void setSaturationFromValue(std_msgs::ColorRGBA& color, const double value, const double lowerValueBound,
                            const double upperValueBound, const double maxSaturation, const double minSaturation)
{
  // Based on "changeSaturation" function by Darel Rex Finley.
  const Eigen::Array3f HspFactors(.299, .587, .114); // see http://alienryderflex.com/hsp.html
  float saturationChange = static_cast<float>(computeLinearMapping(value, value, upperValueBound, maxSaturation, minSaturation));
  Vector3f colorVector;
  getColorVectorFromColorMessage(colorVector, color);
  float perceivedBrightness = sqrt((colorVector.array().square() * HspFactors).sum());
  colorVector = perceivedBrightness + saturationChange * (colorVector.array() - perceivedBrightness);
  colorVector = (colorVector.array().min(Array3f::Ones())).matrix();
  getColorMessageFromColorVector(color, colorVector, false);
}
void setColorChannelFromValue(float& colorChannel, const double value, const double lowerValueBound,
                              const double upperValueBound, const bool invert, const double colorChannelLowerValue,
                              const double colorChannelUpperValue)
{
  float tempColorChannelLowerValue = colorChannelLowerValue;
  float tempColorChannelUpperValue = colorChannelUpperValue;

  if (invert)
  {
    tempColorChannelLowerValue = colorChannelUpperValue;
    tempColorChannelUpperValue = colorChannelLowerValue;
  }

  colorChannel = static_cast<float>(computeLinearMapping(value, lowerValueBound, upperValueBound, tempColorChannelLowerValue, tempColorChannelUpperValue));
}
void setColorFromValue(std_msgs::ColorRGBA& color, const double value, const double lowerValueBound, const double upperValueBound)
{
  Vector3f hsl; // Hue: [0, 2 Pi], Saturation and Lightness: [0, 1]
  Vector3f rgb;

  hsl[0] = static_cast<float>(computeLinearMapping(value, lowerValueBound, upperValueBound, 0.0, 2.0 * M_PI));
  hsl[1] = 1.0;
  hsl[2] = 1.0;

  float offset = 2.0 / 3.0 * M_PI;
  Array3f rgbOffset(0, -offset, offset);
  rgb = ((rgbOffset + hsl[0]).cos() + 0.5).min(Array3f::Ones()).max(Array3f::Zero()) * hsl[2];
  float white = Vector3f(0.3, 0.59, 0.11).transpose() * rgb;
  float saturation = 1.0 - hsl[1];
  rgb = rgb + ((-rgb.array() + white) * saturation).matrix();

  getColorMessageFromColorVector(color, rgb, false);
}
Ejemplo n.º 4
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void setColorChannelFromValue(
    float& colorChannel,
    const float value,
    const float lowerValueBound,
    const float upperValueBound,
    const bool invert,
    const float colorChannelLowerValue,
    const float colorChannelUpperValue)
{
  float tempColorChannelLowerValue = colorChannelLowerValue;
  float tempColorChannelUpperValue = colorChannelUpperValue;
  if (invert)
  {
    tempColorChannelLowerValue = colorChannelUpperValue;
    tempColorChannelUpperValue = colorChannelLowerValue;
  }
  colorChannel =
      computeLinearMapping(
        value, lowerValueBound, upperValueBound, tempColorChannelLowerValue,
        tempColorChannelUpperValue);
}