/usr/include/x86_64-linux-gnu/visp3/core/vpImage.h is in libvisp-core-dev 3.0.0-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 | /****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Image handling.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
/*!
\file vpImage.h
\brief Image handling.
*/
#ifndef vpImage_H
#define vpImage_H
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpImageException.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpRGBa.h>
#include <fstream>
#include <iostream>
#include <math.h>
#include <string.h>
class vpDisplay;
/*!
\class vpImage
\ingroup group_core_image
\brief Definition of the vpImage class member functions.
This is a template class, therefore the type of each element of the
array is not a priori defined.
<h3> Data structure </h3>
Each image is build using two structure (an array bitmap which size
is [width*height]) and an array of pointer row (which size is [nrow])
the ith element in the row array row[i] is pointer toward the ith
"line" of the image (ie, bitmap +i*width )
\image html image-data-structure.gif
\image latex image-data-structure.ps width=10cm
Such a structure allows a fast acces to each element of the image.
if i is the ith rows and j the jth columns the value of this pixel
is given by I[i][j] (that is equivalent to row[i][j]).
<h3>Example</h3>
The following example available in tutorial-image-manipulation.cpp shows how
to create gray level and color images and how to access to the pixels.
\include tutorial-image-manipulation.cpp
<h3>Important remark</h3> To provide high-performance access there
is no verification to ensure that 0 \f$\le\f$ i < height and 0
\f$\le\f$ j < width. Since the memory allocated in the bitmap array
is continuous, that means that if (i, j) is outside the image you
will manipulate a pixel that is not as expected. To highlight this
remark, we provide hereafter an example where the considered pixel
is outside the image:
\code
unsigned int width = 320;
unsigned int height = 240;
vpImage<unsigned char> I(height, width); // Create an 320x240 image
// Set pixel coordinates that is outside the image
unsigned int i = 100;
unsigned int j = 400;
unsigned char value;
value = I[i][j]; // Here we will get the pixel value at position (101, 80)
\endcode
*/
template<class Type>
class vpImage
{
friend class vpImageConvert;
public:
Type *bitmap ; //!< points toward the bitmap
vpDisplay *display ;
//! constructor
vpImage() ;
//! copy constructor
vpImage(const vpImage<Type>&);
//! constructor set the size of the image
vpImage(unsigned int height, unsigned int width) ;
//! constructor set the size of the image and init all the pixel
vpImage(unsigned int height, unsigned int width, Type value) ;
//! constructor from an image stored as a continuous array in memory
vpImage(Type * const array, const unsigned int height, const unsigned int width, const bool copyData=false) ;
//! destructor
virtual ~vpImage() ;
//! set the size of the image
void init(unsigned int height, unsigned int width) ;
//! set the size of the image
void init(unsigned int height, unsigned int width, Type value) ;
//! init from an image stored as a continuous array in memory
void init(Type * const array, const unsigned int height, const unsigned int width, const bool copyData=false);
//! set the size of the image without initializing it.
void resize(const unsigned int h, const unsigned int w) ;
//! set the size of the image and initialize it.
void resize(const unsigned int h, const unsigned int w, const Type val) ;
//! destructor
void destroy() ;
/*!
Get the image height.
\return The image height.
\sa getWidth()
*/
inline unsigned int getHeight() const { return height; }
/*!
Get the image width.
\return The image width.
\sa getHeight()
*/
inline unsigned int getWidth() const { return width; }
/*!
Get the number of rows in the image.
\return The image number of rows, or image height.
\sa getHeight()
*/
inline unsigned int getRows() const { return height ; }
/*!
Get the number of columns in the image.
\return The image number of column, or image width.
\sa getWidth()
*/
inline unsigned int getCols() const { return width ; }
/*!
Get the image size.
\return The image size = width * height.
\sa getWidth(), getHeight()
*/
inline unsigned int getSize() const { return width*height ; }
// Return the maximum value within the bitmap
Type getMaxValue() const ;
// Return the minumum value within the bitmap
Type getMinValue() const ;
//Look for the minumum and the maximum value within the bitmap
void getMinMaxValue(Type &min, Type &max) const;
// Gets the value of a pixel at a location with bilinear interpolation.
Type getValue(double i, double j) const;
// Gets the value of a pixel at a location with bilinear interpolation.
Type getValue(vpImagePoint &ip) const;
/*!
Get the image number of pixels which corresponds to the image
width multiplied by the image height.
\return The image number of pixels or image size.
\sa getWidth(), getHeight()
*/
inline unsigned int getNumberOfPixel() const{ return npixels; }
//------------------------------------------------------------------
// Acces to the image
//! operator[] allows operation like I[i] = x.
inline Type *operator[]( const unsigned int i) { return row[i];}
inline Type *operator[]( const int i) { return row[i];}
//! operator[] allows operation like x = I[i]
inline const Type *operator[](unsigned int i) const { return row[i];}
inline const Type *operator[](int i) const { return row[i];}
/*!
Get the value of an image point.
\param i,j : Image point coordinates; i for the row position, j for the
column position.
\return Value of the image point (i, j).
*/
inline Type operator()(const unsigned int i, const unsigned int j) const
{
return bitmap[i*width+j] ;
}
/*!
Set the value of an image point.
\param i, j: Image point coordinates; i for the row position, j for the
column position.
\param v : Value to set for image point (i, j).
*/
inline void operator()(const unsigned int i, const unsigned int j,
const Type &v)
{
bitmap[i*width+j] = v ;
}
/*!
Get the value of an image point.
\param ip : An image point with sub-pixel coordinates. Sub-pixel
coordinates are roughly transformed to insigned int coordinates by cast.
\return Value of the image point \e ip.
\sa getValue(const vpImagePoint &)
*/
inline Type operator()(const vpImagePoint &ip) const
{
unsigned int i = (unsigned int) ip.get_i();
unsigned int j = (unsigned int) ip.get_j();
return bitmap[i*width+j] ;
}
/*!
Set the value of an image point.
\param ip : An image point with sub-pixel coordinates. Sub-pixel
coordinates are roughly transformed to insigned int coordinates by cast.
\param v : Value to set for the image point.
*/
inline void operator()(const vpImagePoint &ip,
const Type &v)
{
unsigned int i = (unsigned int) ip.get_i();
unsigned int j = (unsigned int) ip.get_j();
bitmap[i*width+j] = v ;
}
vpImage<Type> operator-(const vpImage<Type> &B);
//! Copy operator
vpImage<Type>& operator=(const vpImage<Type> &I) ;
vpImage<Type>& operator=(const Type &v);
bool operator==(const vpImage<Type> &I);
bool operator!=(const vpImage<Type> &I);
void insert(const vpImage<Type> &src, const vpImagePoint topLeft);
// Returns a new image that's half size of the current image
void halfSizeImage(vpImage<Type> &res);
// Returns a new image that's a quarter size of the current image
void quarterSizeImage(vpImage<Type> &res);
// Returns a new image that's double size of the current image
void doubleSizeImage(vpImage<Type> &res);
void sub(const vpImage<Type> &B, vpImage<Type> &C);
void sub(const vpImage<Type> &A, const vpImage<Type> &B, vpImage<Type> &C);
// Perform a look-up table transformation
void performLut(const Type (&lut)[256]);
private:
unsigned int npixels ; //<! number of pixel in the image
unsigned int width ; //<! number of columns
unsigned int height ; //<! number of rows
Type **row ; //!< points the row pointer array
} ;
/*!
\brief Image initialisation
Allocate memory for an [h x w] image.
\param w : Image width.
\param h : Image height.
\param value : Set all the element of the bitmap to \e value.
\exception vpException::memoryAllocationError
\sa vpImage::init(h, w)
*/
template<class Type>
void
vpImage<Type>::init(unsigned int h, unsigned int w, Type value)
{
try
{
init(h,w) ;
}
catch(vpException &)
{
vpERROR_TRACE(" ") ;
throw ;
}
for (unsigned int i=0 ; i < npixels ; i++)
bitmap[i] = value ;
}
/*!
\brief Image initialization
Allocate memory for an [h x w] image.
\param w : Image width.
\param h : Image height.
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
memory space.
\exception vpException::memoryAllocationError
*/
template<class Type>
void
vpImage<Type>::init(unsigned int h, unsigned int w)
{
if (h != this->height) {
if (row != NULL) {
vpDEBUG_TRACE(10,"Destruction row[]");
delete [] row;
row = NULL;
}
}
if ((h != this->height) || (w != this->width))
{
if (bitmap != NULL) {
vpDEBUG_TRACE(10,"Destruction bitmap[]") ;
delete [] bitmap;
bitmap = NULL;
}
}
this->width = w ;
this->height = h;
npixels=width*height;
if (bitmap == NULL) bitmap = new Type[npixels] ;
// vpERROR_TRACE("Allocate bitmap %p",bitmap) ;
if (bitmap == NULL)
{
vpERROR_TRACE("cannot allocate bitmap ") ;
throw(vpException(vpException::memoryAllocationError,
"cannot allocate bitmap ")) ;
}
if (row == NULL) row = new Type*[height] ;
// vpERROR_TRACE("Allocate row %p",row) ;
if (row == NULL)
{
vpERROR_TRACE("cannot allocate row ") ;
throw(vpException(vpException::memoryAllocationError,
"cannot allocate row ")) ;
}
unsigned int i ;
for ( i =0 ; i < height ; i++)
row[i] = bitmap + i*width ;
}
/*!
\brief Image initialization
Init from image data stored as a continuous array in memory.
\param array : Image data stored as a continuous array in memory
\param h : Image height.
\param w : Image width.
\param copyData : If false (by default) only the memory address is copied, otherwise the data are copied.
\exception vpException::memoryAllocationError
*/
template<class Type>
void
vpImage<Type>::init(Type * const array, const unsigned int h, const unsigned int w, const bool copyData)
{
if (h != this->height) {
if (row != NULL) {
delete [] row;
row = NULL;
}
}
//Delete bitmap if copyData==false, otherwise only if the dimension differs
if ( (copyData && ((h != this->height) || (w != this->width))) || !copyData ) {
if (bitmap != NULL) {
delete [] bitmap;
bitmap = NULL;
}
}
this->width = w ;
this->height = h;
npixels = width*height;
if(copyData) {
if (bitmap == NULL) bitmap = new Type[npixels];
if (bitmap == NULL) {
throw(vpException(vpException::memoryAllocationError,
"cannot allocate bitmap ")) ;
}
//Copy the image data
memcpy(bitmap, array, (size_t) (npixels * sizeof(Type)));
} else {
//Copy the address of the array in the bitmap
bitmap = array;
}
if (row == NULL) row = new Type*[height];
if (row == NULL) {
throw(vpException(vpException::memoryAllocationError,
"cannot allocate row ")) ;
}
for (unsigned int i = 0 ; i < height ; i++) {
row[i] = bitmap + i*width;
}
}
/*!
\brief Constructor
Allocate memory for an [h x w] image.
\param w : Image width.
\param h : Image height.
Element of the bitmap are set to zero.
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
memory space.
\exception vpException::memoryAllocationError
\sa vpImage::init(height, width)
*/
template<class Type>
vpImage<Type>::vpImage(unsigned int h, unsigned int w)
: bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
try
{
init(h,w,0) ;
}
catch(...)
{
throw ;
}
}
/*!
\brief Constructor
Allocate memory for an [height x width] image.
\param w : Image width.
\param h : Image height.
\param value : Set all the element of the bitmap to value.
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
memory space.
\return MEMORY_FAULT if memory allocation is impossible, else OK
\sa vpImage::init(height, width, value)
*/
template<class Type>
vpImage<Type>::vpImage (unsigned int h, unsigned int w, Type value)
: bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
try
{
init(h,w,value) ;
}
catch(vpException &)
{
vpERROR_TRACE(" ") ;
throw ;
}
}
/*!
\brief Constructor
Construct a vpImage from a continuous array in memory.
\param array : Image data stored as a continuous array in memory.
\param h : Image height.
\param w : Image width.
\param copyData : If false (by default) only the memory address is copied, otherwise the data are copied.
\return MEMORY_FAULT if memory allocation is impossible, else OK
\sa vpImage::init(array, height, width)
*/
template<class Type>
vpImage<Type>::vpImage (Type * const array, const unsigned int h, const unsigned int w, const bool copyData)
: bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
try
{
init(array, h, w, copyData);
}
catch(vpException &)
{
throw ;
}
}
/*!
\brief Constructor
No memory allocation is done
set all the element of the bitmap to value
\sa vpImage::resize(height, width) for memory allocation
*/
template<class Type>
vpImage<Type>::vpImage()
: bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
}
/*!
\brief resize the image : Image initialization
Allocate memory for an [height x width] image.
\warning The image is not initialized.
\param w : Image width.
\param h : Image height.
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
memory space.
\exception vpException::memoryAllocationError
\sa init(unsigned int, unsigned int)
*/
template<class Type>
void
vpImage<Type>::resize(unsigned int h, unsigned int w)
{
try
{
init(h, w) ;
}
catch(vpException &)
{
vpERROR_TRACE(" ") ;
throw ;
}
}
/*!
\brief resize the image : Image initialization
Allocate memory for an [height x width] image and initialize the image.
\param w : Image width.
\param h : Image height.
\param val : Pixels value.
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
memory space.
\exception vpException::memoryAllocationError
\sa init(unsigned int, unsigned int)
*/
template<class Type>
void
vpImage<Type>::resize(unsigned int h, unsigned int w, const Type val)
{
try
{
init(h, w, val) ;
}
catch(vpException &)
{
vpERROR_TRACE(" ") ;
throw ;
}
}
/*!
\brief Destructor : Memory de-allocation
\warning does not deallocate memory for display and video
*/
template<class Type>
void
vpImage<Type>::destroy()
{
// vpERROR_TRACE("Deallocate ") ;
if (bitmap!=NULL)
{
// vpERROR_TRACE("Deallocate bitmap memory %p",bitmap) ;
// vpDEBUG_TRACE(20,"Deallocate bitmap memory %p",bitmap) ;
delete [] bitmap ;
bitmap = NULL;
}
if (row!=NULL)
{
// vpERROR_TRACE("Deallocate row memory %p",row) ;
// vpDEBUG_TRACE(20,"Deallocate row memory %p",row) ;
delete [] row ;
row = NULL;
}
}
/*!
\brief Destructor : Memory de-allocation
\warning does not deallocate memory for display and video
*/
template<class Type>
vpImage<Type>::~vpImage()
{
destroy() ;
}
/*!
Copy constructor
*/
template<class Type>
vpImage<Type>::vpImage(const vpImage<Type>& I)
: bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
try
{
resize(I.getHeight(),I.getWidth());
memcpy(bitmap, I.bitmap, I.npixels*sizeof(Type)) ;
for (unsigned int i =0 ; i < this->height ; i++) row[i] = bitmap + i*this->width ;
}
catch(vpException &)
{
vpERROR_TRACE(" ") ;
throw ;
}
}
/*!
\brief Return the maximum value within the bitmap
\sa getMinValue()
*/
template<class Type>
Type vpImage<Type>::getMaxValue() const
{
Type m = bitmap[0] ;
for (unsigned int i=0 ; i < npixels ; i++)
{
if (bitmap[i]>m) m = bitmap[i] ;
}
return m ;
}
/*!
\brief Return the minimum value within the bitmap
\sa getMaxValue()
*/
template<class Type>
Type vpImage<Type>::getMinValue() const
{
Type m = bitmap[0];
for (unsigned int i=0 ; i < npixels ; i++)
if (bitmap[i]<m) m = bitmap[i] ;
return m ;
}
/*!
\brief Look for the minimum and the maximum value within the bitmap
\sa getMaxValue()
\sa getMinValue()
*/
template<class Type>
void vpImage<Type>::getMinMaxValue(Type &min, Type &max) const
{
min = max = bitmap[0];
for (unsigned int i=0 ; i < npixels ; i++)
{
if (bitmap[i]<min) min = bitmap[i] ;
if (bitmap[i]>max) max = bitmap[i] ;
}
}
/*!
\brief Copy operator
*/
template<class Type>
vpImage<Type> & vpImage<Type>::operator=(const vpImage<Type> &I)
{
/* we first have to set the initial values of the image because resize function calls init function that test the actual size of the image */
if(bitmap != NULL){
delete[] bitmap;
bitmap = NULL ;
}
if(row != NULL){
delete[] row;
row = NULL ;
}
this->width = I.width;
this->height = I.height;
this->npixels = I.npixels;
try
{
if(I.npixels != 0)
{
if (bitmap == NULL){
bitmap = new Type[npixels] ;
}
if (bitmap == NULL){
vpERROR_TRACE("cannot allocate bitmap ") ;
throw(vpException(vpException::memoryAllocationError,
"cannot allocate bitmap ")) ;
}
if (row == NULL){
row = new Type*[height] ;
}
if (row == NULL){
vpERROR_TRACE("cannot allocate row ") ;
throw(vpException(vpException::memoryAllocationError,
"cannot allocate row ")) ;
}
memcpy(bitmap, I.bitmap, I.npixels*sizeof(Type)) ;
for (unsigned int i=0; i<this->height; i++){
row[i] = bitmap + i*this->width;
}
}
}
catch(vpException &)
{
vpERROR_TRACE(" ") ;
throw ;
}
return (* this);
}
/*!
\brief = operator : Set all the element of the bitmap to a given value \e v.
\f$ A = v <=> A[i][j] = v \f$
\warning = must be defined for \f$ <\f$ Type \f$ > \f$
*/
template<class Type>
vpImage<Type>& vpImage<Type>::operator=(const Type &v)
{
for (unsigned int i=0 ; i < npixels ; i++)
bitmap[i] = v ;
return *this;
}
/*!
Compare two images.
\return true if the images are the same, false otherwise.
*/
template<class Type>
bool vpImage<Type>::operator==(const vpImage<Type> &I)
{
if (this->width != I.getWidth())
return false;
if (this->height != I.getHeight())
return false;
for (unsigned int i=0 ; i < npixels ; i++)
{
if (bitmap[i] != I.bitmap[i])
return false;
}
return true ;
}
/*!
Compare two images.
\return true if the images are different, false if they are the same.
*/
template<class Type>
bool vpImage<Type>::operator!=(const vpImage<Type> &I)
{
if (this->width != I.getWidth())
return true;
if (this->height != I.getHeight())
return true;
for (unsigned int i=0 ; i < npixels ; i++)
{
if (bitmap[i] == I.bitmap[i])
return false;
}
return true ;
}
/*!
Operation A - B (A is unchanged).
\code
#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> A(288, 384);
vpImage<unsigned char> B(288, 384);
vpImage<unsigned char> C;
A = 128;
B = 120;
// operator-() : C = A - B
C = A - B;
return 0;
}
\endcode
\sa sub(const vpImage<Type> &, const vpImage<Type> &, vpImage<Type> &) to
avoid matrix allocation for each use.
*/
template<class Type>
vpImage<Type> vpImage<Type>::operator-(const vpImage<Type> &B)
{
vpImage<Type> C;
sub(*this,B,C);
return C;
}
/*!
Insert an image into another one.
It is possible to insert the image \f$ src \f$ into the calling vpImage.
You can set the point in the destination image where the top left corner of the \f$ src \f$ image will belocated.
\param src : Image to insert
\param topLeft : Coordinates of the \f$ src \f$ image's top left corner in the destination image.
*/
template<class Type>
void vpImage<Type>::insert(const vpImage<Type> &src,
const vpImagePoint topLeft)
{
Type* srcBitmap;
Type* destBitmap;
int itl = (int)topLeft.get_i();
int jtl = (int)topLeft.get_j();
int dest_ibegin = 0;
int dest_jbegin = 0;
int src_ibegin = 0;
int src_jbegin = 0;
int dest_w = (int)this->getWidth();
int dest_h = (int)this->getHeight();
int src_w = (int)src.getWidth();
int src_h = (int)src.getHeight();
int wsize = (int)src.getWidth();
int hsize = (int)src.getHeight();
if (itl >= dest_h || jtl >= dest_w)
return;
if (itl < 0)
src_ibegin = -itl;
else
dest_ibegin = itl;
if (jtl < 0)
src_jbegin = -jtl;
else
dest_jbegin = jtl;
if (src_w - src_jbegin > dest_w - dest_jbegin)
wsize = dest_w - dest_jbegin;
else
wsize = src_w - src_jbegin;
if (src_h - src_ibegin > dest_h - dest_ibegin)
hsize = dest_h - dest_ibegin;
else
hsize = src_h - src_ibegin;
for (int i = 0; i < hsize; i++)
{
srcBitmap = src.bitmap + ((src_ibegin+i)*src_w+src_jbegin);
destBitmap = this->bitmap + ((dest_ibegin+i)*dest_w+dest_jbegin);
memcpy(destBitmap,srcBitmap,wsize*sizeof(Type));
}
}
/*!
Returns a new image that's half size of the current image.
No filtering is used during the sub sampling.
Used for building pyramid of the image.
\warning Operator = must be defined for Type.
\param res [out] : Subsampled image that is half size of the current image.
The example below shows how to use this method:
\code
vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I2; // half size image
I.halfSizeImage(I2);
vpImageIo::write(I2, "myHalfSizeImage.pgm");
\endcode
This other example shows how to construct a pyramid of the image:
\code
vpImage<unsigned char> I[4]; // pyramid with 4 levels
vpImageIo::read(I[1], "myImage.pgm"); // Original image at level 1
// compute the other levels
I5[1].doubleSizeImage(I5[0]); // double size image at level 0
I5[1].halfSizeImage(I5[2]); // half size image at level 2
I5[1].quarterSizeImage(I5[3]); // quarter size image at level 3
\endcode
*/
template<class Type>
void
vpImage<Type>::halfSizeImage(vpImage<Type> &res)
{
unsigned int h = height/2;
unsigned int w = width/2;
res.resize(h, w);
for(unsigned int i = 0; i < h; i++)
for(unsigned int j = 0; j < w; j++)
res[i][j] = (*this)[i<<1][j<<1];
}
/*!
Returns a new image that's a quarter size of the current image.
No filtering is used during the sub sampling.
Used for building a quarter of the image.
\warning Operator = must be defined for Type.
\param res [out] : Subsampled image that is quarter size of the
current image.
The example below shows how to use this method:
\code
vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I4; // quarter size image
I.halfSizeImage(I4);
vpImageIo::write(I4, "myQuarterSizeImage.pgm");
\endcode
See halfSizeImage(vpImage<Type> &) for an example of pyramid construction.
*/
template<class Type>
void
vpImage<Type>::quarterSizeImage(vpImage<Type> &res)
{
unsigned int h = height/4;
unsigned int w = width/4;
res.resize(h, w);
for(unsigned int i = 0; i < h; i++)
for(unsigned int j = 0; j < w; j++)
res[i][j] = (*this)[i<<2][j<<2];
}
/*!
Returns a new image that's double size of the current image.
Used (eg. in case of keypoints extraction, we might
double size of the image in order to have more keypoints).
The double size image is computed by nearest-neighbour interpolation:
\code
A B C
E F G
H I J
where
A C H J are pixels from original image
B E G I are interpolated pixels
\endcode
\warning Operator = must be defined for Type.
\param res [out] : Image that is double size of the current image.
The example below shows how to use this method:
\code
vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I2; // double size image
I.doubleSizeImage(I2);
vpImageIo::write(I2, "myDoubleSizeImage.pgm");
\endcode
See halfSizeImage(vpImage<Type> &) for an example of pyramid construction.
*/
template<class Type>
void
vpImage<Type>::doubleSizeImage(vpImage<Type> &res)
{
int h = height*2;
int w = width*2;
res.resize(h, w);
for(int i = 0; i < h; i++)
for(int j = 0; j < w; j++)
res[i][j] = (*this)[i>>1][j>>1];
/*
A B C
E F G
H I J
A C H J are pixels from original image
B E G I are interpolated pixels
*/
//interpolate pixels B and I
for(int i = 0; i < h; i += 2)
for(int j = 1; j < w - 1; j += 2)
res[i][j] = (Type)(0.5 * ((*this)[i>>1][j>>1]
+ (*this)[i>>1][(j>>1) + 1]));
//interpolate pixels E and G
for(int i = 1; i < h - 1; i += 2)
for(int j = 0; j < w; j += 2)
res[i][j] = (Type)(0.5 * ((*this)[i>>1][j>>1]
+ (*this)[(i>>1)+1][j>>1]));
//interpolate pixel F
for(int i = 1; i < h - 1; i += 2)
for(int j = 1; j < w - 1; j += 2)
res[i][j] = (Type)(0.25 * ((*this)[i>>1][j>>1]
+ (*this)[i>>1][(j>>1)+1]
+ (*this)[(i>>1)+1][j>>1]
+ (*this)[(i>>1)+1][(j>>1)+1]));
}
/*!
\warning This generic method is not implemented. You should rather use the
instantiated methods for double, unsigned char and vpRGBa images.
\sa vpImage<double>::getValue(double, double)
\sa vpImage<unsigned char>::getValue(double, double)
\sa vpImage<vpRGBa>::getValue(double, double)
*/
template<class Type>
Type vpImage<Type>::getValue(double /* i */, double /* j */) const
{
vpTRACE("Not implemented");
}
/*!
Retrieves pixel value from an image of unsigned char with sub-pixel accuracy.
Gets the value of a sub-pixel with coordinates (i,j) with bilinear
interpolation. If location is out of bounds, then return value of
closest pixel.
\param i : Sub-pixel coordinate along the rows.
\param j : Sub-pixel coordinate along the columns.
\return Interpolated sub-pixel value from the four neighbours.
\exception vpImageException::notInTheImage : If (i,j) is out
of the image.
*/
template<>
inline unsigned char vpImage<unsigned char>::getValue(double i, double j) const
{
unsigned int iround, jround;
double rfrac, cfrac;
iround = (unsigned int)floor(i);
jround = (unsigned int)floor(j);
if (iround >= height || jround >= width) {
vpERROR_TRACE("Pixel outside the image") ;
throw(vpException(vpImageException::notInTheImage,
"Pixel outside the image"));
}
if (i > height - 1)
i = (double)(height - 1);
if (j > width - 1)
j = (double)(width - 1);
double rratio = i - (double) iround;
if(rratio < 0)
rratio=-rratio;
double cratio = j - (double) jround;
if(cratio < 0)
cratio=-cratio;
rfrac = 1.0f - rratio;
cfrac = 1.0f - cratio;
double value = ((double)row[iround][jround] * rfrac + (double)row[iround+1][jround] * rratio)*cfrac
+ ((double)row[iround][jround+1]*rfrac + (double)row[iround+1][jround+1] * rratio)*cratio;
return (unsigned char)vpMath::round(value);
}
/*!
Retrieves pixel value from an image of double with sub-pixel accuracy.
Gets the value of a sub-pixel with coordinates (i,j) with bilinear
interpolation. If location is out of bounds, then return value of
closest pixel.
\param i : Sub-pixel coordinate along the rows.
\param j : Sub-pixel coordinate along the columns.
\return Interpolated sub-pixel value from the four neighbours.
\exception vpImageException::notInTheImage : If (i,j) is out
of the image.
*/
template<>
inline double vpImage<double>::getValue(double i, double j) const
{
unsigned int iround, jround;
double rfrac, cfrac;
iround = (unsigned int)floor(i);
jround = (unsigned int)floor(j);
if (iround >= height || jround >= width) {
vpERROR_TRACE("Pixel outside the image") ;
throw(vpException(vpImageException::notInTheImage,
"Pixel outside the image"));
}
if (i > height - 1)
i = (double)(height - 1);
if (j > width - 1)
j = (double)(width - 1);
double rratio = i - (double) iround;
if(rratio < 0)
rratio=-rratio;
double cratio = j - (double) jround;
if(cratio < 0)
cratio=-cratio;
rfrac = 1.0f - rratio;
cfrac = 1.0f - cratio;
double value = ((double)row[iround][jround] * rfrac + (double)row[iround+1][jround] * rratio)*cfrac
+ ((double)row[iround][jround+1]*rfrac + (double)row[iround+1][jround+1] * rratio)*cratio;
return value;
}
template<>
inline vpRGBa vpImage<vpRGBa>::getValue(double i, double j) const
{
unsigned int iround, jround;
double rfrac, cfrac;
iround = (unsigned int)floor(i);
jround = (unsigned int)floor(j);
if (iround >= height || jround >= width) {
vpERROR_TRACE("Pixel outside the image") ;
throw(vpException(vpImageException::notInTheImage,
"Pixel outside the image"));
}
if (i > height - 1)
i = (double)(height - 1);
if (j > width - 1)
j = (double)(width - 1);
double rratio = i - (double) iround;
if(rratio < 0)
rratio=-rratio;
double cratio = j - (double) jround;
if(cratio < 0)
cratio=-cratio;
rfrac = 1.0f - rratio;
cfrac = 1.0f - cratio;
double valueR = ((double)row[iround][jround].R * rfrac + (double)row[iround+1][jround].R * rratio)*cfrac
+ ((double)row[iround][jround+1].R * rfrac + (double)row[iround+1][jround+1].R * rratio)*cratio;
double valueG = ((double)row[iround][jround].G * rfrac + (double)row[iround+1][jround].G * rratio)*cfrac
+ ((double)row[iround][jround+1].G* rfrac + (double)row[iround+1][jround+1].G * rratio)*cratio;
double valueB = ((double)row[iround][jround].B * rfrac + (double)row[iround+1][jround].B * rratio)*cfrac
+ ((double)row[iround][jround+1].B*rfrac + (double)row[iround+1][jround+1].B * rratio)*cratio;
return vpRGBa((unsigned char)vpMath::round(valueR),(unsigned char)vpMath::round(valueG),(unsigned char)vpMath::round(valueB));
}
/*!
\warning This generic method is not implemented. You should rather use the
instantiated methods for double, unsigned char and vpRGBa images.
\sa vpImage<double>::getValue(vpImagePoint &)
\sa vpImage<unsigned char>::getValue(vpImagePoint &)
\sa vpImage<vpRGBa>::getValue(vpImagePoint &)
*/
template<class Type>
Type vpImage<Type>::getValue(vpImagePoint & /* ip */) const
{
vpTRACE("Not implemented");
}
template<>
inline unsigned char vpImage<unsigned char>::getValue(vpImagePoint &ip) const
{
unsigned int iround, jround;
double rfrac, cfrac;
iround = (unsigned int)floor(ip.get_i());
jround = (unsigned int)floor(ip.get_j());
if (iround >= height || jround >= width) {
vpERROR_TRACE("Pixel outside the image") ;
throw(vpException(vpImageException::notInTheImage,
"Pixel outside the image"));
}
if (ip.get_i() > height - 1)
ip.set_i((double)(height - 1));
if (ip.get_j() > width - 1)
ip.set_j((double)(width - 1));
double rratio = ip.get_i() - (double) iround;
if(rratio < 0)
rratio=-rratio;
double cratio = ip.get_j() - (double) jround;
if(cratio < 0)
cratio=-cratio;
rfrac = 1.0f - rratio;
cfrac = 1.0f - cratio;
double value = ((double)row[iround][jround] * rfrac + (double)row[iround+1][jround] * rratio)*cfrac
+ ((double)row[iround][jround+1]*rfrac + (double)row[iround+1][jround+1] * rratio)*cratio;
return (unsigned char)vpMath::round(value);
}
template<>
inline double vpImage<double>::getValue(vpImagePoint &ip) const
{
unsigned int iround, jround;
double rfrac, cfrac;
iround = (unsigned int)floor(ip.get_i());
jround = (unsigned int)floor(ip.get_j());
if (iround >= height || jround >= width) {
vpERROR_TRACE("Pixel outside the image") ;
throw(vpException(vpImageException::notInTheImage,
"Pixel outside the image"));
}
if (ip.get_i() > height - 1)
ip.set_i((double)(height - 1));
if (ip.get_j() > width - 1)
ip.set_j((double)(width - 1));
double rratio = ip.get_i() - (double) iround;
if(rratio < 0)
rratio=-rratio;
double cratio = ip.get_j() - (double) jround;
if(cratio < 0)
cratio=-cratio;
rfrac = 1.0f - rratio;
cfrac = 1.0f - cratio;
double value = ((double)row[iround][jround] * rfrac + (double)row[iround+1][jround] * rratio)*cfrac
+ ((double)row[iround][jround+1]*rfrac + (double)row[iround+1][jround+1] * rratio)*cratio;
return value;
}
template<>
inline vpRGBa vpImage<vpRGBa>::getValue(vpImagePoint &ip) const
{
unsigned int iround, jround;
double rfrac, cfrac;
iround = (unsigned int)floor(ip.get_i());
jround = (unsigned int)floor(ip.get_j());
if (iround >= height || jround >= width) {
vpERROR_TRACE("Pixel outside the image") ;
throw(vpException(vpImageException::notInTheImage,
"Pixel outside the image"));
}
if (ip.get_i() > height - 1)
ip.set_i((double)(height - 1));
if (ip.get_j() > width - 1)
ip.set_j((double)(width - 1));
double rratio = ip.get_i() - (double) iround;
if(rratio < 0)
rratio=-rratio;
double cratio = ip.get_j() - (double) jround;
if(cratio < 0)
cratio=-cratio;
rfrac = 1.0f - rratio;
cfrac = 1.0f - cratio;
double valueR = ((double)row[iround][jround].R * rfrac + (double)row[iround+1][jround].R * rratio)*cfrac
+ ((double)row[iround][jround+1].R * rfrac + (double)row[iround+1][jround+1].R * rratio)*cratio;
double valueG = ((double)row[iround][jround].G * rfrac + (double)row[iround+1][jround].G * rratio)*cfrac
+ ((double)row[iround][jround+1].G* rfrac + (double)row[iround+1][jround+1].G * rratio)*cratio;
double valueB = ((double)row[iround][jround].B * rfrac + (double)row[iround+1][jround].B * rratio)*cfrac
+ ((double)row[iround][jround+1].B*rfrac + (double)row[iround+1][jround+1].B * rratio)*cratio;
return vpRGBa((unsigned char)vpMath::round(valueR),(unsigned char)vpMath::round(valueG),(unsigned char)vpMath::round(valueB));
}
/*!
Operation C = *this - B.
\code
#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> A(288, 384);
vpImage<unsigned char> B(288, 384);
vpImage<unsigned char> C;
A = 128;
B = 120;
A.sub(B, C); // C = A - B
return 0;
}
\endcode
The result is placed in the third parameter C and not returned.
A new image won't be allocated for every use of the function
(Speed gain if used many times with the same result matrix size).
\exception vpException::memoryAllocationError If the images size differ.
\sa operator-()
*/
template<class Type>
void vpImage<Type>::sub(const vpImage<Type> &B, vpImage<Type> &C)
{
try
{
if ((this->getHeight() != C.getHeight())
|| (this->getWidth() != C.getWidth()))
C.resize(this->getHeight(), this->getWidth());
}
catch(vpException &me)
{
vpERROR_TRACE("Error caught") ;
std::cout << me << std::endl ;
throw ;
}
if ( (this->getWidth() != B.getWidth())||(this->getHeight() != B.getHeight()))
{
vpERROR_TRACE("\n\t\t vpImage mismatch in vpImage/vpImage substraction") ;
throw(vpException(vpException::memoryAllocationError,
"vpImage mismatch in vpImage/vpImage substraction ")) ;
}
for (unsigned int i=0;i<this->getWidth()*this->getHeight();i++)
{
*(C.bitmap + i) = *(bitmap + i) - *(B.bitmap + i) ;
}
}
/*!
Operation C = A - B.
The result is placed in the third parameter C and not returned.
A new image won't be allocated for every use of the function
(Speed gain if used many times with the same result matrix size).
\exception vpException::memoryAllocationError If the images size differ.
\sa operator-()
*/
template<class Type>
void vpImage<Type>::sub(const vpImage<Type> &A, const vpImage<Type> &B,
vpImage<Type> &C)
{
try
{
if ((A.getHeight() != C.getHeight())
|| (A.getWidth() != C.getWidth()))
C.resize(A.getHeight(), A.getWidth());
}
catch(vpException &me)
{
vpERROR_TRACE("Error caught") ;
std::cout << me << std::endl ;
throw ;
}
if ( (A.getWidth() != B.getWidth())||(A.getHeight() != B.getHeight()))
{
vpERROR_TRACE("\n\t\t vpImage mismatch in vpImage/vpImage substraction") ;
throw(vpException(vpException::memoryAllocationError,
"vpImage mismatch in vpImage/vpImage substraction ")) ;
}
for (unsigned int i=0;i<A.getWidth()*A.getHeight();i++)
{
*(C.bitmap + i) = *(A.bitmap + i) - *(B.bitmap + i) ;
}
}
/*!
\warning This generic method is not implemented. You should rather use the
instantiated methods for unsigned char and vpRGBa images.
\sa vpImage<unsigned char>::performLut(const unsigned char (&)[256])
\sa vpImage<vpRGBa char>::performLut(const vpRGBa (&)[256])
*/
template<class Type>
void vpImage<Type>::performLut(const Type (&)[256])
{
// vpTRACE("Not implemented");
std::cerr << "Not implemented !" << std::endl;
}
/*!
Modify the intensities of a grayscale image using the look-up table passed in parameter.
\param lut : Look-up table (unsigned char array of size=256) which maps each intensity to his new value.
*/
template<>
inline void vpImage<unsigned char>::performLut(const unsigned char (&lut)[256]) {
unsigned int size = getWidth()*getHeight();
unsigned char *ptrStart = (unsigned char*) bitmap;
unsigned char *ptrEnd = ptrStart + size;
unsigned char *ptrCurrent = ptrStart;
while(ptrCurrent != ptrEnd) {
*ptrCurrent = lut[*ptrCurrent];
++ptrCurrent;
}
}
/*!
Modify the intensities of a color image using the look-up table passed in parameter.
\param lut : Look-up table (vpRGBa array of size=256) which maps each intensity to his new value.
*/
template<>
inline void vpImage<vpRGBa>::performLut(const vpRGBa (&lut)[256]) {
unsigned int size = getWidth()*getHeight();
unsigned char *ptrStart = (unsigned char*) bitmap;
unsigned char *ptrEnd = ptrStart + size*4;
unsigned char *ptrCurrent = ptrStart;
while(ptrCurrent != ptrEnd) {
*ptrCurrent = lut[*ptrCurrent].R;
++ptrCurrent;
*ptrCurrent = lut[*ptrCurrent].G;
++ptrCurrent;
*ptrCurrent = lut[*ptrCurrent].B;
++ptrCurrent;
*ptrCurrent = lut[*ptrCurrent].A;
++ptrCurrent;
}
}
#endif
|