ColorHelper.cpp

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#include "helper/ColorHelper.h"

namespace Visualization {
 
  ColorHelper::ColorHelper()
  {
  }
  
  ColorHelper::~ColorHelper()
  {
  }
  
  void ColorHelper::convertHSVToRGB(std_msgs::ColorRGBA& pColor, double pH, double pS, double pV)
  {
    unsigned int i = floor(pH * 6.0);
    
    double f = pH * 6.0 - i;
    double p = pV * (1.0 - pS);
    double q = pV * (1.0 - f * pS);
    double t = pV * (1.0 - (1.0 - f) * pS);

    switch(i % 6){
        case 0: pColor.r = pV, pColor.g = t, pColor.b = p; break;
        case 1: pColor.r = q, pColor.g = pV, pColor.b = p; break;
        case 2: pColor.r = p, pColor.g = pV, pColor.b = t; break;
        case 3: pColor.r = p, pColor.g = q, pColor.b = pV; break;
        case 4: pColor.r = t, pColor.g = p, pColor.b = pV; break;
        case 5: pColor.r = pV, pColor.g = p, pColor.b = q; break;
    }
  }
  
}