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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2025 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:
* Test vpImageConvert::convert() function for HSV to RGBa.
*/
/*!
\example testHSVtoRGBa.cpp
\brief Test vpImageConvert::convert() function for HSV to RGBa.
*/
#include <iostream>
#include <limits>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/core/vpHSV.h>
#include "hsvUtils.h"
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#ifndef DOXYGEN_SHOULD_SKIP_THIS
/**
* \brief Check if the computed RGBa value corresponds to the ground-truth.
*
* \tparam Type The type of the vpHSV channels.
* \tparam useFullScale True if vpHSV uses unsigned char and the full range [0; 255], false if vpHSV uses unsigned char and the limited range [0; vpHSV<unsigned char, false>::maxHueUsingLimitedRange].
* \param[in] rgb_computed Computed vpRGBa value.
* \param[in] rgb_truth Ground-truth vpRGBa value.
* \param[in] hsv_truth The HSV value that was used to compute rgb_computed.
* \return true If rgb_computed and rgb_truth are equal.
* \return false Otherwise
*/
template<typename Type, bool useFullScale >
bool test_rgb(const vpRGBa &rgb_computed, const vpRGBa &rgb_truth,
const vpHSV<Type, useFullScale> &hsv_truth)
{
// Compare RGB values
if ((rgb_computed.R != rgb_truth.R) ||
(rgb_computed.G != rgb_truth.G) ||
(rgb_computed.B != rgb_truth.B)) {
std::cout << static_cast<int>(hsv_truth.H) << ","
<< static_cast<int>(hsv_truth.S) << ","
<< static_cast<int>(hsv_truth.V) << "): Expected RGB value: ("
<< static_cast<int>(rgb_truth.R) << ","
<< static_cast<int>(rgb_truth.G) << ","
<< static_cast<int>(rgb_truth.B) << ") converted value: ("
<< static_cast<int>(rgb_computed.R) << ","
<< static_cast<int>(rgb_computed.G) << ","
<< static_cast<int>(rgb_computed.B) << ")" << std::endl;
return false;
}
return true;
}
#endif
int main()
{
bool isSuccess = true;
std::vector< vpColVector> rgb_truth;
rgb_truth.emplace_back(std::vector<double>({ 0, 0, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 255, 255, 255, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 255, 0, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 0, 255, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 0, 0, 255, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 255, 255, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 0, 255, 255, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 255, 0, 255, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 128, 128, 128, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 128, 128, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 128, 0, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 0, 128, 0, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 0, 128, 128, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 0, 0, 128, vpRGBa::alpha_default }));
rgb_truth.emplace_back(std::vector<double>({ 128, 0, 128, vpRGBa::alpha_default }));
double h_max;
bool h_full;
size_t size = rgb_truth.size();
for (size_t test = 0; test < 2; ++test) {
if (test == 0) {
h_max = 255;
h_full = true;
}
else {
h_max = vpHSV<unsigned char, false>::maxHueUsingLimitedRange;
h_full = false;
}
// See https://www.rapidtables.com/convert/color/hsv-to-rgb.html
std::vector< vpColVector > hsv_truth;
hsv_truth.emplace_back(std::vector<double>({ 0., 0., 0. }));
hsv_truth.emplace_back(std::vector<double>({ 0., 0., 255. }));
hsv_truth.emplace_back(std::vector<double>({ 0., 255., 255. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 120. / 360., 255., 255. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 240. / 360., 255., 255. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 60. / 360., 255., 255. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 180. / 360., 255., 255. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 300. / 360., 255., 255. }));
hsv_truth.emplace_back(std::vector<double>({ 0., 0., 128. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 60. / 360., 255., 128. }));
hsv_truth.emplace_back(std::vector<double>({ 0., 255., 128. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 120. / 360., 255., 128. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 180. / 360., 255., 128. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 240. / 360., 255., 128. }));
hsv_truth.emplace_back(std::vector<double>({ h_max * 300. / 360., 255., 128. }));
// SECTION("HSV (unsigned char) -> RGB")
std::cout << std::endl << "----- Test hsv (unsigned char) -> rgba conversion with h full scale: " << (h_full ? "yes" : "no") << " -----" << std::endl;
for (unsigned int id = 0; id < size; ++id) {
vpRGBa rgba_truth(rgb_truth[id]);
if (h_full) {
if (vpMath::round(hsv_truth[id][0] * 10.) % 10 == 0) { // To avoid the problem that 360 / 255 is not an integer
std::cout << "Running the test for H = " << hsv_truth[id][0] << " ..." << std::endl;
vpHSV<unsigned char, true> hsv(static_cast<unsigned char>(hsv_truth[id][0]), static_cast<unsigned char>(hsv_truth[id][1]), static_cast<unsigned char>(hsv_truth[id][2]));
vpRGBa rgba(hsv);
isSuccess = isSuccess && test_rgb(rgba, rgba_truth, hsv);
}
}
else {
if (vpMath::round(hsv_truth[id][0] * 10.) % 10 == 0) { // To avoid the problem that 360 / 255 is not an integer
std::cout << "Running the test for H = " << hsv_truth[id][0] << " ..." << std::endl;
vpHSV<unsigned char, false> hsv(static_cast<unsigned char>(hsv_truth[id][0]), static_cast<unsigned char>(hsv_truth[id][1]), static_cast<unsigned char>(hsv_truth[id][2]));
vpRGBa rgba(hsv);
isSuccess = isSuccess && test_rgb(rgba, rgba_truth, hsv);
}
}
}
if (h_full) {
// SECTION("HSV (double) -> RGB")
std::cout << std::endl << "----- Test hsv (double) -> rgba conversion -----" << std::endl;
for (unsigned int id = 0; id < size; ++id) {
vpRGBa rgba_truth(rgb_truth[id]);
vpColVector hsv_vec = hsv_truth[id];
std::cout << "Running the test for HSV = " << hsv_truth[id][0] << " ; " << hsv_truth[id][1] << "; " << hsv_truth[id][2] << " ..." << std::endl;
for (unsigned char c = 0; c < vpHSV<double>::nbChannels; ++c) {
hsv_vec[c] = hsv_vec[c] / 255.;
}
vpHSV<double> hsv(hsv_vec);
vpRGBa rgba(hsv);
isSuccess = isSuccess && test_rgb(rgba, rgba_truth, hsv);
}
}
}
std::cout << std::endl << "----- Testing vpImageConvert::convert(vpImage<vpHSV>, vpImage<vpRGBa>) conversions -----" << std::endl;
vpImage<vpRGBa> Irgb_truth(480, 640, vpRGBa(128, 128, 128)), Irgb;
vpImage<vpHSV<unsigned char, false>> Ihsvucf_truth(480, 640, vpHSV<unsigned char, false>(0, 0, 128));
vpImage<vpHSV<unsigned char, true>> Ihsvuct_truth(480, 640, vpHSV<unsigned char, true>(0, 0, 128));
vpImage<vpHSV<double>> Ihsvd_truth(480, 640, vpHSV<double>(0., 0., 0.5));
vpImageConvert::convert(Ihsvucf_truth, Irgb);
bool localSuccess = vpHSVTests::areAlmostEqual(Irgb, "Irgb", Irgb_truth, "Irgb_truth");
if (!localSuccess) {
std::cerr << "vpImageConvert(hsv<uchar, false>, rgba) failed!" << std::endl;
}
isSuccess = isSuccess && localSuccess;
vpImageConvert::convert(Ihsvuct_truth, Irgb);
localSuccess = vpHSVTests::areAlmostEqual(Irgb, "Irgb", Irgb_truth, "Irgb_truth");
if (!localSuccess) {
std::cerr << "vpImageConvert(hsv<uchar, true>, rgba) failed!" << std::endl;
}
isSuccess = isSuccess && localSuccess;
vpImageConvert::convert(Ihsvd_truth, Irgb);
localSuccess = vpHSVTests::areAlmostEqual(Irgb, "Irgb", Irgb_truth, "Irgb_truth");
if (!localSuccess) {
std::cerr << "vpImageConvert(hsv<double>, rgba) failed!" << std::endl;
}
isSuccess = isSuccess && localSuccess;
if (isSuccess) {
std::cout << "All tests were successful !" << std::endl;
return EXIT_SUCCESS;
}
std::cerr << "ERROR: Something went wrong !" << std::endl;
return EXIT_FAILURE;
}
#else
int main()
{
std::cout << "vpHSV class is not available, please use CXX 11 standard" << std::endl;
return EXIT_SUCCESS;
}
#endif
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