Program Listing for File imconv.hpp
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/*
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
*/
/* image conversion */
#ifndef GRID_MAP_SDF__DISTANCE_TRANSFORM__IMCONV_HPP_
#define GRID_MAP_SDF__DISTANCE_TRANSFORM__IMCONV_HPP_
#include <climits>
#include "grid_map_sdf/distance_transform/image.hpp"
#include "grid_map_sdf/distance_transform/imutil.hpp"
#include "grid_map_sdf/distance_transform/misc.hpp"
namespace distance_transform
{
const double RED_WEIGHT = 0.299;
const double GREEN_WEIGHT = 0.584;
const double BLUE_WEIGHT = 0.114;
static inline image<uchar> * imageRGBtoGRAY(image<rgb> * input)
{
int width = input->width();
int height = input->height();
image<uchar> * output = new image<uchar>(width, height, false);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
imRef(output, x, y) = (uchar)
(imRef(input, x, y).r * RED_WEIGHT +
imRef(input, x, y).g * GREEN_WEIGHT +
imRef(input, x, y).b * BLUE_WEIGHT);
}
}
return output;
}
static inline image<rgb> * imageGRAYtoRGB(image<uchar> * input)
{
int width = input->width();
int height = input->height();
image<rgb> * output = new image<rgb>(width, height, false);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
imRef(output, x, y).r = imRef(input, x, y);
imRef(output, x, y).g = imRef(input, x, y);
imRef(output, x, y).b = imRef(input, x, y);
}
}
return output;
}
static inline image<float> * imageUCHARtoFLOAT(image<uchar> * input)
{
int width = input->width();
int height = input->height();
image<float> * output = new image<float>(width, height, false);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
imRef(output, x, y) = imRef(input, x, y);
}
}
return output;
}
static inline image<float> * imageINTtoFLOAT(image<int> * input)
{
int width = input->width();
int height = input->height();
image<float> * output = new image<float>(width, height, false);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
imRef(output, x, y) = imRef(input, x, y);
}
}
return output;
}
static inline image<uchar> * imageFLOATtoUCHAR(
image<float> * input,
float min, float max)
{
int width = input->width();
int height = input->height();
image<uchar> * output = new image<uchar>(width, height, false);
if (max == min) {
return output;
}
float scale = UCHAR_MAX / (max - min);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
uchar val = (uchar)((imRef(input, x, y) - min) * scale);
imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX);
}
}
return output;
}
static inline image<uchar> * imageFLOATtoUCHAR(image<float> * input)
{
float min, max;
min_max(input, &min, &max);
return imageFLOATtoUCHAR(input, min, max);
}
static inline image<int64_t> * imageUCHARtoLONG(image<uchar> * input)
{
int width = input->width();
int height = input->height();
image<int64_t> * output = new image<int64_t>(width, height, false);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
imRef(output, x, y) = imRef(input, x, y);
}
}
return output;
}
static inline image<uchar> * imageLONGtoUCHAR(
image<int64_t> * input, int64_t min, int64_t max)
{
int width = input->width();
int height = input->height();
image<uchar> * output = new image<uchar>(width, height, false);
if (max == min) {
return output;
}
float scale = UCHAR_MAX / static_cast<float>(max - min);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
uchar val = (uchar)((imRef(input, x, y) - min) * scale);
imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX);
}
}
return output;
}
static inline image<uchar> * imageLONGtoUCHAR(image<int64_t> * input)
{
int64_t min, max;
min_max(input, &min, &max);
return imageLONGtoUCHAR(input, min, max);
}
static inline image<uchar> * imageSHORTtoUCHAR(
image<int16_t> * input,
int16_t min, int16_t max)
{
int width = input->width();
int height = input->height();
image<uchar> * output = new image<uchar>(width, height, false);
if (max == min) {
return output;
}
float scale = UCHAR_MAX / static_cast<float>(max - min);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
uchar val = (uchar)((imRef(input, x, y) - min) * scale);
imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX);
}
}
return output;
}
static inline image<uchar> * imageSHORTtoUCHAR(image<int16_t> * input)
{
int16_t min, max;
min_max(input, &min, &max);
return imageSHORTtoUCHAR(input, min, max);
}
} // namespace distance_transform
#endif // GRID_MAP_SDF__DISTANCE_TRANSFORM__IMCONV_HPP_