Removed randomized color behavior, switched to modulo GLASBEY_LUT_SIZ…

…E as discussed in #849

common/include/pcl/common/colors.h

@@ -57,9 +57,6 @@ namespace pcl
   RGB
   getGlasbeyColor (unsigned int color_id);
 
-  RGB
-  getRandomColor (double min = 0.2, double max = 2.8);
-
 }
 
 #endif /* PCL_COMMON_COLORS_H */

common/src/colors.cpp

@@ -315,26 +315,3 @@ pcl::getGlasbeyColor (unsigned int color_id)
   color.b = GLASBEY_LUT[color_id * 3 + 2];
   return (color);
 }
-
-pcl::RGB
-pcl::getRandomColor (double min, double max)
-{
-  double sum;
-  static unsigned stepRGBA = 100;
-  double r, g, b;
-  do
-  {
-    sum = 0;
-    r = (rand () % stepRGBA) / static_cast<double> (stepRGBA);
-    while ((g = (rand () % stepRGBA) / static_cast<double> (stepRGBA)) == r) {}
-    while (((b = (rand () % stepRGBA) / static_cast<double> (stepRGBA)) == r) && (b == g)) {}
-    sum = r + g + b;
-  }
-  while (sum <= min || sum >= max);
-  pcl::RGB color;
-  color.r = uint8_t (r * 255.0);
-  color.g = uint8_t (g * 255.0);
-  color.b = uint8_t (b * 255.0);
-  return (color);
-}
-

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

@@ -531,13 +531,8 @@ pcl::visualization::PointCloudColorHandlerLabelField<PointT>::getColor (vtkSmart
 
   // Assign Glasbey colors in ascending order of labels
   size_t color = 0;
-  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter)
-  {
-    if (color < GLASBEY_LUT_SIZE)
-      colormap[*iter] = getGlasbeyColor (color++);
-    else
-      colormap[*iter] = getRandomColor ();
-  }
+  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
+    colormap[*iter] = getGlasbeyColor (color % GLASBEY_LUT_SIZE);
 
   int j = 0;
   for (vtkIdType cp = 0; cp < nr_points; ++cp)

visualization/src/point_cloud_handlers.cpp

@@ -628,13 +628,8 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::getCo
 
   // Assign Glasbey colors in ascending order of labels
   size_t color = 0;
-  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter)
-  {
-    if (color < GLASBEY_LUT_SIZE)
-      colormap[*iter] = getGlasbeyColor (color++);
-    else
-      colormap[*iter] = getRandomColor ();
-  }
+  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
+    colormap[*iter] = getGlasbeyColor (color % GLASBEY_LUT_SIZE);
 
   // If XYZ present, check if the points are invalid
   int x_idx = pcl::getFieldIndex (*cloud_, "x");