colorizer.h

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
#pragma once
 
#include <map>
#include <vector>
 
namespace rs2
{
    class stream_profile;
}
 
namespace librealsense {
 
    class LRS_EXTENSION_API color_map
    {
    public:
        color_map(std::map<float, float3> map, int steps = 4000) : _map(map)
        {
            initialize(steps);
        }
 
        color_map(const std::vector<float3>& values, int steps = 4000)
        {
            for (size_t i = 0; i < values.size(); i++)
            {
                _map[(float)i / (values.size() - 1)] = values[i];
            }
            initialize(steps);
        }
 
        color_map() {}
 
        inline float3 get(float value) const
        {
            if (_max == _min) return *_data;
            auto t = (value - _min) / (_max - _min);
            t = clamp_val(t, 0.f, 1.f);
            return _data[(int)(t * (_size - 1))];
        }
 
        float min_key() const { return _min; }
        float max_key() const { return _max; }
 
        const std::vector<float3>& get_cache() const { return _cache; }
 
    private:
        inline float3 lerp(const float3& a, const float3& b, float t) const
        {
            return b * t + a * (1 - t);
        }
 
        float3 calc(float value) const
        {
            if (_map.size() == 0) return{ value, value, value };
            // if we have exactly this value in the map, just return it
            if (_map.find(value) != _map.end()) return _map.at(value);
            // if we are beyond the limits, return the first/last element
            if (value < _map.begin()->first)   return _map.begin()->second;
            if (value > _map.rbegin()->first)  return _map.rbegin()->second;
 
            auto lower = _map.lower_bound(value) == _map.begin() ? _map.begin() : --(_map.lower_bound(value));
            auto upper = _map.upper_bound(value);
 
            auto t = (value - lower->first) / (upper->first - lower->first);
            auto c1 = lower->second;
            auto c2 = upper->second;
            return lerp(c1, c2, t);
        }
 
        void initialize(int steps)
        {
            if (_map.size() == 0) return;
 
            _min = _map.begin()->first;
            _max = _map.rbegin()->first;
 
            _cache.resize(steps + 1);
            for (int i = 0; i <= steps; i++)
            {
                auto t = (float)i / steps;
                auto x = _min + t*(_max - _min);
                _cache[i] = calc(x);
            }
 
            // Save size and data to avoid STL checks penalties in DEBUG
            _size = _cache.size();
            _data = _cache.data();
        }
 
        std::map<float, float3> _map;
        std::vector<float3> _cache;
        float _min, _max;
        size_t _size; float3* _data;
    };
 
    class LRS_EXTENSION_API colorizer : public stream_filter_processing_block
    {
    public:
        colorizer();
 
        template<typename T>
        static void update_histogram(int* hist, const T* depth_data, int w, int h)
        {
            memset(hist, 0, MAX_DEPTH * sizeof(int));
            for (auto i = 0; i < w*h; ++i)
            {
                T depth_val = depth_data[i];
                int index = static_cast< int >( depth_val );
                hist[index] += 1;
            }
 
            for (auto i = 2; i < MAX_DEPTH; ++i) hist[i] += hist[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
        }
 
        static const int MAX_DEPTH = 0x10000;
        static const int MAX_DISPARITY = 0x2710;
 
    protected:
        colorizer(const char* name);
 
        bool should_process(const rs2::frame& frame) override;
        rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override;
 
        template<typename T, typename F>
        void make_rgb_data(const T* depth_data, uint8_t* rgb_data, int width, int height, F coloring_func)
        {
            auto cm = _maps[_map_index];
            for (auto i = 0; i < width*height; ++i)
            {
                auto d = depth_data[i];
                colorize_pixel(rgb_data, i, cm, d, coloring_func);
            }
        }
 
        template<typename T, typename F>
        void colorize_pixel(uint8_t* rgb_data, int idx, color_map* cm, T data, F coloring_func)
        {
            if (data)
            {
                auto f = coloring_func(data); // 0-255 based on histogram locationcolorize_pixel
                auto c = cm->get(f);
                rgb_data[idx * 3 + 0] = (uint8_t)c.x;
                rgb_data[idx * 3 + 1] = (uint8_t)c.y;
                rgb_data[idx * 3 + 2] = (uint8_t)c.z;
            }
            else
            {
                rgb_data[idx * 3 + 0] = 0;
                rgb_data[idx * 3 + 1] = 0;
                rgb_data[idx * 3 + 2] = 0;
            }
        }
 
        float _min, _max;
        bool _equalize;
 
        std::vector<color_map*> _maps;
        int _map_index = 0;
 
        std::vector<int> _histogram;
        int* _hist_data;
 
        int _preset = 0;
        rs2::stream_profile _target_stream_profile;
        rs2::stream_profile _source_stream_profile;
 
        float   _depth_units = 0.f;
        float   _d2d_convert_factor = 0.f;
    };
}