Program Listing for File imutil.hpp

↰ Return to documentation for file (/tmp/ws/src/grid_map/grid_map_sdf/include/grid_map_sdf/distance_transform/imutil.hpp)

/*
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_