#include <vpColor.h>

Inheritance diagram for vpColor:

Public Types
enum	vpColorIdentifier { id_black = 0 , id_white , id_lightGray , id_gray , id_darkGray , id_lightRed , id_red , id_darkRed , id_lightGreen , id_green , id_darkGreen , id_lightBlue , id_blue , id_darkBlue , id_yellow , id_cyan , id_orange , id_purple , id_unknown }
enum	AlphaDefault { alpha_default = 255 }

Public Member Functions
	vpColor ()
	vpColor (const vpColor &)=default
virtual	~vpColor ()=default
	vpColor (unsigned char r, unsigned char g, unsigned char b, vpColor::vpColorIdentifier cid=vpColor::id_unknown)
	vpColor (unsigned char r, unsigned char g, unsigned char b, unsigned char alpha, vpColor::vpColorIdentifier cid=vpColor::id_unknown)
	vpColor (const vpColor &color, unsigned char alpha)
vpColor &	operator= (const vpColor &)=default
void	setColor (unsigned char r, unsigned char g, unsigned char b, unsigned char a=vpRGBa::alpha_default)
template<typename T, bool useFullScale, typename U = float>
std::enable_if< std::is_same< U, float >::value &&std::is_same< T, unsignedchar >::value, vpRGBa & >::type	buildFrom (const vpHSV< T, useFullScale > &other)
template<typename T, bool useFullScale>
std::enable_if< std::is_floating_point< T >::value, vpRGBa & >::type	buildFrom (const vpHSV< T, useFullScale > &hsv)
bool	operator== (const vpRGBa &v) const
bool	operator!= (const vpRGBa &v) const
vpColVector	operator- (const vpRGBa &v) const
vpColVector	operator- (const vpColVector &v) const
vpRGBa	operator+ (const vpRGBa &v) const
vpColVector	operator+ (const vpColVector &v) const
vpColVector	operator* (const float &v) const
vpColVector	operator* (const double &v) const
bool	operator< (const vpRGBa &v) const
bool	operator> (const vpRGBa &v) const

Static Public Member Functions
static vpColor	getColor (const unsigned int &i)

Public Attributes
vpColorIdentifier	id
unsigned char	R
unsigned char	G
unsigned char	B
unsigned char	A

Static Public Attributes
static const vpColor	black = vpColor(0, 0, 0, id_black)
static const vpColor	white = vpColor(255, 255, 255, id_white)
static const vpColor	lightGray = vpColor(192, 192, 192, id_lightGray)
static const vpColor	gray = vpColor(128, 128, 128, id_gray)
static const vpColor	darkGray = vpColor(64, 64, 64, id_darkGray)
static const vpColor	lightRed = vpColor(255, 140, 140, id_lightRed)
static const vpColor	red = vpColor(255, 0, 0, id_red)
static const vpColor	darkRed = vpColor(128, 0, 0, id_darkRed)
static const vpColor	lightGreen = vpColor(140, 255, 140, id_lightGreen)
static const vpColor	green = vpColor(0, 255, 0, id_green)
static const vpColor	darkGreen = vpColor(0, 128, 0, id_darkGreen)
static const vpColor	lightBlue = vpColor(140, 140, 255, id_lightBlue)
static const vpColor	blue = vpColor(0, 0, 255, id_blue)
static const vpColor	darkBlue = vpColor(0, 0, 128, id_darkBlue)
static const vpColor	yellow = vpColor(255, 255, 0, id_yellow)
static const vpColor	cyan = vpColor(0, 255, 255, id_cyan)
static const vpColor	orange = vpColor(255, 165, 0, id_orange)
static const vpColor	purple = vpColor(128, 0, 128, id_purple)
static const vpColor	none = vpColor(0, 0, 0, id_unknown)
static const unsigned int	nbColors = 18
static const vpColor	allColors []
static constexpr unsigned char	nbChannels = 4

Friends
VISP_EXPORT bool	operator== (const vpColor &c1, const vpColor &c2)
VISP_EXPORT bool	operator!= (const vpColor &c1, const vpColor &c2)

Detailed Description

Class to define RGB colors available for display functionalities.

You may use predefined colors:
- vpColor::black, vpColor::white,
- vpColor::lightGray, vpColor::gray, vpColor::darkGray,
- vpColor::lightRed, vpColor::red, vpColor::darkRed,
- vpColor::lightGreen, vpColor::green, vpColor::darkGreen,
- vpColor::lightBlue, vpColor::blue, vpColor::darkBlue,
- vpColor::yellow, vpColor::cyan, vpColor::orange, vpColor::purple
  vpColor color1(vpColor::lightGreen);
  
  vpColor color2 = vpColor::lightGreen;
  
  vpColor::lightGreen
  static const vpColor lightGreen
  Definition vpColor.h:200
  
  vpColor::vpColor
  vpColor()
  Definition vpColor.h:222
or specify your own color by settings its R,G,B values.
unsigned char R=140, G=255, B=140;

vpColor color1(R, G, B);

vpColor color2;

color2.setColor(R, G, B);

vpColor::setColor
void setColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a=vpRGBa::alpha_default)
Definition vpColor.h:285

vpRGBa::B
unsigned char B
Blue component.
Definition vpRGBa.h:327

vpRGBa::R
unsigned char R
Red component.
Definition vpRGBa.h:325

vpRGBa::G
unsigned char G
Green component.
Definition vpRGBa.h:326

Warning

Since ViSP 3.3.1 or higher we introduce the alpha channel support for color transparency. This feature is for the moment only supported using vpDisplayOpenCV. To use transparency you may set an additional alpha parameter. When the value is 255, there is no transparency. A value equal to 0 means that the color is completely transparent. The following examples show how to introduce transparency:

using predefined colors:
unsigned char alpha = 128;

vpColor color1(vpColor::lightGreen, alpha);

vpColor color2 = vpColor(vpColor::lightGreen, alpha);
or using user defined colors:
unsigned char R=140, G=255, B=140, alpha=128;

vpColor color1(R, G, B, alpha);

vpColor color2;

color2.setColor(R, G, B, alpha);

See displayOpenCV.cpp example for complete usage when displaying filled transparent circles or rectangles.

An identifier vpColor::vpColorIdentifier is associated to each color. This identifier is useful to determine if a color is predefined or specified by it R,G,B values. In that last case, the identifier is always set to vpColor::id_unknown.

The example below shows how to display geometric features in a display overlay using predefined colors (here the blue color to draw a circle) and a specific brown color (used to draw a rectangle).

#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpImage<unsigned char> I(240, 320); // Create a black grey level image
 
  vpDisplay *d;
 
  // Depending on the detected third party libraries, we instantiate here the
  // first video device which is available
#if defined(VISP_HAVE_X11)
  d = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
  d = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
  d = new vpDisplayGDI;
#elif defined(VISP_HAVE_D3D9)
  d = new vpDisplayD3D;
#elif defined(HAVE_OPENCV_HIGHGUI)
  d = new vpDisplayOpenCV;
#endif
 
  // Initialize the display with the image I. Display and image are
  // now link together.
#ifdef VISP_HAVE_DISPLAY
  d->init(I);
#endif
 
  // Set the display background with image I content
  vpDisplay::display(I);
 
  // Draw a filled circle with the predefined blue color
  vpDisplay::displayCircle(I, 100, 200, 30, vpColor::blue, true);
 
  // Creation of a new brown color with its RGB values
  vpColor color(128, 100, 50);
 
  // Draw a brown rectangle in the display overlay (foreground)
  vpDisplay::displayRectangle(I, 10, 10, 100, 20, color, true);
 
  // Flush the foreground and background display
  vpDisplay::flush(I);
 
  delete d;
}

Examples: SickLDMRS-Process.cpp, catchParticleFilter.cpp, displayOpenCV.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, testGenericTracker.cpp, tutorial-draw-circle.cpp, tutorial-megapose-live-single-object-tracking.cpp, tutorial-munkres-assignment.cpp, tutorial-pf-curve-fitting-all.cpp, and tutorial-pf-curve-fitting-pf.cpp.

Definition at line 156 of file vpColor.h.

Member Enumeration Documentation

◆ AlphaDefault

enum vpRGBa::AlphaDefault

inherited

Enumerator
alpha_default

Definition at line 76 of file vpRGBa.h.

◆ vpColorIdentifier

enum vpColor::vpColorIdentifier

Predefined colors identifier.

Enumerator
id_black	Identifier associated to the predefined vpColor::black color.
id_white	Identifier associated to the predefined vpColor::white color.
id_lightGray	Identifier associated to the predefined vpColor::lightGray color.
id_gray	Identifier associated to the predefined vpColor::gray color.
id_darkGray	Identifier associated to the predefined pColor::darkGray color.
id_lightRed	Identifier associated to the predefined vpColor::lightRed color.
id_red	Identifier associated to the predefined vpColor::red color.
id_darkRed	Identifier associated to the predefined vpColor::darkRed color.
id_lightGreen	Identifier associated to the predefined vpColor::lightGreen color.
id_green	Identifier associated to the predefined vpColor::green color.
id_darkGreen	Identifier associated to the predefined vpColor::darkGreen color.
id_lightBlue	Identifier associated to the predefined vpColor::lightBlue color.
id_blue	Identifier associated to the predefined vpColor::blue color.
id_darkBlue	Identifier associated to the predefined vpColor::darkBlue color.
id_yellow	Identifier associated to the predefined vpColor::yellow color.
id_cyan	Identifier associated to the predefined vpColor::cyan color.
id_orange	Identifier associated to the predefined vpColor::orange color.
id_purple	Identifier associated to the predefined vpColor::purple color.
id_unknown	Identifier associated with unknown colors. By unknown, we mean that it is not a predefined colour. This identifier can also be used to find out the number of predefined colours

Definition at line 160 of file vpColor.h.

Constructor & Destructor Documentation

◆ vpColor() [1/5]

vpColor::vpColor ( )

inline

Default constructor. All the colors components are set to zero.

The color identifier is set to vpColor::id_unknown to indicate that this color is not a predefined one.

Definition at line 222 of file vpColor.h.

References id, id_unknown, and vpRGBa::vpRGBa().

Referenced by getColor(), operator!=, operator=(), operator==, vpColor(), vpColor(), and ~vpColor().

◆ vpColor() [2/5]

vpColor::vpColor ( const vpColor & )

default

Default destructor.

References vpColor().

◆ ~vpColor()

virtual vpColor::~vpColor ( )

virtualdefault

References vpColor().

◆ vpColor() [3/5]

vpColor::vpColor	(	unsigned char	r,
		unsigned char	g,
		unsigned char	b,
		vpColor::vpColorIdentifier	cid = vpColor::id_unknown )

inline

Construct a color from its RGB values.

Parameters

r	: Red component.
g	: Green component.
b	: Blue component.
cid	: The color identifier to indicate if this color is or not a predefined one.

Definition at line 241 of file vpColor.h.

References id, id_unknown, and vpRGBa::vpRGBa().

◆ vpColor() [4/5]

vpColor::vpColor	(	unsigned char	r,
		unsigned char	g,
		unsigned char	b,
		unsigned char	alpha,
		vpColor::vpColorIdentifier	cid = vpColor::id_unknown )

inline

Construct a color from its RGB values and alpha channel.

Parameters

r	: Red component.
g	: Green component.
b	: Blue component.
alpha	: Alpha channel for transparency.
cid	: The color identifier to indicate if this color is or not a predefined one.

Definition at line 256 of file vpColor.h.

References id, id_unknown, and vpRGBa::vpRGBa().

◆ vpColor() [5/5]

vpColor::vpColor	(	const vpColor &	color,
		unsigned char	alpha )

inline

Construct a color with an alpha channel.

Parameters

color	: RGB color.
alpha	: Alpha channel for transparency.

Definition at line 266 of file vpColor.h.

References vpRGBa::B, vpRGBa::G, id, vpRGBa::R, vpColor(), and vpRGBa::vpRGBa().

Member Function Documentation

◆ buildFrom() [1/2]

template<typename T, bool useFullScale>

std::enable_if< std::is_floating_point< T >::value, vpRGBa & >::type vpRGBa::buildFrom ( const vpHSV< T, useFullScale > & hsv )

inlineinherited

Build a vpRGBa object from a vpHSV<double> or vpHSV<float> object.

Template Parameters

T	The type of the channels of the vpHSV pixels.
useFullScale	True if vpHSV uses unsigned char and the full range [0; 255], false if vpHSV uses unsigned char and the limited range [0; 180].
std::enable_if<std::is_floating_point<T>::value,int>::type	Enable the method only if T is a floating point number. The "int" is here because we cannot use a floating point type, otherwise we get "{float/double} is not a valid type for a template non-type parameter".

Parameters

[in] hsv The vpHSV from which we want to build our object.

Returns: vpRGBa& The current object after conversion.

Definition at line 197 of file vpRGBa.h.

References A, alpha_default, B, vpMath::equal(), G, vpHSV< T, useFullScale >::H, R, vpMath::round(), vpHSV< T, useFullScale >::S, and vpHSV< T, useFullScale >::V.

◆ buildFrom() [2/2]

template<typename T, bool useFullScale, typename U = float>

std::enable_if< std::is_same< U, float >::value &&std::is_same< T, unsignedchar >::value, vpRGBa & >::type vpRGBa::buildFrom ( const vpHSV< T, useFullScale > & other )

inlineinherited

Build a vpRGBa object from a vpHSV<unsigned char> object.

Template Parameters

T	The type of the channels of the vpHSV pixels.
useFullScale	True if vpHSV uses unsigned char and the full range [0; 255], false if vpHSV uses unsigned char and the limited range [0; 180].
type	Enable the method only if T is unsigned char.

Parameters

[in] other The vpHSV from which we want to build our object.

Returns: vpRGBa& The current object after conversion.

Definition at line 176 of file vpRGBa.h.

References buildFrom().

Referenced by buildFrom(), and vpRGBa().

◆ getColor()

vpColor vpColor::getColor ( const unsigned int & i )

inlinestatic

Get a predefined color

Parameters

i	: color indice

Examples: testConnectedComponents.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, and tutorial-connected-components.cpp.

Definition at line 300 of file vpColor.h.

References allColors, nbColors, and vpColor().

Referenced by vpIoTools::readConfigVar().

◆ operator!=()

bool vpRGBa::operator!= ( const vpRGBa & v ) const

inherited

Compare two color pixels.

Returns: true if the images are different, false if they are the same.

Definition at line 132 of file vpRGBa.cpp.

References A, B, G, R, and vpRGBa().

◆ operator*() [1/2]

vpColVector vpRGBa::operator* ( const double & v ) const

inherited

Multiplication operator : v * "this".

Parameters

v	: Value to multiply.

Returns: v * "this"

Definition at line 231 of file vpRGBa.cpp.

References A, B, G, and R.

◆ operator*() [2/2]

vpColVector vpRGBa::operator* ( const float & v ) const

inherited

Multiplication operator : v * "this".

Parameters

v	: Value to multiply.

Returns: v * "this"

Definition at line 212 of file vpRGBa.cpp.

References A, B, G, and R.

Referenced by operator*.

◆ operator+() [1/2]

vpColVector vpRGBa::operator+ ( const vpColVector & v ) const

inherited

Addition operator : "this" + v.

Parameters

v	: Color to add to the current object "this".

Returns: "this" + v

Definition at line 193 of file vpRGBa.cpp.

References A, B, G, and R.

◆ operator+() [2/2]

vpRGBa vpRGBa::operator+ ( const vpRGBa & v ) const

inherited

Addition operator : "this" + v.

Parameters

v	: Color to add to the current object "this".

Returns: "this" + v

Warning: in case of overflow : e.g. 128+128 returns 0 for all 4 channels

Definition at line 159 of file vpRGBa.cpp.

References A, B, G, R, and vpRGBa().

◆ operator-() [1/2]

vpColVector vpRGBa::operator- ( const vpColVector & v ) const

inherited

subtraction operator : "this" - v.

Parameters

v	: Color to subtract to the current object "this".

Returns: "this" - v

Definition at line 174 of file vpRGBa.cpp.

References A, B, G, and R.

◆ operator-() [2/2]

vpColVector vpRGBa::operator- ( const vpRGBa & v ) const

inherited

subtraction operator : "this" - v.

Parameters

v	: Color to subtract to the current object "this".

Returns: "this" - v

Definition at line 139 of file vpRGBa.cpp.

References A, B, G, R, and vpRGBa().

◆ operator<()

bool vpRGBa::operator< ( const vpRGBa & v ) const

inherited

Definition at line 245 of file vpRGBa.cpp.

References B, G, R, and vpRGBa().

◆ operator=()

vpColor & vpColor::operator= ( const vpColor & )

default

References vpColor().

◆ operator==()

bool vpRGBa::operator== ( const vpRGBa & v ) const

inherited

Compare two RGBa values.

Returns: true if the values are the same, false otherwise.

Definition at line 123 of file vpRGBa.cpp.

References A, B, G, R, and vpRGBa().

◆ operator>()

bool vpRGBa::operator> ( const vpRGBa & v ) const

inherited

Definition at line 253 of file vpRGBa.cpp.

References B, G, R, and vpRGBa().

◆ setColor()

void vpColor::setColor	(	unsigned char	r,
		unsigned char	g,
		unsigned char	b,
		unsigned char	a = vpRGBa::alpha_default )

inline

Set a color from its RGB values.

Parameters

r	: Red component.
g	: Green component.
b	: Blue component.
a	: Alpha component for transparency.

The color identifier is set to vpColor::id_unknown to indicate that this color is not a predefined one.

Definition at line 285 of file vpColor.h.

References vpRGBa::A, vpRGBa::alpha_default, vpRGBa::B, vpRGBa::G, id_unknown, and vpRGBa::R.

◆ operator!=

VISP_EXPORT bool operator!=	(	const vpColor &	c1,
		const vpColor &	c2 )

friend

Compare two colors.

Return true if the R,G,B components are different.

Parameters

c1	: First color to compare.
c2	: Second color to compare.

Definition at line 142 of file vpColor.cpp.

References vpRGBa::B, vpRGBa::G, operator!=, vpRGBa::R, and vpColor().

Referenced by operator!=.

◆ operator==

VISP_EXPORT bool operator==	(	const vpColor &	c1,
		const vpColor &	c2 )

friend

Compare two colors.

Return true if the R,G,B components are the same.

Parameters

c1	: First color to compare.
c2	: Second color to compare.

Definition at line 128 of file vpColor.cpp.

References vpRGBa::B, vpRGBa::G, operator==, vpRGBa::R, and vpColor().

Referenced by operator==.

Member Data Documentation

◆ A

unsigned char vpRGBa::A

inherited

Additional component.

Examples: testPerformanceLUT.cpp.

Definition at line 328 of file vpRGBa.h.

Referenced by VISP_NAMESPACE_NAME::adjust(), buildFrom(), vpImageConvert::convert(), vpColorHistogramMask::display(), vpColorGetter< ID >::get(), vpColorGetter< ID >::get(), vpColorHistogram::indexToColor(), operator!=(), operator*(), operator*, operator*(), operator+(), operator+(), operator-(), operator-(), operator<<, operator=(), operator=(), operator=(), operator=(), operator=(), operator==(), vpColor::setColor(), VISP_NAMESPACE_NAME::stretchContrast(), vpRGBa(), vpRGBa(), vpRGBa(), vpRGBa(), vpRGBa(), vpRGBa(), and vpRGBa().

◆ allColors

vpColor const vpColor::allColors

static

Initial value:

= { vpColor::blue,       
                                                       vpColor::green,      
                                                       vpColor::red,        
                                                       vpColor::cyan,       
                                                       vpColor::purple,     
                                                       vpColor::yellow,     
                                                       vpColor::orange,     
                                                       vpColor::lightBlue,  
                                                       vpColor::lightGreen, 
                                                       vpColor::lightRed,   
                                                       vpColor::darkBlue,   
                                                       vpColor::darkGreen,  
                                                       vpColor::darkRed,    
                                                       vpColor::lightGray,  
                                                       vpColor::gray,       
                                                       vpColor::darkGray,   
                                                       vpColor::black,      
                                                       vpColor::white }