Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpImageConvert.h
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3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Convert image types.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  * Anthony Saunier
38  *
39  *****************************************************************************/
40 
46 #ifndef vpIMAGECONVERT_H
47 #define vpIMAGECONVERT_H
48 
49 #include <stdint.h>
50 
51 // image
52 #include <visp3/core/vpConfig.h>
53 #include <visp3/core/vpDebug.h>
54 #include <visp3/core/vpImage.h>
55 // color
56 #include <visp3/core/vpRGBa.h>
57 
58 #ifdef VISP_HAVE_OPENCV
59 #if (VISP_HAVE_OPENCV_VERSION >= 0x040000) // Require opencv >= 4.0.0
60 # include <opencv2/imgproc/types_c.h>
61 # include <opencv2/imgproc.hpp>
62 # include <opencv2/highgui.hpp>
63 #elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) // Require opencv >= 3.0.0
64 # include <opencv2/core/core.hpp>
65 # include <opencv2/highgui/highgui.hpp>
66 # include <opencv2/imgproc/imgproc.hpp>
67 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020408) // Require opencv >= 2.4.8
68 # include <opencv2/core/core.hpp>
69 # include <opencv2/highgui/highgui.hpp>
70 # include <opencv2/imgproc/imgproc.hpp>
71 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
72 # include <opencv2/core/core.hpp>
73 # include <opencv2/highgui/highgui.hpp>
74 # include <opencv2/highgui/highgui_c.h>
75 # include <opencv2/legacy/legacy.hpp>
76 #else
77 # include <highgui.h>
78 #endif
79 #endif
80 
81 #ifdef VISP_HAVE_YARP
82 #include <yarp/sig/Image.h>
83 #endif
84 
85 #if defined(_WIN32)
86 // Include WinSock2.h before windows.h to ensure that winsock.h is not
87 // included by windows.h since winsock.h and winsock2.h are incompatible
88 #include <WinSock2.h>
89 #include <windows.h>
90 #endif
91 
105 class VISP_EXPORT vpImageConvert
106 {
107 
108 public:
109  static void createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<vpRGBa> &dest_rgba);
110  static void createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<unsigned char> &dest_depth);
111  static void convert(const vpImage<unsigned char> &src, vpImage<vpRGBa> &dest);
112  static void convert(const vpImage<vpRGBa> &src, vpImage<unsigned char> &dest);
113 
114  static void convert(const vpImage<float> &src, vpImage<unsigned char> &dest);
115  static void convert(const vpImage<unsigned char> &src, vpImage<float> &dest);
116 
117  static void convert(const vpImage<double> &src, vpImage<unsigned char> &dest);
118  static void convert(const vpImage<unsigned char> &src, vpImage<double> &dest);
119 
120  static void convert(const vpImage<uint16_t> &src, vpImage<unsigned char> &dest);
121  static void convert(const vpImage<unsigned char> &src, vpImage<uint16_t> &dest);
122 
128  template <typename Type> static void convert(const vpImage<Type> &src, vpImage<Type> &dest) { dest = src; }
129 
130 #ifdef VISP_HAVE_OPENCV
131  // Deprecated: will be removed with OpenCV transcient from C to C++ api
132  static void convert(const IplImage *src, vpImage<vpRGBa> &dest, bool flip = false);
133  static void convert(const IplImage *src, vpImage<unsigned char> &dest, bool flip = false);
134  static void convert(const vpImage<vpRGBa> &src, IplImage *&dest);
135  static void convert(const vpImage<unsigned char> &src, IplImage *&dest);
136 #if VISP_HAVE_OPENCV_VERSION >= 0x020100
137  static void convert(const cv::Mat &src, vpImage<vpRGBa> &dest, bool flip = false);
138  static void convert(const cv::Mat &src, vpImage<unsigned char> &dest, bool flip = false);
139  static void convert(const vpImage<vpRGBa> &src, cv::Mat &dest);
140  static void convert(const vpImage<unsigned char> &src, cv::Mat &dest, bool copyData = true);
141 #endif
142 #endif
143 
144 #ifdef VISP_HAVE_YARP
145  static void convert(const vpImage<unsigned char> &src, yarp::sig::ImageOf<yarp::sig::PixelMono> *dest,
146  bool copyData = true);
147  static void convert(const yarp::sig::ImageOf<yarp::sig::PixelMono> *src, vpImage<unsigned char> &dest,
148  bool copyData = true);
149 
150  static void convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgba> *dest,
151  bool copyData = true);
152  static void convert(const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src, vpImage<vpRGBa> &dest,
153  bool copyData = true);
154 
155  static void convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgb> *dest);
156  static void convert(const yarp::sig::ImageOf<yarp::sig::PixelRgb> *src, vpImage<vpRGBa> &dest);
157 #endif
158 
159  static void split(const vpImage<vpRGBa> &src, vpImage<unsigned char> *pR, vpImage<unsigned char> *pG,
160  vpImage<unsigned char> *pB, vpImage<unsigned char> *pa = NULL);
161 
162  static void merge(const vpImage<unsigned char> *R, const vpImage<unsigned char> *G, const vpImage<unsigned char> *B,
163  const vpImage<unsigned char> *a, vpImage<vpRGBa> &RGBa);
164 
181  static inline void YUVToRGB(unsigned char y, unsigned char u, unsigned char v, unsigned char &r, unsigned char &g,
182  unsigned char &b)
183  {
184  double dr, dg, db;
185  dr = floor(0.9999695 * y - 0.0009508 * (u - 128) + 1.1359061 * (v - 128));
186  dg = floor(0.9999695 * y - 0.3959609 * (u - 128) - 0.5782955 * (v - 128));
187  db = floor(0.9999695 * y + 2.04112 * (u - 128) - 0.0016314 * (v - 128));
188 
189  dr = dr < 0. ? 0. : dr;
190  dg = dg < 0. ? 0. : dg;
191  db = db < 0. ? 0. : db;
192  dr = dr > 255. ? 255. : dr;
193  dg = dg > 255. ? 255. : dg;
194  db = db > 255. ? 255. : db;
195 
196  r = (unsigned char)dr;
197  g = (unsigned char)dg;
198  b = (unsigned char)db;
199  }
200  static void YUYVToRGBa(unsigned char *yuyv, unsigned char *rgba, unsigned int width, unsigned int height);
201  static void YUYVToRGB(unsigned char *yuyv, unsigned char *rgb, unsigned int width, unsigned int height);
202  static void YUYVToGrey(unsigned char *yuyv, unsigned char *grey, unsigned int size);
203  static void YUV411ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int size);
204  static void YUV411ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int size);
205  static void YUV411ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
206  static void YUV422ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int size);
207  static void YUV422ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int size);
208  static void YUV422ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
209  static void YUV420ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int width, unsigned int height);
210  static void YUV420ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
211  static void YUV420ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
212 
213  static void YUV444ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int size);
214  static void YUV444ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int size);
215  static void YUV444ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
216 
217  static void YV12ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int width, unsigned int height);
218  static void YV12ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
219  static void YVU9ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int width, unsigned int height);
220  static void YVU9ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
221  static void RGBToRGBa(unsigned char *rgb, unsigned char *rgba, unsigned int size);
222  static void RGBaToRGB(unsigned char *rgba, unsigned char *rgb, unsigned int size);
223 
224  static void RGBToGrey(unsigned char *rgb, unsigned char *grey, unsigned int size);
225  static void RGBaToGrey(unsigned char *rgba, unsigned char *grey, unsigned int size);
226 
227  static void RGBToRGBa(unsigned char *rgb, unsigned char *rgba, unsigned int width, unsigned int height,
228  bool flip = false);
229  static void RGBToGrey(unsigned char *rgb, unsigned char *grey, unsigned int width, unsigned int height,
230  bool flip = false);
231 
232  static void GreyToRGBa(unsigned char *grey, unsigned char *rgba, unsigned int size);
233  static void GreyToRGB(unsigned char *grey, unsigned char *rgb, unsigned int size);
234 
235  static void BGRToRGBa(unsigned char *bgr, unsigned char *rgba, unsigned int width, unsigned int height,
236  bool flip = false);
237 
238  static void BGRToGrey(unsigned char *bgr, unsigned char *grey, unsigned int width, unsigned int height,
239  bool flip = false);
240 
241  static void YCbCrToRGB(unsigned char *ycbcr, unsigned char *rgb, unsigned int size);
242  static void YCbCrToRGBa(unsigned char *ycbcr, unsigned char *rgb, unsigned int size);
243  static void YCrCbToRGB(unsigned char *ycbcr, unsigned char *rgb, unsigned int size);
244  static void YCrCbToRGBa(unsigned char *ycbcr, unsigned char *rgb, unsigned int size);
245  static void YCbCrToGrey(unsigned char *ycbcr, unsigned char *grey, unsigned int size);
246  static void MONO16ToGrey(unsigned char *grey16, unsigned char *grey, unsigned int size);
247  static void MONO16ToRGBa(unsigned char *grey16, unsigned char *rgba, unsigned int size);
248 
249  static void HSVToRGBa(const double *hue, const double *saturation, const double *value, unsigned char *rgba,
250  unsigned int size);
251  static void HSVToRGBa(const unsigned char *hue, const unsigned char *saturation, const unsigned char *value,
252  unsigned char *rgba, unsigned int size);
253  static void RGBaToHSV(const unsigned char *rgba, double *hue, double *saturation, double *value,
254  unsigned int size);
255  static void RGBaToHSV(const unsigned char *rgba, unsigned char *hue, unsigned char *saturation, unsigned char *value,
256  unsigned int size);
257 
258  static void HSVToRGB(const double *hue, const double *saturation, const double *value, unsigned char *rgb,
259  unsigned int size);
260  static void HSVToRGB(const unsigned char *hue, const unsigned char *saturation, const unsigned char *value,
261  unsigned char *rgb, unsigned int size);
262  static void RGBToHSV(const unsigned char *rgb, double *hue, double *saturation, double *value,
263  unsigned int size);
264  static void RGBToHSV(const unsigned char *rgb, unsigned char *hue, unsigned char *saturation, unsigned char *value,
265  unsigned int size);
266 
267 private:
268  static void computeYCbCrLUT();
269 
270  static void HSV2RGB(const double *hue, const double *saturation, const double *value, unsigned char *rgba,
271  unsigned int size, unsigned int step);
272  static void RGB2HSV(const unsigned char *rgb, double *hue, double *saturation, double *value, unsigned int size,
273  unsigned int step);
274 
275 private:
276  static bool YCbCrLUTcomputed;
277  static int vpCrr[256];
278  static int vpCgb[256];
279  static int vpCgr[256];
280  static int vpCbb[256];
281 };
282 
283 #endif
vpImageConvert::YUVToRGB
static void YUVToRGB(unsigned char y, unsigned char u, unsigned char v, unsigned char &r, unsigned char &g, unsigned char &b)
Definition: vpImageConvert.h:181
vpImageConvert::convert
static void convert(const vpImage< Type > &src, vpImage< Type > &dest)
Definition: vpImageConvert.h:128
vpImage
Definition of the vpImage class member functions.
Definition: vpImage.h:124