sick_scan: radar_object_marker.h Source File

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 //
 // Created by michael on 7/10/18.
 //
  
 #ifndef SICK_SCAN_RADAR_OBJECT_MARKER_H
 #define SICK_SCAN_RADAR_OBJECT_MARKER_H
  
 #include <pcl_converter/gnuplotPaletteReader.h>
  
 static const unsigned char GLASBEY_LUT[] =
         {
                 255, 255, 255,
                 0, 0, 255,
                 255, 0, 0,
                 0, 255, 0,
                 0, 0, 51,
                 255, 0, 182,
                 0, 83, 0,
                 255, 211, 0,
                 0, 159, 255,
                 154, 77, 66,
                 0, 255, 190,
                 120, 63, 193,
                 31, 150, 152,
                 255, 172, 253,
                 177, 204, 113,
                 241, 8, 92,
                 254, 143, 66,
                 221, 0, 255,
                 32, 26, 1,
                 114, 0, 85,
                 118, 108, 149,
                 2, 173, 36,
                 200, 255, 0,
                 136, 108, 0,
                 255, 183, 159,
                 133, 133, 103,
                 161, 3, 0,
                 20, 249, 255,
                 0, 71, 158,
                 220, 94, 147,
                 147, 212, 255,
                 0, 76, 255,
                 0, 66, 80,
                 57, 167, 106,
                 238, 112, 254,
                 0, 0, 100,
                 171, 245, 204,
                 161, 146, 255,
                 164, 255, 115,
                 255, 206, 113,
                 71, 0, 21,
                 212, 173, 197,
                 251, 118, 111,
                 171, 188, 0,
                 117, 0, 215,
                 166, 0, 154,
                 0, 115, 254,
                 165, 93, 174,
                 98, 132, 2,
                 0, 121, 168,
                 0, 255, 131,
                 86, 53, 0,
                 159, 0, 63,
                 66, 45, 66,
                 255, 242, 187,
                 0, 93, 67,
                 252, 255, 124,
                 159, 191, 186,
                 167, 84, 19,
                 74, 39, 108,
                 0, 16, 166,
                 145, 78, 109,
                 207, 149, 0,
                 195, 187, 255,
                 253, 68, 64,
                 66, 78, 32,
                 106, 1, 0,
                 181, 131, 84,
                 132, 233, 147,
                 96, 217, 0,
                 255, 111, 211,
                 102, 75, 63,
                 254, 100, 0,
                 228, 3, 127,
                 17, 199, 174,
                 210, 129, 139,
                 91, 118, 124,
                 32, 59, 106,
                 180, 84, 255,
                 226, 8, 210,
                 0, 1, 20,
                 93, 132, 68,
                 166, 250, 255,
                 97, 123, 201,
                 98, 0, 122,
                 126, 190, 58,
                 0, 60, 183,
                 255, 253, 0,
                 7, 197, 226,
                 180, 167, 57,
                 148, 186, 138,
                 204, 187, 160,
                 55, 0, 49,
                 0, 40, 1,
                 150, 122, 129,
                 39, 136, 38,
                 206, 130, 180,
                 150, 164, 196,
                 180, 32, 128,
                 110, 86, 180,
                 147, 0, 185,
                 199, 48, 61,
                 115, 102, 255,
                 15, 187, 253,
                 172, 164, 100,
                 182, 117, 250,
                 216, 220, 254,
                 87, 141, 113,
                 216, 85, 34,
                 0, 196, 103,
                 243, 165, 105,
                 216, 255, 182,
                 1, 24, 219,
                 52, 66, 54,
                 255, 154, 0,
                 87, 95, 1,
                 198, 241, 79,
                 255, 95, 133,
                 123, 172, 240,
                 120, 100, 49,
                 162, 133, 204,
                 105, 255, 220,
                 198, 82, 100,
                 121, 26, 64,
                 0, 238, 70,
                 231, 207, 69,
                 217, 128, 233,
                 255, 211, 209,
                 209, 255, 141,
                 36, 0, 3,
                 87, 163, 193,
                 211, 231, 201,
                 203, 111, 79,
                 62, 24, 0,
                 0, 117, 223,
                 112, 176, 88,
                 209, 24, 0,
                 0, 30, 107,
                 105, 200, 197,
                 255, 203, 255,
                 233, 194, 137,
                 191, 129, 46,
                 69, 42, 145,
                 171, 76, 194,
                 14, 117, 61,
                 0, 30, 25,
                 118, 73, 127,
                 255, 169, 200,
                 94, 55, 217,
                 238, 230, 138,
                 159, 54, 33,
                 80, 0, 148,
                 189, 144, 128,
                 0, 109, 126,
                 88, 223, 96,
                 71, 80, 103,
                 1, 93, 159,
                 99, 48, 60,
                 2, 206, 148,
                 139, 83, 37,
                 171, 0, 255,
                 141, 42, 135,
                 85, 83, 148,
                 150, 255, 0,
                 0, 152, 123,
                 255, 138, 203,
                 222, 69, 200,
                 107, 109, 230,
                 30, 0, 68,
                 173, 76, 138,
                 255, 134, 161,
                 0, 35, 60,
                 138, 205, 0,
                 111, 202, 157,
                 225, 75, 253,
                 255, 176, 77,
                 229, 232, 57,
                 114, 16, 255,
                 111, 82, 101,
                 134, 137, 48,
                 99, 38, 80,
                 105, 38, 32,
                 200, 110, 0,
                 209, 164, 255,
                 198, 210, 86,
                 79, 103, 77,
                 174, 165, 166,
                 170, 45, 101,
                 199, 81, 175,
                 255, 89, 172,
                 146, 102, 78,
                 102, 134, 184,
                 111, 152, 255,
                 92, 255, 159,
                 172, 137, 178,
                 210, 34, 98,
                 199, 207, 147,
                 255, 185, 30,
                 250, 148, 141,
                 49, 34, 78,
                 254, 81, 97,
                 254, 141, 100,
                 68, 54, 23,
                 201, 162, 84,
                 199, 232, 240,
                 68, 152, 0,
                 147, 172, 58,
                 22, 75, 28,
                 8, 84, 121,
                 116, 45, 0,
                 104, 60, 255,
                 64, 41, 38,
                 164, 113, 215,
                 207, 0, 155,
                 118, 1, 35,
                 83, 0, 88,
                 0, 82, 232,
                 43, 92, 87,
                 160, 217, 146,
                 176, 26, 229,
                 29, 3, 36,
                 122, 58, 159,
                 214, 209, 207,
                 160, 100, 105,
                 106, 157, 160,
                 153, 219, 113,
                 192, 56, 207,
                 125, 255, 89,
                 149, 0, 34,
                 213, 162, 223,
                 22, 131, 204,
                 166, 249, 69,
                 109, 105, 97,
                 86, 188, 78,
                 255, 109, 81,
                 255, 3, 248,
                 255, 0, 73,
                 202, 0, 35,
                 67, 109, 18,
                 234, 170, 173,
                 191, 165, 0,
                 38, 44, 51,
                 85, 185, 2,
                 121, 182, 158,
                 254, 236, 212,
                 139, 165, 89,
                 141, 254, 193,
                 0, 60, 43,
                 63, 17, 40,
                 255, 221, 246,
                 17, 26, 146,
                 154, 66, 84,
                 149, 157, 238,
                 126, 130, 72,
                 58, 6, 101,
                 189, 117, 101,
         };
  
 class RadarObjectMarkerCfg {
 public:
     bool isPaletteUsed() const
       {
       return paletteUsed;
       }
  
     void setPaletteUsed(bool paletteUsed)
       {
       RadarObjectMarkerCfg::paletteUsed = paletteUsed;
       }
  
     const GnuPlotPalette &getGnuPlotPalette() const
       {
       return gnuPlotPalette;
       }
  
     void setGnuPlotPalette(const GnuPlotPalette &gnuPlotPalette)
       {
       RadarObjectMarkerCfg::gnuPlotPalette = gnuPlotPalette;
       }
  
     const std::string &getPaletteName() const
             {
             return paletteName;
             }
  
     void setPaletteName(const std::string &paletteName)
             {
             RadarObjectMarkerCfg::paletteName = paletteName;
             }
     double getPaletteMaxAmpl() const
       {
       return paletteMaxAmpl;
       }
  
     void setPaletteMaxAmpl(double paletteMaxAmpl)
       {
       RadarObjectMarkerCfg::paletteMaxAmpl = paletteMaxAmpl;
       }
  
     double getPaletteMinAmpl() const
       {
       return paletteMinAmpl;
       }
  
     void setPaletteMinAmpl(double paletteMinAmpl)
       {
       RadarObjectMarkerCfg::paletteMinAmpl = paletteMinAmpl;
       }
  
 private:
     std::string paletteName;
     bool paletteUsed;
     GnuPlotPalette gnuPlotPalette;
     double paletteMinAmpl;
     double paletteMaxAmpl;
     };
  
 #endif //SICK_SCAN_RADAR_OBJECT_MARKER_H