Color.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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 */

#ifndef _MIRA_COLOR_H_
#define _MIRA_COLOR_H_

#include <math.h>
#include <opencv2/core/core.hpp>

#include <platform/Platform.h>
#include <factory/Factory.h>
#include <serialization/PropertyHint.h>
#include <serialization/ReflectorInterface.h>

namespace mira {


// forward decl for RGB
namespace Color {
class MIRA_BASE_EXPORT RGB;
}


class MIRA_BASE_EXPORT ColorBase: public Object {
    MIRA_ABSTRACT_OBJECT(ColorBase)
public:
    virtual ~ColorBase() {
    }

public:
    virtual Color::RGB toRGB() const = 0;

public:
    virtual operator cv::Scalar() const;
};


namespace Color {


class MIRA_BASE_EXPORT RGB: public ColorBase {
    MIRA_OBJECT(RGB)
public:

    RGB(float ir, float ig, float ib) :
            r(ir), g(ig), b(ib) {
    }

    RGB() :
            r(0), g(0), b(0) {
    }

    RGB(const RGB& other) {
        r = other.r;
        g = other.g;
        b = other.b;
    }

    template<typename Reflector>
    void reflect(Reflector& reflector) {
        reflector.property("R", r, "The red component",
                           PropertyHints::limits(0., 1.));
        reflector.property("G", g, "The green component",
                           PropertyHints::limits(0., 1.));
        reflector.property("B", b, "The blue component",
                           PropertyHints::limits(0., 1.));
    }

    virtual Color::RGB toRGB() const {
        return *this;
    }

    bool isInRange() const {
        return r >= 0.0f && r <= 1.0f && g >= 0.0f && g <= 1.0f && b >= 0.0f
                && b <= 1.0f;
    }

public:
    float r, g, b;
};

class MIRA_BASE_EXPORT RGBA: public RGB {
    MIRA_OBJECT(RGBA)
public:

    RGBA(float ir, float ig, float ib, float ia) :
            RGB(ir, ig, ib), a(ia) {
    }

    RGBA() :
            a(1.0f) {
    }

    RGBA(const RGBA& other) :
            RGB(other.r, other.g, other.b), a(other.a) {
    }

    RGBA(const RGB& other, float ia = 1.0f) :
            RGB(other.r, other.g, other.b), a(ia) {
    }

    template<typename Reflector>
    void reflect(Reflector& r) {
        MIRA_REFLECT_BASE(r, RGB);
        r.property("A", a, "The alpha component",
                   PropertyHints::limits(0., 1.));
    }

    virtual operator cv::Scalar() const {
        return cv::Scalar(b * 255.0f, g * 255.0f, r * 255.0f, a * 255.0f);
    }

public:
    float a;
};


class MIRA_BASE_EXPORT HSV: public ColorBase {
    MIRA_OBJECT(HSV)
public:

    HSV(float hue, float saturation, float value) :
            h(hue), s(saturation), v(value) {
    }
    HSV() :
            h(0.0f), s(0.0f), v(0.0f) {
    }

    template<typename Reflector>
    void reflect(Reflector& r) {
        r.property("H", h, "The hue component", PropertyHints::limits(0., 1.));
        r.property("S", s, "The saturation component",
                   PropertyHints::limits(0., 1.));
        r.property("V", v, "The value component",
                   PropertyHints::limits(0., 1.));
    }

    virtual Color::RGB toRGB() const {
        float f = fmod(h * 6.0f, 6.0f);
        int hi = ((int) f);
        f = f - hi; // get the fraction

        float p = v * (1 - s);
        float q = v * (1 - s * f);
        float t = v * (1 - s * (1 - f));

        switch (hi) {
        case 0:
            return RGB(v, t, p);
        case 1:
            return RGB(q, v, p);
        case 2:
            return RGB(p, v, t);
        case 3:
            return RGB(p, q, v);
        case 4:
            return RGB(t, p, v);
        case 5:
            return RGB(v, p, q);
        }

        return RGB(0, 0, 0);
    }

public:
    float h, s, v;
};


class MIRA_BASE_EXPORT XYZ: public ColorBase {
    MIRA_OBJECT(XYZ)
public:

    XYZ(float ix, float iy, float iz) :
            x(ix), y(iy), z(iz) {
    }
    XYZ() :
            x(0.0f), y(0.0f), z(0.0f) {
    }

    template<typename Reflector>
    void reflect(Reflector& r) {
        r.property("X", x, "The x component",
                   PropertyHints::limits(0., 98.047));
        r.property("Y", y, "The y component",
                   PropertyHints::limits(0., 100.000));
        r.property("Z", z, "The z component",
                   PropertyHints::limits(0., 108.883));
    }

    virtual Color::RGB toRGB() const {
        // formulas for conversation were taken from
        // http://www.easyrgb.com/index.php
        // Observer = 2 deg, Illuminant = D65
        float X = x / 100.0f;
        float Y = y / 100.0f;
        float Z = z / 100.0f;

        float R = X * 3.2406f + Y * -1.5372f + Z * -0.4986f;
        float G = X * -0.9689f + Y * 1.8758f + Z * 0.0415f;
        float B = X * 0.0557f + Y * -0.2040f + Z * 1.0570f;

        if (R > 0.0031308f)
            R = 1.055f * pow(R, 1.0f / 2.4f) - 0.055f;
        else
            R = 12.92f * R;

        if (G > 0.0031308f)
            G = 1.055f * pow(G, 1.0f / 2.4f) - 0.055f;
        else
            G = 12.92f * G;

        if (B > 0.0031308f)
            B = 1.055f * pow(B, 1.0f / 2.4f) - 0.055f;
        else
            B = 12.92f * B;

        return RGB(R, G, B);
    }

public:
    float x, y, z;
};


class MIRA_BASE_EXPORT Lab: public ColorBase {
    MIRA_OBJECT(Lab)
public:
    Lab(float iL, float ia, float ib) :
            L(iL), a(ia), b(ib) {
    }
    Lab() :
            L(0.0f), a(0.0f), b(0.0f) {
    }

    template<typename Reflector>
    void reflect(Reflector& r) {
        r.property("L", L, "The L component",
                   PropertyHints::limits(0., 100.));
        r.property("A", a, "The a component",
                   PropertyHints::limits(-150., 100.));
        r.property("B", b, "The b component",
                   PropertyHints::limits(-100., 150.));
    }

    XYZ toXYZ() const {

        // formulas for conversation were taken from
        // http://www.easyrgb.com/index.php
        float Y = (L + 16.0f) / 116.0f;
        float X = a / 500.0f + Y;
        float Z = Y - b / 200.0f;

        float Y3 = Y * Y * Y;
        float X3 = X * X * X;
        float Z3 = Z * Z * Z;

        if (Y3 > 0.008856f)
            Y = Y3;
        else
            Y = (Y - 16.0f / 116.0f) / 7.787f;
        if (X3 > 0.008856f)
            X = X3;
        else
            X = (X - 16.0f / 116.0f) / 7.787f;
        if (Z3 > 0.008856f)
            Z = Z3;
        else
            Z = (Z - 16.0f / 116.0f) / 7.787f;

        // Reference color space:
        // Observer= 2 deg, Illuminant= D65

        float refX = 95.047f;
        float refY = 100.000f;
        float refZ = 108.883f;

        X *= refX;
        Y *= refY;
        Z *= refZ;

        return XYZ(X, Y, Z);
    }

    virtual Color::RGB toRGB() const {
        return toXYZ().toRGB();
    }

public:
    float L, a, b;
};


//
// The following code (YUV color class) is disabled, since the conversion
// to/from is not clear at the moment. There are different formulas avialable:
// http://en.wikipedia.org/wiki/YUV and http://www.fourcc.org/fccyvrgb.php
//
// We decided to remove the YUV color class until somebody has some time of
// investigate this into more detail.
//
// * Color in YUV color space
// *
// * conversion formulas to/from RGB taken from http://en.wikipedia.org/wiki/YUV
// *
// * @ingroup ImageModule
// */
//class MIRA_BASE_EXPORT YUV: public ColorBase {
//  MIRA_OBJECT(YUV)
//public:
//
//  /**
//   * Constructs color in YUV color space.
//   * Y:    0.0 to 1.0
//   * U: -0.436 to 0.436
//   * V: -0.615 to 0.615
//   */
//  YUV(float iy, float iu, float iv) :
//          y(iy), u(iu), v(iv) {
//  }
//
//  /**
//   * Default constructor
//   * initializes Y,U, and V to 0.0
//   * equivalent to RGB = (0,0,0)
//   */
//  YUV() :
//          y(0.0f), u(0.0f), v(0.0f) {
//  }
//
//  YUV(const RGB& rgb) :
//      y( 0.299f   * rgb.r +0.587f   * rgb.g  +0.114f   * rgb.b),
//      u(-0.14713f * rgb.r -0.28886f * rgb.g  +0.436f   * rgb.b),
//      v( 0.615f   * rgb.r -0.51499f * rgb.g  -0.10001f * rgb.b) {
//  }
//
//  template<typename Reflector>
//  void reflect(Reflector& r) {
//      r.property("Y", y, "The luminance component", PropertyHints::limits(0., 1.));
//      r.property("U", u, "The chrominance component 1 (blue-luminance difference)",
//                 PropertyHints::limits(-0.436f, 0.436f));
//      r.property("V", v, "The chrominance component 2 (red-luminance difference)",
//                 PropertyHints::limits(-0.615f, 0.615f));
//  }
//
//  /**
//   * Converts the YUV color to RGB.
//   */
//  virtual Color::RGB toRGB() const {
//
//      float r =  1.0f * y +              + 1.13983f * v;
//      float g =  1.0f * y - 0.39465f * u - 0.58060f * v;
//      float b =  1.0f * y + 2.03211f * u;
//
//      return RGB(r, g, b);
//  }
//
//public:
//  float y, u, v;
//};


// some important color predefs
const RGB Red(1.0f, 0.0f, 0.0f);
const RGB Green(0.0f, 1.0f, 0.0f);
const RGB Blue(0.0f, 0.0f, 1.0f);
const RGB Cyan(0.0f, 1.0f, 1.0f);
const RGB Magenta(1.0f, 0.0f, 1.0f);
const RGB Yellow(1.0f, 1.0f, 0.0f);
const RGB White(1.0f, 1.0f, 1.0f);
const RGB Black(0.0f, 0.0f, 0.0f);


}// namespace Color

inline ColorBase::operator cv::Scalar() const {
    Color::RGB c = toRGB();
    return cv::Scalar(c.b * 255.0f, c.g * 255.0f, c.r * 255.0f, 255.0f);
}


}// namespace mira

#endif