vpRGBf.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * 32-bit floating point RGB pixel.
 */

 
#include <limits>
#include <visp3/core/vpColor.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpRGBf.h>
 
BEGIN_VISP_NAMESPACE
vpRGBf &vpRGBf::operator=(float v)
{
  this->R = v;
  this->G = v;
  this->B = v;
  return *this;
}

vpRGBf &vpRGBf::operator=(int v)
{
  this->R = static_cast<float>(v);
  this->G = static_cast<float>(v);
  this->B = static_cast<float>(v);
  return *this;
}

vpRGBf &vpRGBf::operator=(const vpColVector &v)
{
  const unsigned int rows_size = 3;
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
 
  if (v.getRows() != rows_size) {
    throw(vpException(vpException::dimensionError, "Bad vector dimension"));
  }
  R = static_cast<float>(v[index_0]);
  G = static_cast<float>(v[index_1]);
  B = static_cast<float>(v[index_2]);
  return *this;
}

bool vpRGBf::operator==(const vpRGBf &v) const
{
  if (std::fabs(R - v.R) > std::numeric_limits<float>::epsilon()) {
    return false;
  }
  if (std::fabs(G - v.G) > std::numeric_limits<float>::epsilon()) {
    return false;
  }
  if (std::fabs(B - v.B) > std::numeric_limits<float>::epsilon()) {
    return false;
  }
 
  return true;
}

bool vpRGBf::operator!=(const vpRGBf &v) const
{
  return ((std::fabs(R - v.R) > std::numeric_limits<float>::epsilon()) ||
          (std::fabs(G - v.G) > std::numeric_limits<float>::epsilon()) ||
          (std::fabs(B - v.B) > std::numeric_limits<float>::epsilon()));
}

vpColVector vpRGBf::operator-(const vpRGBf &v) const
{
  vpColVector n(3); // new color
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  n[index_0] = static_cast<double>(R) - static_cast<double>(v.R);
  n[index_1] = static_cast<double>(G) - static_cast<double>(v.G);
  n[index_2] = static_cast<double>(B) - static_cast<double>(v.B);
  return n;
}

vpRGBf vpRGBf::operator+(const vpRGBf &v) const
{
  vpRGBf n; // new color
  n.R = R + v.R;
  n.G = G + v.G;
  n.B = B + v.B;
  return n;
}

vpColVector vpRGBf::operator-(const vpColVector &v) const
{
  vpColVector n(3); // new color
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  n[index_0] = R - v[index_0];
  n[index_1] = G - v[index_1];
  n[index_2] = B - v[index_2];
  return n;
}

vpColVector vpRGBf::operator+(const vpColVector &v) const
{
  vpColVector n(3); // new color
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  n[index_0] = R + v[index_0];
  n[index_1] = G + v[index_1];
  n[index_2] = B + v[index_2];
  return n;
}

vpColVector vpRGBf::operator*(float v) const
{
  vpColVector n(3);
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  n[index_0] = R * v;
  n[index_1] = G * v;
  n[index_2] = B * v;
  return n;
}

vpColVector vpRGBf::operator*(double v) const
{
  vpColVector n(3);
  const unsigned int index_0 = 0;
  const unsigned int index_1 = 1;
  const unsigned int index_2 = 2;
  n[index_0] = R * v;
  n[index_1] = G * v;
  n[index_2] = B * v;
  return n;
}
 
bool vpRGBf::operator<(const vpRGBf &v) const
{
  double gray1 = (0.2126 * R) + (0.7152 * G) + (0.0722 * B);
  double gray2 = (0.2126 * v.R) + (0.7152 * v.G) + (0.0722 * v.B);
 
  return (gray1 < gray2);
}
 
bool vpRGBf::operator>(const vpRGBf &v) const
{
  double gray1 = (0.2126 * R) + (0.7152 * G) + (0.0722 * B);
  double gray2 = (0.2126 * v.R) + (0.7152 * v.G) + (0.0722 * v.B);
 
  return (gray1 > gray2);
}

vpRGBf operator*(double x, const vpRGBf &rgb)
{
  vpRGBf rgbf;
  rgbf.R = static_cast<float>(rgb.R * x);
  rgbf.G = static_cast<float>(rgb.G * x);
  rgbf.B = static_cast<float>(rgb.B * x);
  return rgbf;
}

vpRGBf operator*(float x, const vpRGBf &rgb)
{
  vpRGBf rgbf;
  rgbf.R = rgb.R * x;
  rgbf.G = rgb.G * x;
  rgbf.B = rgb.B * x;
  return rgbf;
}

VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRGBf &rgb)
{
  os << "(" << rgb.R << "," << rgb.G << "," << rgb.B << ")";
  return os;
}
END_VISP_NAMESPACE