.. _program_listing_file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_imconv.hpp:

Program Listing for File imconv.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_imconv.hpp>` (``/tmp/ws/src/grid_map/grid_map_sdf/include/grid_map_sdf/distance_transform/imconv.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
   */
   
   /* 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_