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00001 /* 00002 * Software License Agreement (Modified BSD License) 00003 * 00004 * Copyright (c) 2012, PAL Robotics, S.L. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of PAL Robotics, S.L. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00037 #ifndef __PAL_IMAGE_PROCESSING_H__ 00038 #define __PAL_IMAGE_PROCESSING_H__ 00039 00040 #include <opencv/cv.h> 00041 #include <opencv2/core/core.hpp> 00042 00043 #include <vector> 00044 00045 namespace pal_vision_util 00046 { 00055 void getConnectedComponents(const cv::Mat& binaryImage, 00056 std::vector< std::vector<cv::Point2i> >& components, 00057 std::vector< cv::Rect >& boundingBoxes); 00058 00059 00066 class ImageRoi 00067 { 00068 public: 00069 ImageRoi(); 00070 00071 ImageRoi(const ImageRoi& roi); 00072 00073 ImageRoi(int left, int top, int w, int h); 00074 00075 ImageRoi(CvRect rect); 00076 00077 ~ImageRoi(); 00078 00079 void set(CvRect rect); 00080 00081 void clear(); 00082 00083 bool empty() const; 00084 00085 CvRect toCvRect() const; 00086 00091 void keepInside(int imgWidth, int imgHeight); 00092 00096 const ImageRoi& resize(double factorHorizontal, double factorVertical); 00097 00098 int x, y, width, height; 00099 }; 00100 00107 class Image 00108 { 00109 public: 00110 00114 Image(); 00115 00119 Image(IplImage *img); 00120 00124 ~Image(); 00125 00129 void freeImage(); 00130 00131 void loadImage(const std::string& fileName); 00132 00136 void set(IplImage *img); 00137 00142 IplImage *release(); 00143 00144 void resizeImage(int width, int height, int channels, int depth); 00145 00146 int getWidth() const { return _img->width; }; 00147 int getHeight() const { return _img->height; }; 00148 int getChannel() const { return _img->nChannels; }; 00149 int getDepth() const { return _img->depth; }; 00150 00151 unsigned char getPixelB(int col, int row, int ch) const; 00152 00153 float getPixelF(int col, int row, int ch) const; 00154 00155 short getPixelS(int col, int row, int ch) const; 00156 00157 void setPixelB(int col, int row, int ch, unsigned char value); 00158 00159 void setPixelS(int col, int row, int ch, short value); 00160 00161 void setPixelF(int col, int row, int ch, float value); 00162 00163 IplImage* getIplImg() { return _img; }; 00164 00165 IplImage* operator->(void) const { return _img; } 00166 00167 operator IplImage*() const { return _img; } //overloads cast to IplImage* operator 00168 00169 private: 00170 00171 IplImage *_img; 00172 }; 00173 00177 void getLab(const Image& img, Image& L, Image& a, Image& b); 00178 00182 void setLab(const Image& L, const Image& a, const Image& b, Image& img); 00183 00192 void dctNormalization(const Image& img, Image& normalizedImg, int coefficientsToCancel, const ImageRoi& roi = ImageRoi(0,0,0,0)); 00193 00197 void dctNormalization(const cv::Mat& img, cv::Mat& normalizedImg, int coefficientsToCancel, const ImageRoi& roi = ImageRoi(0,0,0,0)); 00198 00199 } // namespace pal_vision_util 00200 00201 #endif // __PAL_IMAGE_PROCESSING_H__