue_t()) * 256 * 256);
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const float normalized = depth / static_cast<float>(256 * 256 * 256 - 1);
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color_convert(gray32fc_pixel_t{normalized}, dst);
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}
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};
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struct LogarithmicDepth {};
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struct CityScapesPalette {
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template <typename SrcPixelT, typename DstPixelT>
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void operator()(const SrcPixelT &src, DstPixelT &dst) const {
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using namespace boost::gil;
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static_assert(
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sizeof(typename color_space_type<SrcPixelT>::type) == sizeof(uint8_t),
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"Invalid pixel type.");
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const auto color = image::CityScapesPalette::GetColor(get_color(src, red_t()));
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color_convert(rgb8c_pixel_t{color[0u], color[1u], color[2u]}, dst);
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}
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};
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};
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} // namespace image
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} // namespace carla
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