14 #include <Eigen/Dense> 34 ROS_ERROR(
"Normal color map filter did not find parameter `input_layers_prefix`.");
37 ROS_DEBUG(
"Normal color map filter input layers prefix is = %s.", inputLayersPrefix_.c_str());
40 ROS_ERROR(
"Normal color map filter did not find parameter `output_layer`.");
43 ROS_DEBUG(
"Normal color map filter output_layer = %s.", outputLayer_.c_str());
50 const auto& normalX = mapIn[inputLayersPrefix_ +
"x"];
51 const auto& normalY = mapIn[inputLayersPrefix_ +
"y"];
52 const auto& normalZ = mapIn[inputLayersPrefix_ +
"z"];
55 mapOut.add(outputLayer_);
56 auto& color = mapOut[outputLayer_];
63 for (Eigen::Index i = 0; i < color.size(); ++i) {
64 const Eigen::Vector3f colorVector((normalX(i) + 1.0) / 2.0,
65 (normalY(i) + 1.0) / 2.0,
66 (normalZ(i) / 2.0) + 0.5);
bool colorVectorToValue(const Eigen::Vector3i &colorVector, unsigned long &colorValue)
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)