spectrum_palette.cpp

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#include <robot_nav_rviz_plugins/spectrum_palette.h>
#include <color_util/convert.h>
#include <color_util/blend.h>
#include <vector>

namespace robot_nav_rviz_plugins
{

SpectrumPalette::SpectrumPalette(const color_util::ColorRGBA24& color_a,
                                 const color_util::ColorRGBA24& color_b,
                                 bool transparent_minimum)
  : transparent_minimum_(transparent_minimum)
{
  color_a_ = color_util::toFloat(color_util::changeColorspace(color_a));
  color_b_ = color_util::toFloat(color_util::changeColorspace(color_b));
}

SpectrumPalette::SpectrumPalette(const color_util::ColorHSVA24& color_a,
                                 const color_util::ColorHSVA24& color_b,
                                 bool transparent_minimum)
  : transparent_minimum_(transparent_minimum)
{
  color_a_ = color_util::toFloat(color_a);
  color_b_ = color_util::toFloat(color_b);
}


bool SpectrumPalette::hasTransparency() const
{
  return transparent_minimum_ || color_a_.a < 1.0 || color_b_.a < 1.0;
}

std::vector<color_util::ColorRGBA24> SpectrumPalette::getColors() const
{
  std::vector<color_util::ColorRGBA24> colors(NUM_COLORS);
  unsigned int start;
  double denominator;

  if (transparent_minimum_)
  {
    colors[0] = color_util::ColorRGBA24(0, 0, 0, 0);
    start = 1;
    denominator = NUM_COLORS - 2;
  }
  else
  {
    start = 0;
    denominator = NUM_COLORS - 1;
  }

  for (unsigned int i = start; i < NUM_COLORS; i++)
  {
    double ratio = static_cast<double>(i - start) / denominator;
    colors[i] = color_util::toInt(color_util::changeColorspace(color_util::hueBlendPlus(color_a_, color_b_, ratio)));
  }
  return colors;
}

}  // namespace robot_nav_rviz_plugins