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/Dense>
#include <cstdint>
#include <vector>



namespace se {
namespace colours {
static const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>> 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

static inline uint32_t
pack_rgba(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a);



static inline uint32_t pack_rgba(const Eigen::Vector4f& color);



static inline uint32_t pack_rgba(const Eigen::Vector3f& color);



static inline uint32_t pack_rgba(const Eigen::Vector4i& color);



static inline uint32_t pack_rgba(const Eigen::Vector3i& color);



static inline uint8_t r_from_rgba(const uint32_t rgba);



static inline uint8_t g_from_rgba(const uint32_t rgba);



static inline uint8_t b_from_rgba(const uint32_t rgba);



static inline uint8_t a_from_rgba(const uint32_t rgba);



static inline uint32_t blend(const uint32_t rgba_1, const uint32_t rgba_2, const float alpha);



static inline void rgb_to_rgba(const uint8_t* rgb, uint32_t* rgba, size_t num_pixels);



static inline void rgba_to_rgb(const uint32_t* rgba, uint8_t* rgb, size_t num_pixels);



void depth_to_rgba(uint32_t* depth_RGBA_image_data,
                   const float* depth_image_data,
                   const Eigen::Vector2i& depth_image_res,
                   const float min_depth,
                   const float max_depth);
} // namespace se

#include "impl/colour_utils_impl.hpp"

#endif // SE_COLOUR_UTILS_HPP