TColorManager.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "img-precomp.h"  // Precompiled headers
#include <mrpt/img/TColorManager.h>
 
using namespace mrpt::img;
using namespace std;
 
TColorManager::TColorManager(bool use_standard_colors_first_in /* = true */)
        : color_thresh(255)
{
        this->reset();
        this->use_standard_colors_first = use_standard_colors_first_in;
}  // end of TColorManager (ctor)
 
TColorManager::~TColorManager() {}
TColor TColorManager::getNextTColor()
{
        if (have_exceeded_colors)
        {
                // pick and return a random color triad
                return TColor(
                        rand() % (color_thresh + 1), rand() % (color_thresh + 1),
                        rand() % (color_thresh + 1));
        }
 
        // start updating by the step if we don't use (or have already used) the
        // standard colors
        if (!use_standard_colors_first || have_used_standard_colors)
        {
                this->advanceRGBCounters();
        }
        else
        {
                bool used_red = used_colors.find(TColor::red()) != used_colors.end();
                bool used_green =
                        used_colors.find(TColor::green()) != used_colors.end();
                bool used_blue = used_colors.find(TColor::blue()) != used_colors.end();
 
                // fixed order of usage
                // red -> green -> blue
                if (!used_red)
                {
                        curr_color = TColor::red();
                }
                else if (!used_green)
                {
                        curr_color = TColor::green();
                }
                else if (!used_blue)
                {
                        curr_color = TColor::blue();
                        have_used_standard_colors = true;
                }
        }
 
        this->markColorAsUsed(curr_color);
        return curr_color;
}  // end of getNextTColor
 
TColorf TColorManager::getNextTColorf()
{
        return TColorf(this->getNextTColor());
}  // end of getNextTColor
 
void TColorManager::advanceRGBCounters()
{
        // method is used only when we either don't use or have already used the
        // standard colors.
        ASSERT_(!use_standard_colors_first || have_used_standard_colors);
 
        THROW_EXCEPTION("Not yet implemented.");
        // if standard colors have already been used then at first color is
        // TColor::blue
        if (curr_color == TColor::blue())
        {
                curr_color = TColor();
 
                color_step_triad.B = color_step;
        }
 
        // first advance blue until we reach the limit 255
        // then advance green until we reach the limit 255
        // finally advance red until we reach the limit 255
 
        // TODO - how do i do this?
        curr_color += color_step_triad;
 
        // if the standard colors are to be used first make sure that the color we
        // end up on is not a standard one.
        if (use_standard_colors_first &&
                (curr_color == TColor::red() || curr_color == TColor::green() ||
                 curr_color == TColor::blue()))
        {
                this->advanceRGBCounters();
        }
 
}  // end of advanceRGBCounters
 
void TColorManager::markColorAsUsed(TColor color)
{
        using namespace std;
        pair<set<TColor>::const_iterator, bool> ret = used_colors.insert(color);
 
        // Should always return True as element shouldn't exist prior to this call
        ASSERT_(ret.second);
}
 
void TColorManager::reset()
{
        used_colors.clear();
 
        curr_color = TColor();
        color_step_triad = TColor(0, 0, 50);
 
        have_exceeded_colors = false;
        use_standard_colors_first = true;
        have_used_standard_colors = false;
}
 
bool TColorManager::checkStdColorsUsed()
{
        bool ret = used_colors.find(TColor::red()) != used_colors.end() &&
                           used_colors.find(TColor::green()) != used_colors.end() &&
                           used_colors.find(TColor::blue()) != used_colors.end();
 
        return ret;
}