Perception: Added semantic color codes; Changed default camera parame…

…ters of front_6mm

modules/perception/camera/tools/offline/BUILD

@@ -8,6 +8,7 @@ cc_library(
         "visualizer.cc",
     ],
     hdrs = [
+        "colormap.h",
         "keycode.h",
         "visualizer.h",
     ],

modules/perception/camera/tools/offline/colormap.h

@@ -0,0 +1,70 @@
+/******************************************************************************
+ * Copyright 2019 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the License);
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+#pragma once
+
+#include <opencv2/opencv.hpp>
+#include <vector>
+
+namespace apollo {
+namespace perception {
+
+// Color: cv::Scalar(B, G, R);
+
+// Basic Colors
+cv::Scalar black_color = cv::Scalar(0, 0, 0);
+cv::Scalar white_color = cv::Scalar(255, 255, 255);
+cv::Scalar magenta_color = cv::Scalar(255, 0, 255);
+cv::Scalar purple_color = cv::Scalar(128, 0, 128);
+cv::Scalar teal_color = cv::Scalar(128, 128, 0);
+cv::Scalar violet_color = cv::Scalar(238, 130, 238);
+cv::Scalar pink_color = cv::Scalar(203, 192, 255);
+cv::Scalar beige_color = cv::Scalar(220, 245, 245);
+cv::Scalar ivory_color = cv::Scalar(240, 255, 255);
+
+
+// Blue class
+cv::Scalar azure_color = cv::Scalar(255, 255, 240);
+cv::Scalar cyan_color = cv::Scalar(255, 255, 0);
+cv::Scalar sky_blue_color = cv::Scalar(235, 206, 135);
+cv::Scalar deep_sky_blue_color = cv::Scalar(255, 191, 0);
+cv::Scalar dodger_blue_color = cv::Scalar(255, 144, 30);
+cv::Scalar blue_color = cv::Scalar(255, 0, 0);
+cv::Scalar medium_blue_color = cv::Scalar(205, 0, 0);
+cv::Scalar dark_blue_color = cv::Scalar(139, 0, 0);
+cv::Scalar navy_color = cv::Scalar(128, 0, 0);
+
+// Green class
+cv::Scalar dark_green_color = cv::Scalar(0, 100, 0);
+cv::Scalar lime_color = cv::Scalar(0, 255, 0);
+cv::Scalar light_green_color = cv::Scalar(144, 238, 144);
+cv::Scalar olive_color = cv::Scalar(0, 128, 128);
+cv::Scalar green_color = cv::Scalar(0, 128, 0);
+
+// Red class
+cv::Scalar red_color = cv::Scalar(0, 0, 255);
+cv::Scalar coral_color = cv::Scalar(80, 127, 255);
+cv::Scalar salmon_color = cv::Scalar(144, 128, 250);
+cv::Scalar orange_color = cv::Scalar(0, 165, 255);
+cv::Scalar yellow_color = cv::Scalar(0, 255, 255);
+cv::Scalar maroon_color = cv::Scalar(0, 0, 128);
+
+// Gray class
+cv::Scalar light_gray_color = cv::Scalar(100, 100, 100);
+cv::Scalar gray_color = cv::Scalar(128, 128, 128);
+cv::Scalar dark_gray_color = cv::Scalar(170, 170, 170);
+cv::Scalar silver_color = cv::Scalar(192, 192, 192);
+}  // namespace perception
+}  // namespace apollo