label_defines.h

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#ifndef COB_3D_MAPPING_COMMON_LABEL_DEFINES_H_
#define COB_3D_MAPPING_COMMON_LABEL_DEFINES_H_

#include <map>
#include <boost/assign.hpp>

// --- define colors ---
#define LBL_NAN      0x999999
#define LBL_BORDER   0xFF00FF // magenta
#define LBL_PLANE    0x00CCFF // cyan
#define LBL_EDGE     0x7F0000 // red
#define LBL_EDGE_CVX 0xFF6600 // orange
#define LBL_COR      0xFFCC00 // dark yellow
#define LBL_COR_CVX  0xFF00FF // magenta
#define LBL_CYL      0x007F00 // green
#define LBL_CYL_CVX  0x00FF66 // light green
#define LBL_SPH      0x00007F // blue
#define LBL_SPH_CVX  0x9900FF // purple
#define LBL_UNDEF    0x999999

// --- define SVM labels ---
#define SVM_PLANE 0
#define SVM_EDGE  1
#define SVM_COR   2
#define SVM_SPH   3
#define SVM_CYL   4

#define SVM_EDGE_CVX 1
#define SVM_SPH_CVX  2
#define SVM_CYL_CVX  3

#define SVM_EDGE_CAV 4
#define SVM_SPH_CAV  5
#define SVM_CYL_CAV  6

#define SVM_COR_CVX  7
#define SVM_COR_CAV  8

// --- define integer labels only for feature evaluation ---
#define EVAL_PLANE 0
#define EVAL_EDGE  1
#define EVAL_SPH   2
#define EVAL_CYL   3
#define EVAL_COR   4
#define EVAL_EDGECORNER 5
#define EVAL_CURVED 6

// --- define integer labels for classification ---
#define I_UNDEF  0
#define I_NAN    1
#define I_BORDER 2
#define I_EDGE   3
#define I_PLANE  4
#define I_CYL    5
#define I_SPHERE 6
#define I_CORNER 7
#define NUM_LABELS 8


namespace LabelColorMap
{

  const std::map<int,int> m = boost::assign::map_list_of
    ( I_UNDEF, LBL_UNDEF )
    ( I_NAN, LBL_NAN )
    ( I_BORDER, LBL_BORDER )
    ( I_EDGE, LBL_EDGE )
    ( I_PLANE, LBL_PLANE )
    ( I_CYL, LBL_CYL )
    ( I_SPHERE, LBL_SPH )
    ( I_CORNER, LBL_COR )
    ;

}

#endif