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_