colorUtils.h
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_light
00013  * Description: Switch robots led color by sending data to
00014  * the led-µC over serial connection.
00015  *                                                              
00016  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00017  *                      
00018  * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00019  * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00020  *
00021  * Date of creation: August 2012
00022  * ToDo:
00023  *
00024  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00025  *
00026  * Redistribution and use in source and binary forms, with or without
00027  * modification, are permitted provided that the following conditions are met:
00028  *
00029  *     * Redistributions of source code must retain the above copyright
00030  *       notice, this list of conditions and the following disclaimer.
00031  *     * Redistributions in binary form must reproduce the above copyright
00032  *       notice, this list of conditions and the following disclaimer in the
00033  *       documentation and/or other materials provided with the distribution.
00034  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00035  *       Engineering and Automation (IPA) nor the names of its
00036  *       contributors may be used to endorse or promote products derived from
00037  *       this software without specific prior written permission.
00038  *
00039  * This program is free software: you can redistribute it and/or modify
00040  * it under the terms of the GNU Lesser General Public License LGPL as 
00041  * published by the Free Software Foundation, either version 3 of the 
00042  * License, or (at your option) any later version.
00043  * 
00044  * This program is distributed in the hope that it will be useful,
00045  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00046  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00047  * GNU Lesser General Public License LGPL for more details.
00048  * 
00049  * You should have received a copy of the GNU Lesser General Public 
00050  * License LGPL along with this program. 
00051  * If not, see <http://www.gnu.org/licenses/>.
00052  *
00053  ****************************************************************/
00054 
00055 #ifndef COLOR_UTILS_H
00056 #define COLOR_UTILS_H
00057 
00058 #include <algorithm>
00059 #include <math.h>
00060 
00061 namespace color
00062 {
00063 struct rgba
00064 {
00065         rgba(): r(0.0), g(0.0), b(0.0), a(0.0) {}
00066         float r;
00067         float g;
00068         float b;
00069         float a;
00070 };
00071 
00072 struct hsv
00073 {
00074         hsv(): h(0.0), s(0.0), v(0.0) {}
00075         float h;
00076         float s;
00077         float v;
00078 };
00079 
00080 class Color
00081 {
00082 public:
00083         static void rgb2hsv (float r, float g, float b, float &h, float &s, float &v)
00084         {
00085                 double var_R = r;
00086                 double var_G = g;
00087                 double var_B = b;
00088 
00089                 double var_Min = std::min(std::min(var_R,var_G),var_B);
00090                 double var_Max = std::max(std::max(var_R,var_G),var_B);
00091                 double del_Max = var_Max - var_Min;
00092                 v = var_Max;
00093                 if (fabs(del_Max)<0.00001) {
00094                         h = 0;
00095                         s = 0;
00096                 }
00097                 else {
00098                         s = del_Max/var_Max;
00099 
00100                         if      ( var_R == var_Max ) h = (var_G - var_B)/del_Max;
00101                         else if ( var_G == var_Max ) h = 2.0 + (var_B - var_R)/del_Max;
00102                         else if ( var_B == var_Max ) h = 4.0 + (var_R - var_G)/del_Max;
00103                         h /= 6.0;
00104 
00105                         if ( h < 0 )  h += 1;
00106                         if ( h > 1 )  h -= 1;
00107                 }
00108         }
00109 
00110         static void hsv2rgb (float h, float s, float v, float &r, float &g, float &b)
00111         {
00112                 float h1 = h*6; // sector 0 to 5
00113                 int i = floor( h1 );
00114                 float f = h1 - i; // fractional part of h
00115 
00116                 float p = v * ( 1 - s );
00117                 float q = v * ( 1 - s * f );
00118                 float t = v * ( 1 - s * ( 1 - f ) );
00119 
00120                 if      (i==0) {r = v;  g = t;  b = p;}
00121                 else if (i==1) {r = q;  g = v;  b = p;}
00122                 else if (i==2) {r = p;  g = v;  b = t;}
00123                 else if (i==3) {r = p;  g = q;  b = v;}
00124                 else if (i==4) {r = t;  g = p;  b = v;}
00125                 else if (i==5) {r = v;  g = p;  b = q;}
00126         }
00127 };
00128 }
00129 #endif


cob_light
Author(s): Benjamin Maidel
autogenerated on Thu Aug 27 2015 12:46:10