Program Listing for File imutil.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
*/
/* 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_