gnuplotPaletteReader.cpp

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/*
 * Copyright (C) 2018, SICK AG
 * Copyright (C) 2018, Ing.-Buero Dr. Michael Lehning
 * All rights reserved.
 *
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*       http://www.apache.org/licenses/LICENSE-2.0
*
*   Unless required by applicable law or agreed to in writing, software
*   distributed under the License is distributed on an "AS IS" BASIS,
*   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*   See the License for the specific language governing permissions and
*   limitations under the License.
*
*
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
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*     * Neither the name of Osnabrueck University nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission.
*     * Neither the name of SICK AG nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission
*     * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission
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 */
 
#define  _CRT_SECURE_NO_WARNINGS
 
#include <stdio.h>
#include <string>
#include <vector>
#include <assert.h>
#include <cstdlib>
 
#include "pcl_converter/gnuplotPaletteReader.h"
 
GnuPlotPalette::GnuPlotPalette()
{
  setErrorStatus(0);
}
 
 
int GnuPlotPalette::load(std::string palettName)
{
  int errorCode= 0;
        bool debugDump = true;
        FILE *fin;
        const int MAX_LINE_LEN = (1024);
        char szLine[MAX_LINE_LEN] = { 0 };
        std::vector<std::string> paletteData;
        fin = fopen(palettName.c_str(), "r");
        setErrorStatus(0);
        if (NULL == fin)
        {
                setErrorStatus(-1);
        }
        else
        {
                while (fgets(szLine, MAX_LINE_LEN, fin) != NULL)
                {
                        paletteData.push_back(szLine);
                }
                fclose(fin);
        }
 
        std::string lineStylePrefix = "# line styles";
        std::string setStyleLinePrefix = "set style line";
 
        int tableStart = -1;
        int tableEnd = -1;
        for (size_t i = 0; i < paletteData.size(); i++)
        {
                if (!paletteData[i].compare(0, setStyleLinePrefix.size(), setStyleLinePrefix))
                {
                        if (-1 != tableStart)
                        {
                                tableEnd = i;
                        }
                }
 
                if (!paletteData[i].compare(0, lineStylePrefix.size(), lineStylePrefix))
                {
                        tableStart = i + 1;
                }
        }
 
 
        if ((tableStart != -1) && (tableEnd != -1))
        {
                size_t tableLen = tableEnd - tableStart + 1;
                std::vector<unsigned long> rgbSupportPoints;
                if (debugDump) printf("Parsing Table-Entries\n");
 
                for (int i = tableStart; i <= tableEnd; i++)
                {
                        size_t startPos = paletteData[i].find_first_of("'");
                        size_t endPos = paletteData[i].find_last_of("'");
                        if ((startPos != std::string::npos) && (endPos != std::string::npos))
                        {
                                // The code is given in the format '#AABBCC'
                                // We skip the '#' by adding + 1 to startPos
                                std::string rgbValue = paletteData[i].substr(startPos + 2, endPos - startPos - 2);
                                unsigned long hex_value = std::strtoul(rgbValue.c_str(), 0, 16);
                                rgbSupportPoints.push_back(hex_value);
                        }
                }
 
                // lattice fence problem
                int numInterpolationIntervals = tableLen - 1;
                float colorsPerInterval = 255.0f / (float)numInterpolationIntervals;
                for (size_t i = 0; i < 256; i++)
                {
                        unsigned char rgbValues[3];
                        int supportPntIdx = (int)(i / colorsPerInterval);
                        int distanceToSupportPoint = (int)(i - supportPntIdx * colorsPerInterval);
                        double frac = distanceToSupportPoint / (double)colorsPerInterval;
                        if (debugDump) printf("%3d: ", (int)i);
                        for (size_t j = 0; j < 3; j++)
                        {
                                float frac_epsilon = 1E-6f;
                                unsigned char valLower = 0x00;
                                unsigned char valUppper = 0x00;
                                unsigned char val;
                                int bytePosInBits = 8 * (2 - j);
                                unsigned long mask = 0xFF << bytePosInBits; // create bit mask
                                valLower = (unsigned char)((rgbSupportPoints[supportPntIdx] & mask) >> bytePosInBits);
 
                                val = valLower; // preset as fallback
                                if (frac > frac_epsilon)
                                {
                                        if (supportPntIdx < (numInterpolationIntervals - 1)) // paranoid
                                        {
                                                valUppper = (unsigned char)((rgbSupportPoints[supportPntIdx + 1] & mask) >> bytePosInBits);
                                                val = (unsigned char)(valLower + frac * (valUppper - valLower));
                                        }
                                }
                                else
                                {
                                        val = valLower;
                                }
                                rgbValues[j] = val;
                                if (debugDump) printf("%02x ", rgbValues[j]);
                        }
                        for (size_t j = 0; j < 3; j++)
                        {
                                rgbTable[i][j] = rgbValues[j];
                                if (debugDump) printf("%8.6lf ", rgbValues[j] / 255.0); // 254.67
                        }
                        if (debugDump) printf("\n");
                }
 
        }
 
  errorCode = getErrorStatus();
  return(errorCode);
}
 
unsigned char GnuPlotPalette::getRbgValue(unsigned char greyIdx, unsigned int channelIdx)
{
        // channelIdx: 0: RED, 1: GREEN, 2: BLUE
        assert(channelIdx < 3);
        return(rgbTable[greyIdx][channelIdx]);
}
 
#if 0
int main()
{
        GnuPlotPalette pal("C:\\temp\\viridis.pal");
        return 0;
}
#endif