.. _program_listing_file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_imutil.hpp:

Program Listing for File imutil.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_imutil.hpp>` (``/tmp/ws/src/grid_map/grid_map_sdf/include/grid_map_sdf/distance_transform/imutil.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
   Copyright (C) 2006 Pedro Felzenszwalb
   
   This program 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.
   
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
   */
   
   /* some image utilities */
   
   #ifndef GRID_MAP_SDF__DISTANCE_TRANSFORM__IMUTIL_HPP_
   #define GRID_MAP_SDF__DISTANCE_TRANSFORM__IMUTIL_HPP_
   
   #include "grid_map_sdf/distance_transform/image.hpp"
   #include "grid_map_sdf/distance_transform/misc.hpp"
   
   namespace distance_transform
   {
   
   /* compute minimum and maximum value in an image */
   template<class T>
   void min_max(image<T> * im, T * ret_min, T * ret_max)
   {
     int width = im->width();
     int height = im->height();
   
     T min = imRef(im, 0, 0);
     T max = imRef(im, 0, 0);
     for (int y = 0; y < height; y++) {
       for (int x = 0; x < width; x++) {
         T val = imRef(im, x, y);
         if (min > val) {
           min = val;
         }
         if (max < val) {
           max = val;
         }
       }
     }
   
     *ret_min = min;
     *ret_max = max;
   }
   
   /* threshold image */
   template<class T>
   image<uchar> * threshold(image<T> * src, int t)
   {
     int width = src->width();
     int height = src->height();
     image<uchar> * dst = new image<uchar>(width, height);
   
     for (int y = 0; y < height; y++) {
       for (int x = 0; x < width; x++) {
         imRef(dst, x, y) = (imRef(src, x, y) >= t);
       }
     }
   
     return dst;
   }
   
   }  // namespace distance_transform
   
   #endif  // GRID_MAP_SDF__DISTANCE_TRANSFORM__IMUTIL_HPP_