SceneObject.cpp
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1 /*
2  * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
3  * Framework Based on Octrees
4  * http://octomap.github.io
5  *
6  * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
7  * All rights reserved. License for the viewer octovis: GNU GPL v2
8  * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
9  *
10  *
11  * This program is free software; you can redistribute it and/or modify
12  * it under the terms of the GNU General Public License as published by
13  * the Free Software Foundation; either version 2 of the License, or
14  * (at your option) any later version.
15  *
16  * This program is distributed in the hope that it will be useful, but
17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
19  * for more details.
20  *
21  * You should have received a copy of the GNU General Public License
22  * along with this program. If not, see http://www.gnu.org/licenses/.
23  */
24 
25 #define NOMINMAX
26 #include <octovis/SceneObject.h>
27 
28 #ifndef RAD2DEG
29 #define RAD2DEG(x) ((x) * 57.29577951308232087721)
30 #endif
31 
32 namespace octomap {
33 
35  m_zMin(0.0), m_zMax(1.0), m_colorMode(CM_FLAT) {
36  }
37 
38  void SceneObject::heightMapColor(double h, GLfloat* glArrayPos) const {
39  if (m_zMin >= m_zMax)
40  h = 0.5;
41  else{
42  h = (1.0 - std::min(std::max((h-m_zMin)/ (m_zMax - m_zMin), 0.0), 1.0)) *0.8;
43  }
44 
45  // blend over HSV-values (more colors)
46  double r, g, b;
47  double s = 1.0;
48  double v = 1.0;
49 
50  h -= floor(h);
51  h *= 6;
52  int i;
53  double m, n, f;
54 
55  i = floor(h);
56  f = h - i;
57  if (!(i & 1))
58  f = 1 - f; // if i is even
59  m = v * (1 - s);
60  n = v * (1 - s * f);
61 
62  switch (i) {
63  case 6:
64  case 0:
65  r = v; g = n; b = m;
66  break;
67  case 1:
68  r = n; g = v; b = m;
69  break;
70  case 2:
71  r = m; g = v; b = n;
72  break;
73  case 3:
74  r = m; g = n; b = v;
75  break;
76  case 4:
77  r = n; g = m; b = v;
78  break;
79  case 5:
80  r = v; g = m; b = n;
81  break;
82  default:
83  r = 1; g = 0.5; b = 0.5;
84  break;
85  }
86 
87  glArrayPos[0] = r;
88  glArrayPos[1] = g;
89  glArrayPos[2] = b;
90  }
91 
92  void SceneObject::heightMapGray(double h, GLfloat* glArrayPos) const {
93  if (m_zMin >= m_zMax)
94  h = 0.5;
95  else{
96  h = std::min(std::max((h-m_zMin)/ (m_zMax - m_zMin), 0.0), 1.0) * 0.4 + 0.3; // h \in [0.3, 0.7]
97  }
98 
99  glArrayPos[0] = h;
100  glArrayPos[1] = h;
101  glArrayPos[2] = h;
102  }
103 
104 
105 }
void heightMapGray(double h, GLfloat *glArrayPos) const
Definition: SceneObject.cpp:92
void heightMapColor(double h, GLfloat *glArrayPos) const
Definition: SceneObject.cpp:38


octovis
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Mon Jun 10 2019 14:00:25