you need to define exactly what you mean by each color you want to detect. For example if you need to detect beige then you need aa list of rules for determining whether something is beige or not.
Alternatively you could define representative rgb values for the colors of interest and define how to calculate color distance and define a cutoff and then say that any color within the cutoff of the distance is the color . Image Analyst recommends using Delta-E . Be warned that human colors are rather irregular shape in all known color definitions .
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