2017-11-02 21:17:52 +08:00
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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2018-01-22 23:42:10 +08:00
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// de Barcelona (UAB).
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2017-11-02 21:17:52 +08:00
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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2017-09-20 00:46:29 +08:00
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#pragma once
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#include "image_converter_types.h"
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namespace image_converter {
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namespace detail {
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// Someday this will be in a config file or something.
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constexpr static Color LABEL_COLOR_MAP[] = {
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{ 0u, 0u, 0u}, // None = 0u,
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{ 70u, 70u, 70u}, // Buildings = 1u,
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{190u, 153u, 153u}, // Fences = 2u,
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{250u, 170u, 160u}, // Other = 3u,
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{220u, 20u, 60u}, // Pedestrians = 4u,
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{153u, 153u, 153u}, // Poles = 5u,
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{153u, 153u, 153u}, // RoadLines = 6u,
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{128u, 64u, 128u}, // Roads = 7u,
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{244u, 35u, 232u}, // Sidewalks = 8u,
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{107u, 142u, 35u}, // Vegetation = 9u,
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{ 0u, 0u, 142u}, // Vehicles = 10u,
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{102u, 102u, 156u}, // Walls = 11u,
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{220u, 220u, 0u} // TrafficSigns = 12u,
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};
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} // namespace detail
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struct label_pixel_converter {
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void operator()(boost::gil::rgb8_pixel_t &pixel) const {
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using namespace detail;
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constexpr auto size = sizeof(LABEL_COLOR_MAP)/sizeof(*LABEL_COLOR_MAP);
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const auto index = pixel[Color::Red] % size;
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LABEL_COLOR_MAP[index].copy_to_pixel(pixel);
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}
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};
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} // namespace image_converter
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