colour_utils.hpp

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/*
 * SPDX-FileCopyrightText: 2019-2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2019-2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_COLOUR_UTILS_HPP
#define SE_COLOUR_UTILS_HPP
 
#include <Eigen/Core>
#include <se/common/rgb.hpp>
#include <se/common/rgba.hpp>
#include <vector>
 
 
 
namespace se {
namespace colours {
static const std::vector<RGB> scale = {{102, 194, 165},
                                       {252, 141, 98},
                                       {141, 160, 203},
                                       {231, 138, 195},
                                       {166, 216, 84},
                                       {255, 217, 47},
                                       {229, 196, 148},
                                       {179, 179, 179}};
} // namespace colours
 
 
 
namespace colour {
 
static inline RGB blend(const RGB a, const RGB b, const float alpha);
 
static inline RGBA blend(const RGBA a, const RGBA b, const float alpha);
 
} // namespace colour
 
 
 
void depth_to_rgba(RGBA* depth_RGBA_image_data,
                   const float* depth_image_data,
                   const Eigen::Vector2i& depth_image_res,
                   const float min_depth,
                   const float max_depth);
 
static inline RGB scale_colour(const int scale);
 
} // namespace se
 
#include "impl/colour_utils_impl.hpp"
 
#endif // SE_COLOUR_UTILS_HPP