dominant_color.h

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#ifndef DOMINANT_COLOR_H_
#define DOMINANT_COLOR_H_

#include <stdint.h>
#include <math.h>
#include <algorithm>
#include <vector>

namespace cob_3d_mapping
{
  template<typename T>
    inline T
    min3 (const T& a, const T& b, const T& c)
    {
      return (a < b ? std::min < T > (a, c) : std::min < T > (b, c));
    }

  template<typename T>
    inline T
    max3 (const T& a, const T& b, const T& c)
    {
      return (a > b ? std::max < T > (a, c) : std::max < T > (b, c));
    }

  class DominantColor
  {
  public:
    DominantColor () :
        sum_colors_ (0), sum_r_ (0), sum_g_ (0), sum_b_ (0), hue_histogram_ (HIST_SIZE, 0)
    {
    }

    ~DominantColor ()
    {
    }

    void
    addColor (uint8_t r, uint8_t g, uint8_t b, int weight = 1);

    void
    getColor (uint8_t& r, uint8_t& g, uint8_t& b) const;

    int
    incrBin (int h);

    int
    getMaxBin () const;

    void
    rgb2hsv (uint8_t r, uint8_t g, uint8_t b, int& h, int& s, int& v) const;

    void
    hsv2rgb (int h, int s, int v, uint8_t& r, uint8_t& g, uint8_t& b) const;

    void
    reset ();

  private:
    enum
    {
      HIST_SIZE = 180 
    };
    int sum_colors_; 
    //int sum_sat_;
    //int sum_val_;
    int sum_r_, sum_g_, sum_b_; 
    std::vector<int> hue_histogram_; 
    //std::vector<int> sat_values_;

    static const float inv_bin_size = 1.0f / 360.0f * HIST_SIZE;
    //static const float bin_size = 360.0f / HIST_SIZE;
    //static const float bin_center = ((360.0f / HIST_SIZE) - 1.0f) * 0.5f;
  };
}
#endif /* DOMINANT_COLOR_H_ */

/*template<typename T>
 inline T min3(const T& a, const T& b, const T& c) { return ( a < b ? std::min<T>(a,c) : std::min<T>(b,c) ); }
 template<typename T>
 inline T max3(const T& a, const T& b, const T& c) { return ( a > b ? std::max<T>(a,c) : std::max<T>(b,c) ); }

 class DominantColor
 {
 private:
 enum { HIST_SIZE = 180 }; // uint8_t limits hue to 0..255

 public:
 DominantColor() : sum_colors_(0), sum_sat_(0), sum_val_(0), hue_histogram_(HIST_SIZE,0), sat_values_(HIST_SIZE,0)
 { }

 ~DominantColor() { }

 void addColor(uint8_t r, uint8_t g, uint8_t b)
 {
 int h,s,v;
 rgb2hsv(r,g,b,h,s,v);
 int pos = incrBin(h);
 sat_values_[pos] += s;
 sum_sat_ += s;
 sum_val_ += v;
 ++sum_colors_;
 }

 inline void getColor(uint8_t& r, uint8_t& g, uint8_t& b) const
 {
 if(!sum_colors_) { r=0; g=0; b=0; return; }
 int pos = getMaxBin();
 hsv2rgb( round(pos*bin_size+bin_center), sat_values_[pos]/hue_histogram_[pos], sum_val_/sum_colors_, r,g,b );
 }

 inline int incrBin(int h)
 { int bin = h*inv_bin_size; hue_histogram_[bin] += 1; return bin; }

 inline int getMaxBin() const
 {
 int max_bin=0, max_size=0;
 for(int i=0;i<HIST_SIZE;++i)
 {
 if (hue_histogram_[i] >= max_size)
 {
 max_size = hue_histogram_[i];
 max_bin = i;
 }
 }
 //std::cout<<"max_(bin/size): "<<max_bin<<"/"<<max_size<<std::endl;
 return max_bin;
 }

 inline void rgb2hsv(uint8_t r, uint8_t g, uint8_t b, int& h, int& s, int& v) const
 {
 int rgb_min = min3(r,g,b);
 int rgb_max = max3(r,g,b);
 int delta = rgb_max - rgb_min;
 v = rgb_max;
 if (v == 0) { s = h = 0; return; }
 s = round(float(delta) / float(v) * 100.0f);
 v /= 2.55f;
 float h_tmp;
 if (s == 0) { h = 0; return; }
 if      ((int)r == rgb_max)   h_tmp =     (float(g - b)) / (float(delta));
 else if ((int)g == rgb_max)   h_tmp = 2.0f + (float(b - r)) / (float(delta));
 else                          h_tmp = 4.0f + (float(r - g)) / (float(delta));

 h = h_tmp * 60.0f;
 if(h<0) h+=360;
 }

 inline void hsv2rgb(int h, int s, int v, uint8_t& r, uint8_t& g, uint8_t& b) const
 {
 if (s == 0) { r = g = b = v*2.55f; return; }

 float hh = h / 60.0f; // sector 0..5
 int i = floor(hh);
 float f = hh - i;
 v = round(v*2.55f);
 int p = v * (100 - s) * 0.01f;
 int q = v * (100 - s * f) * 0.01f;
 int t = v * (100 - s * (1.0f - f)) * 0.01f;

 switch(i)
 {
 case 0:
 { r = v; g = t; b = p; break; }
 case 1:
 { r = q; g = v; b = p; break; }
 case 2:
 { r = p; g = v; b = t; break; }
 case 3:
 { r = p; g = q; b = v; break; }
 case 4:
 { r = t; g = p; b = v; break; }
 default:// case 5:
 { r = v; g = p; b = q; break; }
 }
 }

 private:
 int sum_colors_;
 int sum_sat_;
 int sum_val_;
 std::vector<int> hue_histogram_;
 std::vector<int> sat_values_;

 static const float inv_bin_size = 1.0f / 360.0f * HIST_SIZE;
 static const float bin_size = 360.0f / HIST_SIZE;
 static const float bin_center = ((360.0f / HIST_SIZE) - 1.0f) * 0.5f;
 };*/