basic_palettes.cpp

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#include <robot_nav_rviz_plugins/nav_grid_palette.h>
#include <robot_nav_rviz_plugins/spectrum_palette.h>
#include <color_util/convert.h>
#include <color_util/named_colors.h>
#include <string>
#include <vector>
 
namespace robot_nav_rviz_plugins
{
using color_util::ColorRGBA24;
 
class MapPalette : public NavGridPalette
{
public:
  std::string getName() const override { return "map"; }
  bool hasTransparency() const override { return false; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(NUM_COLORS);
    // Standard gray map palette values
    for (int i = 0; i <= 100; i++)
    {
      unsigned char v = 255 - (255 * i) / 100;
      colors[i] = ColorRGBA24(v, v, v);
    }
    // illegal positive values in green
    for (int i = 101; i <= 127; i++)
    {
      colors[i] = ColorRGBA24(0, 255, 0);
    }
    // illegal negative (char) values in shades of red/yellow
    for (int i = 128; i <= 254; i++)
    {
      colors[i] = ColorRGBA24(255, (255 * (i - 128)) / (254 - 128), 0);
    }
 
    // legal 255 value is tasteful blueish greenish grayish color
    colors[255] = ColorRGBA24(0x70, 0x89, 0x86);
 
    return colors;
  }
};
class CostmapPalette : public NavGridPalette
{
public:
  std::string getName() const override { return "costmap"; }
  bool hasTransparency() const override { return true; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(NUM_COLORS);
 
    // zero values have alpha=0
    colors[0] = ColorRGBA24(0, 0, 0, 0);
 
    // Blue to red spectrum for most normal cost values
    for (int i = 1; i <= 98; i++)
    {
      unsigned char v = (255 * i) / 100;
      colors[i] = ColorRGBA24(v, 0, 255 - v);
    }
 
    // inscribed obstacle values (99) in cyan
    colors[99] = ColorRGBA24(0, 255, 255);
 
    // lethal obstacle values (100) in purple
    colors[100] = ColorRGBA24(255, 0, 255);
 
    // illegal positive values in green
    for (int i = 101; i <= 127; i++)
    {
      colors[i] = ColorRGBA24(0, 255, 0);
    }
 
    // illegal negative (char) values in shades of red/yellow
    for (int i = 128; i <= 254; i++)
    {
      colors[i] = ColorRGBA24(255, (255 * (i - 128)) / (254 - 128), 0);
    }
 
    // legal 255 value is tasteful blueish greenish grayish color
    colors[255] = ColorRGBA24(0x70, 0x89, 0x86);
 
    return colors;
  }
};
 
class RawPalette : public NavGridPalette
{
public:
  std::string getName() const override { return "raw"; }
  bool hasTransparency() const override { return false; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(NUM_COLORS);
    for (unsigned int i = 0; i < NUM_COLORS; i++)
    {
      colors[i] = ColorRGBA24(i, i, i);
    }
    return colors;
  }
};
 
class RainbowPalette : public NavGridPalette
{
public:
  std::string getName() const override { return "rainbow"; }
  bool hasTransparency() const override { return true; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(NUM_COLORS);
    colors[0] = ColorRGBA24(0, 0, 0, 0);
    for (unsigned int i = 1; i < NUM_COLORS; i++)
    {
      double fraction = static_cast<double>(255 - i) / 254;
      // multiplying by 0.75 scales it to purple to red
      color_util::ColorHSVA color(fraction * 0.75, 1.0, 1.0, 1.0);
      colors[i] = color_util::toInt(color_util::changeColorspace(color));
    }
    return colors;
  }
};
 
class Rainbow2Palette : public NavGridPalette
{
public:
  std::string getName() const override { return "rainbow2"; }
  bool hasTransparency() const override { return true; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(NUM_COLORS);
    colors[0] = ColorRGBA24(0, 0, 0, 0);
    for (unsigned int i = 1; i < NUM_COLORS; i++)
    {
      double fraction = static_cast<double>(i - 1) / 254;
      // multiplying by 0.75 scales it to red to purple
      color_util::ColorHSVA color(fraction * 0.75, 1.0, 1.0, 1.0);
      colors[i] = color_util::toInt(color_util::changeColorspace(color));
    }
    return colors;
  }
};
 
class BluesPalette : public SpectrumPalette
{
public:
  // Blend from black to blue
  BluesPalette()
    : SpectrumPalette(color_util::ColorRGBA24(0, 0, 0), color_util::ColorRGBA24(0, 0, 255), true) {}
  std::string getName() const override { return "blues"; }
};
 
class DistinctPalette : public NavGridPalette
{
public:
  std::string getName() const override { return "distinct"; }
  bool hasTransparency() const override { return true; }
 
  std::vector<ColorRGBA24> getColors() const override
  {
    return color_util::getNamedColors();
  }
};
 
 
}  // namespace robot_nav_rviz_plugins
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::MapPalette,      robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::CostmapPalette,  robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::RawPalette,      robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::RainbowPalette,  robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::Rainbow2Palette, robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::BluesPalette,    robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::DistinctPalette, robot_nav_rviz_plugins::NavGridPalette)