diff --git a/SimoxUtility/color/Color.cpp b/SimoxUtility/color/Color.cpp
index 831ada947b02d56323e15e032e728b3a1dcf9e05..50983847d35e093b91c6b33a32cfff94d458b084 100644
--- a/SimoxUtility/color/Color.cpp
+++ b/SimoxUtility/color/Color.cpp
@@ -7,22 +7,22 @@ namespace simox::color
Color::Color(uint8_t r, uint8_t g, uint8_t b, uint8_t a) : r(r), g(g), b(b), a(a)
{}
- Eigen::Matrix<uint8_t, 3, 1> Color::toVector3b() const
+ Eigen::Matrix<uint8_t, 3, 1> Color::to_vector3b() const
{
return { r, g, b };
}
- Eigen::Matrix<uint8_t, 4, 1> Color::toVector4b() const
+ Eigen::Matrix<uint8_t, 4, 1> Color::to_vector4b() const
{
return { r, g, b, a};
}
- Eigen::Vector3f Color::toVector3f() const
+ Eigen::Vector3f Color::to_vector3f() const
{
return { to_float(r), to_float(g), to_float(b) };
}
- Eigen::Vector4f Color::toVector4f() const
+ Eigen::Vector4f Color::to_vector4f() const
{
return { to_float(r), to_float(g), to_float(b), to_float(a) };
}
diff --git a/SimoxUtility/color/Color.h b/SimoxUtility/color/Color.h
index 9c586b251dd4816c5a1c43cee4b3bbd85c4e2053..e35b5b8b3101e8f58d6816cae335158170f844a9 100644
--- a/SimoxUtility/color/Color.h
+++ b/SimoxUtility/color/Color.h
@@ -1,19 +1,21 @@
#pragma once
-#include <Eigen/Core>
-
#include <type_traits>
+#include <Eigen/Core>
+
namespace simox::color
{
+ /// Convert an integral type to a byte in [0, 255].
template <typename Int, std::enable_if_t<std::is_integral_v<Int>, int> = 0>
uint8_t to_byte(Int value)
{
return static_cast<uint8_t>(std::clamp(value, static_cast<Int>(0), static_cast<Int>(255)));
}
+ /// Convert a floating point type to a byte in [0, 255].
template <typename Float, std::enable_if_t<std::is_floating_point_v<Float>, int> = 0>
uint8_t to_byte(Float value)
{
@@ -21,12 +23,14 @@ namespace simox::color
}
+ /// Convert an integral point type to a float in [0.0, 1.0].
template <typename Int, std::enable_if_t<std::is_integral_v<Int>, int> = 0>
float to_float(Int value)
{
return to_byte(value) / 255.f;
}
+ /// Convert a floating pont type to a float in [0.0, 1.0].
template <typename Float, std::enable_if_t<std::is_floating_point_v<Float>, int> = 0>
float to_float(Float value)
{
@@ -34,6 +38,9 @@ namespace simox::color
}
+ /**
+ * @brief An RGBA color, where each component is a byte in [0, 255].
+ */
struct Color
{
// Attributes.
@@ -77,11 +84,134 @@ namespace simox::color
// Converters.
- Eigen::Matrix<uint8_t, 3, 1> toVector3b() const;
- Eigen::Matrix<uint8_t, 4, 1> toVector4b() const;
- Eigen::Vector3f toVector3f() const;
- Eigen::Vector4f toVector4f() const;
+ Eigen::Matrix<uint8_t, 3, 1> to_vector3b() const;
+ Eigen::Matrix<uint8_t, 4, 1> to_vector4b() const;
+ Eigen::Vector3f to_vector3f() const;
+ Eigen::Vector4f to_vector4f() const;
+
+
+ // Named colors.
+
+ // Colorless
+
+ static inline Color black(int a = 255)
+ {
+ return Color(0, 0, 0, a);
+ }
+
+ static inline Color white(int a = 255)
+ {
+ return Color(255, 255, 255, a);
+ }
+
+ static inline Color gray(int g = 128, int a = 255)
+ {
+ return Color(g, g, g, a);
+ }
+
+ // Primary colors
+
+ static inline Color red(int r = 255, int a = 255)
+ {
+ return Color(r, 0, 0, a);
+ }
+
+ static inline Color green(int g = 255, int a = 255)
+ {
+ return Color(0, g, 0, a);
+ }
+
+ static inline Color blue(int b = 255, int a = 255)
+ {
+ return Color(0, 0, b, a);
+ }
+
+
+ // Secondary colors
+
+ /// Green + Blue
+ static inline Color cyan(int c = 255, int a = 255)
+ {
+ return Color(0, c, c, a);
+ }
+
+ /// Red + Green
+ static inline Color yellow(int y = 255, int a = 255)
+ {
+ return Color(y, y, 0, a);
+ }
+
+ /// Red + Blue
+ static inline Color magenta(int p = 255, int a = 255)
+ {
+ return Color(p, 0, p, a);
+ }
+
+
+ // 2:1 Mixed colors
+
+ /// 2 Red + 1 Green
+ static inline Color orange(int o = 255, int a = 255)
+ {
+ return Color(o, o / 2, 0, a);
+ }
+
+ /// 2 Red + 1 Blue
+ static inline Color pink(int o = 255, int a = 255)
+ {
+ return Color(o, o / 2, 0, a);
+ }
+
+ /// 2 Green + 1 Red
+ static inline Color lime(int l = 255, int a = 255)
+ {
+ return Color(l / 2, l, 0, a);
+ }
+
+ /// 2 Green + 1 Blue
+ static inline Color turquoise(int t = 255, int a = 255)
+ {
+ return Color(0, t, t / 2, a);
+ }
+
+ /// 2 Blue + 1 Green
+ static inline Color azure(int c = 255, int a = 255)
+ {
+ return Color(0, c / 2, c, a);
+ }
+
+ /// 2 Blue + 1 Red
+ static inline Color purple(int c = 255, int a = 255)
+ {
+ return Color(0, c / 2, c, a);
+ }
};
+
+ inline std::ostream& operator<<(std::ostream& os, const Color& c)
+ {
+ return os << "(" << int(c.r) << " " << int(c.g) << " " << int(c.b)
+ << " | " << int(c.a) << ")";
+ }
+
+ inline bool operator==(const Color& lhs, const Color& rhs)
+ {
+ return lhs.r == rhs.r && lhs.g == rhs.g && lhs.b == rhs.b && lhs.a == rhs.a;
+ }
+
+ inline bool operator!=(const Color& lhs, const Color& rhs)
+ {
+ return !(lhs == rhs);
+ }
+
+}
+
+
+namespace simox
+{
+ // Expose color type as `simox::Color`.
+
+ /// An RGBA color, where each component is a byte in [0, 255].
+ using Color = color::Color;
}
diff --git a/SimoxUtility/color/GlasbeyLUT.cpp b/SimoxUtility/color/GlasbeyLUT.cpp
index 10740db3ad4fc4744603bf9b3206424db02f948c..5aa62689ff56ae7446434a0514ac29df94842da6 100644
--- a/SimoxUtility/color/GlasbeyLUT.cpp
+++ b/SimoxUtility/color/GlasbeyLUT.cpp
@@ -280,7 +280,7 @@ namespace simox::color
Eigen::Vector4f GlasbeyLUT::atf(std::size_t id, float alpha)
{
- return at(id, to_byte(alpha)).toVector4f();
+ return at(id, to_byte(alpha)).to_vector4f();
}
diff --git a/SimoxUtility/color/GlasbeyLUT.h b/SimoxUtility/color/GlasbeyLUT.h
index aca2d403719274c03aad9e6a43ea1a1e1720bf8b..9356e14795a1a9819e60a699c48eb946f0824329 100644
--- a/SimoxUtility/color/GlasbeyLUT.h
+++ b/SimoxUtility/color/GlasbeyLUT.h
@@ -6,7 +6,7 @@
#include <Eigen/Core>
-#include "color.h"
+#include "Color.h"
namespace simox::color