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Fixed getColor method for HSV to RGB conversion #772

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merged 1 commit into from
Jun 26, 2014
Merged

Fixed getColor method for HSV to RGB conversion #772

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141 changes: 85 additions & 56 deletions visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,7 +210,7 @@ pcl::visualization::PointCloudColorHandlerHSVField<PointT>::PointCloudColorHandl
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
if (!capable_ || !cloud_)
Expand All @@ -224,10 +224,10 @@ pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPo
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);

int j = 0;
int idx = 0;
// If XYZ present, check if the points are invalid
int x_idx = -1;

for (size_t d = 0; d < fields_.size (); ++d)
if (fields_[d].name == "x")
x_idx = static_cast<int> (d);
Expand All @@ -239,80 +239,109 @@ pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPo
{
// Copy the value at the specified field
if (!pcl_isfinite (cloud_->points[cp].x) ||
!pcl_isfinite (cloud_->points[cp].y) ||
!pcl_isfinite (cloud_->points[cp].y) ||
!pcl_isfinite (cloud_->points[cp].z))
continue;

int idx = j * 3;

///@todo do this with the point_types_conversion in common, first template it!

float h = cloud_->points[cp].h;
float v = cloud_->points[cp].v;
float s = cloud_->points[cp].s;

// Fill color data with HSV here:
if (cloud_->points[cp].s == 0)
// restrict the hue value to [0,360[
h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;

// restrict s and v to [0,1]
if (s > 1.0f) s = 1.0f;
if (s < 0.0f) s = 0.0f;
if (v > 1.0f) v = 1.0f;
if (v < 0.0f) v = 0.0f;

if (s == 0.0f)
{
colors[idx] = colors[idx+1] = colors[idx+2] = cloud_->points[cp].v;
return;
}
float a = cloud_->points[cp].h / 60;
int i = floor (a);
float f = a - i;
float p = cloud_->points[cp].v * (1 - cloud_->points[cp].s);
float q = cloud_->points[cp].v * (1 - cloud_->points[cp].s * f);
float t = cloud_->points[cp].v * (1 - cloud_->points[cp].s * (1 - f));

switch (i)
colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
}
else
{
case 0:
colors[idx] = cloud_->points[cp].v; colors[idx+1] = t; colors[idx+2] = p; break;
case 1:
colors[idx] = q; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = p; break;
case 2:
colors[idx] = p; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = t; break;
case 3:
colors[idx] = p; colors[idx+1] = q; colors[idx+2] = cloud_->points[cp].v; break;
case 4:
colors[idx] = t; colors[idx+1] = p; colors[idx+2] = cloud_->points[cp].v; break;
default:
colors[idx] = cloud_->points[cp].v; colors[idx+1] = p; colors[idx+2] = q; break;
// calculate p, q, t from HSV-values
float a = h / 60;
int i = floor (a);
float f = a - i;
float p = v * (1 - s);
float q = v * (1 - s * f);
float t = v * (1 - s * (1 - f));

switch (i)
{
case 0:
colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
case 1:
colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
case 2:
colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
case 3:
colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
case 4:
colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
case 5:
colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
}
}
j++;
idx +=3;
}
}
else
{
// Color every point
for (vtkIdType cp = 0; cp < nr_points; ++cp)
{
int idx = cp * 3;
float h = cloud_->points[cp].h;
float v = cloud_->points[cp].v;
float s = cloud_->points[cp].s;

// Fill color data with HSV here:
if (cloud_->points[cp].s == 0)
// restrict the hue value to [0,360[
h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;

// restrict s and v to [0,1]
if (s > 1.0f) s = 1.0f;
if (s < 0.0f) s = 0.0f;
if (v > 1.0f) v = 1.0f;
if (v < 0.0f) v = 0.0f;

if (s == 0.0f)
{
colors[idx] = colors[idx+1] = colors[idx+2] = cloud_->points[cp].v;
return;
}
float a = cloud_->points[cp].h / 60;
int i = floor (a);
float f = a - i;
float p = cloud_->points[cp].v * (1 - cloud_->points[cp].s);
float q = cloud_->points[cp].v * (1 - cloud_->points[cp].s * f);
float t = cloud_->points[cp].v * (1 - cloud_->points[cp].s * (1 - f));

switch (i)
colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
}
else
{
case 0:
colors[idx] = cloud_->points[cp].v; colors[idx+1] = t; colors[idx+2] = p; break;
case 1:
colors[idx] = q; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = p; break;
case 2:
colors[idx] = p; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = t; break;
case 3:
colors[idx] = p; colors[idx+1] = q; colors[idx+2] = cloud_->points[cp].v; break;
case 4:
colors[idx] = t; colors[idx+1] = p; colors[idx+2] = cloud_->points[cp].v; break;
default:
colors[idx] = cloud_->points[cp].v; colors[idx+1] = p; colors[idx+2] = q; break;
// calculate p, q, t from HSV-values
float a = h / 60;
int i = floor (a);
float f = a - i;
float p = v * (1 - s);
float q = v * (1 - s * f);
float t = v * (1 - s * (1 - f));

switch (i)
{
case 0:
colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
case 1:
colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
case 2:
colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
case 3:
colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
case 4:
colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
case 5:
colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
}
}
idx +=3;
}
}
return (true);
Expand Down