Visual Servoing Platform  version 3.5.1 under development (2023-09-22)
vpImageConvert.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Convert image types.
32  */
33 
39 #ifndef _vpImageConvert_h_
40 #define _vpImageConvert_h_
41 
42 #include <stdint.h>
43 
44 // image
45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpDebug.h>
47 #include <visp3/core/vpImage.h>
48 // color
49 #include <visp3/core/vpRGBa.h>
50 
51 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
52 #include <opencv2/imgproc.hpp>
53 #include <opencv2/imgproc/types_c.h>
54 #endif
55 
56 #ifdef VISP_HAVE_YARP
57 #include <yarp/sig/Image.h>
58 #endif
59 
60 #if defined(_WIN32)
61 // Include WinSock2.h before windows.h to ensure that winsock.h is not
62 // included by windows.h since winsock.h and winsock2.h are incompatible
63 #include <WinSock2.h>
64 #include <windows.h>
65 #endif
66 
80 class VISP_EXPORT vpImageConvert
81 {
82 
83 public:
84  static void createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<vpRGBa> &dest_rgba);
85  static void createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<unsigned char> &dest_depth);
86 
87  static void createDepthHistogram(const vpImage<float> &src_depth, vpImage<vpRGBa> &dest_depth);
88  static void createDepthHistogram(const vpImage<float> &src_depth, vpImage<unsigned char> &dest_depth);
89 
90  static void convert(const vpImage<unsigned char> &src, vpImage<vpRGBa> &dest);
91  static void convert(const vpImage<vpRGBa> &src, vpImage<unsigned char> &dest, unsigned int nThreads = 0);
92 
93  static void convert(const vpImage<float> &src, vpImage<unsigned char> &dest);
94  static void convert(const vpImage<vpRGBf> &src, vpImage<vpRGBa> &dest);
95  static void convert(const vpImage<unsigned char> &src, vpImage<float> &dest);
96 
97  static void convert(const vpImage<double> &src, vpImage<unsigned char> &dest);
98  static void convert(const vpImage<unsigned char> &src, vpImage<double> &dest);
99 
100  static void convert(const vpImage<uint16_t> &src, vpImage<unsigned char> &dest, unsigned char bitshift = 8);
101  static void convert(const vpImage<unsigned char> &src, vpImage<uint16_t> &dest, unsigned char bitshift = 8);
102 
108  template <typename Type> static void convert(const vpImage<Type> &src, vpImage<Type> &dest) { dest = src; }
109 
110 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
111  static void convert(const cv::Mat &src, vpImage<vpRGBa> &dest, bool flip = false);
112  static void convert(const cv::Mat &src, vpImage<unsigned char> &dest, bool flip = false, unsigned int nThreads = 0);
113  static void convert(const cv::Mat &src, vpImage<float> &dest, bool flip = false);
114  static void convert(const cv::Mat &src, vpImage<vpRGBf> &dest, bool flip = false);
115  static void convert(const cv::Mat &src, vpImage<uint16_t> &dest, bool flip = false);
116  static void convert(const vpImage<vpRGBa> &src, cv::Mat &dest);
117  static void convert(const vpImage<unsigned char> &src, cv::Mat &dest, bool copyData = true);
118  static void convert(const vpImage<float> &src, cv::Mat &dest, bool copyData = true);
119  static void convert(const vpImage<vpRGBf> &src, cv::Mat &dest);
120 #endif
121 
122 #ifdef VISP_HAVE_YARP
123  static void convert(const vpImage<unsigned char> &src, yarp::sig::ImageOf<yarp::sig::PixelMono> *dest,
124  bool copyData = true);
125  static void convert(const yarp::sig::ImageOf<yarp::sig::PixelMono> *src, vpImage<unsigned char> &dest,
126  bool copyData = true);
127 
128  static void convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgba> *dest, bool copyData = true);
129  static void convert(const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src, vpImage<vpRGBa> &dest, bool copyData = true);
130 
131  static void convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgb> *dest);
132  static void convert(const yarp::sig::ImageOf<yarp::sig::PixelRgb> *src, vpImage<vpRGBa> &dest);
133 #endif
134 
135  static void split(const vpImage<vpRGBa> &src, vpImage<unsigned char> *pR, vpImage<unsigned char> *pG,
136  vpImage<unsigned char> *pB, vpImage<unsigned char> *pa = NULL);
137 
138  static void merge(const vpImage<unsigned char> *R, const vpImage<unsigned char> *G, const vpImage<unsigned char> *B,
139  const vpImage<unsigned char> *a, vpImage<vpRGBa> &RGBa);
140 
155  static inline void YUVToRGB(unsigned char y, unsigned char u, unsigned char v, unsigned char &r, unsigned char &g,
156  unsigned char &b)
157  {
158  double dr, dg, db;
159  dr = floor(0.9999695 * y - 0.0009508 * (u - 128) + 1.1359061 * (v - 128));
160  dg = floor(0.9999695 * y - 0.3959609 * (u - 128) - 0.5782955 * (v - 128));
161  db = floor(0.9999695 * y + 2.04112 * (u - 128) - 0.0016314 * (v - 128));
162 
163  dr = dr < 0. ? 0. : dr;
164  dg = dg < 0. ? 0. : dg;
165  db = db < 0. ? 0. : db;
166  dr = dr > 255. ? 255. : dr;
167  dg = dg > 255. ? 255. : dg;
168  db = db > 255. ? 255. : db;
169 
170  r = (unsigned char)dr;
171  g = (unsigned char)dg;
172  b = (unsigned char)db;
173  }
174  static void YUYVToRGBa(unsigned char *yuyv, unsigned char *rgba, unsigned int width, unsigned int height);
175  static void YUYVToRGB(unsigned char *yuyv, unsigned char *rgb, unsigned int width, unsigned int height);
176  static void YUYVToGrey(unsigned char *yuyv, unsigned char *grey, unsigned int size);
177  static void YUV411ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int size);
178  static void YUV411ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int size);
179  static void YUV411ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
180  static void YUV422ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int size);
181  static void YUV422ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int size);
182  static void YUV422ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
183  static void YUV420ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int width, unsigned int height);
184  static void YUV420ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
185  static void YUV420ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
186 
187  static void YUV444ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int size);
188  static void YUV444ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int size);
189  static void YUV444ToGrey(unsigned char *yuv, unsigned char *grey, unsigned int size);
190 
191  static void YV12ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int width, unsigned int height);
192  static void YV12ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
193  static void YVU9ToRGBa(unsigned char *yuv, unsigned char *rgba, unsigned int width, unsigned int height);
194  static void YVU9ToRGB(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
195  static void RGBToRGBa(unsigned char *rgb, unsigned char *rgba, unsigned int size);
196  static void RGBaToRGB(unsigned char *rgba, unsigned char *rgb, unsigned int size);
197 
198  static void RGBToGrey(unsigned char *rgb, unsigned char *grey, unsigned int width, unsigned int height,
199  bool flip = false);
200  static void RGBToGrey(unsigned char *rgb, unsigned char *grey, unsigned int size);
201  static void RGBaToGrey(unsigned char *rgba, unsigned char *grey, unsigned int width, unsigned int height,
202  unsigned int nThreads = 0);
203  static void RGBaToGrey(unsigned char *rgba, unsigned char *grey, unsigned int size);
204 
205  static void RGBToRGBa(unsigned char *rgb, unsigned char *rgba, unsigned int width, unsigned int height,
206  bool flip = false);
207 
208  static void GreyToRGBa(unsigned char *grey, unsigned char *rgba, unsigned int width, unsigned int height);
209  static void GreyToRGBa(unsigned char *grey, unsigned char *rgba, unsigned int size);
210  static void GreyToRGB(unsigned char *grey, unsigned char *rgb, unsigned int size);
211 
212  static void BGRToRGBa(unsigned char *bgr, unsigned char *rgba, unsigned int width, unsigned int height,
213  bool flip = false);
214 
215  static void BGRToGrey(unsigned char *bgr, unsigned char *grey, unsigned int width, unsigned int height,
216  bool flip = false, unsigned int nThreads = 0);
217 
218  static void BGRaToGrey(unsigned char *bgra, unsigned char *grey, unsigned int width, unsigned int height,
219  bool flip = false, unsigned int nThreads = 0);
220  static void BGRaToRGBa(unsigned char *bgra, unsigned char *rgba, unsigned int width, unsigned int height,
221  bool flip = false);
222 
223  static void YCbCrToRGB(unsigned char *ycbcr, unsigned char *rgb, unsigned int size);
224  static void YCbCrToRGBa(unsigned char *ycbcr, unsigned char *rgb, unsigned int size);
225  static void YCbCrToGrey(unsigned char *ycbcr, unsigned char *grey, unsigned int size);
226  static void YCrCbToRGB(unsigned char *ycrcb, unsigned char *rgb, unsigned int size);
227  static void YCrCbToRGBa(unsigned char *ycrcb, unsigned char *rgb, unsigned int size);
228  static void MONO16ToGrey(unsigned char *grey16, unsigned char *grey, unsigned int size);
229  static void MONO16ToRGBa(unsigned char *grey16, unsigned char *rgba, unsigned int size);
230 
231  static void HSVToRGBa(const double *hue, const double *saturation, const double *value, unsigned char *rgba,
232  unsigned int size);
233  static void HSVToRGBa(const unsigned char *hue, const unsigned char *saturation, const unsigned char *value,
234  unsigned char *rgba, unsigned int size);
235  static void RGBaToHSV(const unsigned char *rgba, double *hue, double *saturation, double *value, unsigned int size);
236  static void RGBaToHSV(const unsigned char *rgba, unsigned char *hue, unsigned char *saturation, unsigned char *value,
237  unsigned int size);
238 
239  static void HSVToRGB(const double *hue, const double *saturation, const double *value, unsigned char *rgb,
240  unsigned int size);
241  static void HSVToRGB(const unsigned char *hue, const unsigned char *saturation, const unsigned char *value,
242  unsigned char *rgb, unsigned int size);
243  static void RGBToHSV(const unsigned char *rgb, double *hue, double *saturation, double *value, unsigned int size);
244  static void RGBToHSV(const unsigned char *rgb, unsigned char *hue, unsigned char *saturation, unsigned char *value,
245  unsigned int size);
246 
247  static void demosaicBGGRToRGBaBilinear(const uint8_t *bggr, uint8_t *rgba, unsigned int width, unsigned int height,
248  unsigned int nThreads = 0);
249  static void demosaicBGGRToRGBaBilinear(const uint16_t *bggr, uint16_t *rgba, unsigned int width, unsigned int height,
250  unsigned int nThreads = 0);
251 
252  static void demosaicGBRGToRGBaBilinear(const uint8_t *gbrg, uint8_t *rgba, unsigned int width, unsigned int height,
253  unsigned int nThreads = 0);
254  static void demosaicGBRGToRGBaBilinear(const uint16_t *gbrg, uint16_t *rgba, unsigned int width, unsigned int height,
255  unsigned int nThreads = 0);
256 
257  static void demosaicGRBGToRGBaBilinear(const uint8_t *grbg, uint8_t *rgba, unsigned int width, unsigned int height,
258  unsigned int nThreads = 0);
259  static void demosaicGRBGToRGBaBilinear(const uint16_t *grbg, uint16_t *rgba, unsigned int width, unsigned int height,
260  unsigned int nThreads = 0);
261 
262  static void demosaicRGGBToRGBaBilinear(const uint8_t *rggb, uint8_t *rgba, unsigned int width, unsigned int height,
263  unsigned int nThreads = 0);
264  static void demosaicRGGBToRGBaBilinear(const uint16_t *rggb, uint16_t *rgba, unsigned int width, unsigned int height,
265  unsigned int nThreads = 0);
266 
267  static void demosaicBGGRToRGBaMalvar(const uint8_t *bggr, uint8_t *rgba, unsigned int width, unsigned int height,
268  unsigned int nThreads = 0);
269  static void demosaicBGGRToRGBaMalvar(const uint16_t *bggr, uint16_t *rgba, unsigned int width, unsigned int height,
270  unsigned int nThreads = 0);
271 
272  static void demosaicGBRGToRGBaMalvar(const uint8_t *gbrg, uint8_t *rgba, unsigned int width, unsigned int height,
273  unsigned int nThreads = 0);
274  static void demosaicGBRGToRGBaMalvar(const uint16_t *gbrg, uint16_t *rgba, unsigned int width, unsigned int height,
275  unsigned int nThreads = 0);
276 
277  static void demosaicGRBGToRGBaMalvar(const uint8_t *grbg, uint8_t *rgba, unsigned int width, unsigned int height,
278  unsigned int nThreads = 0);
279  static void demosaicGRBGToRGBaMalvar(const uint16_t *grbg, uint16_t *rgba, unsigned int width, unsigned int height,
280  unsigned int nThreads = 0);
281 
282  static void demosaicRGGBToRGBaMalvar(const uint8_t *rggb, uint8_t *rgba, unsigned int width, unsigned int height,
283  unsigned int nThreads = 0);
284  static void demosaicRGGBToRGBaMalvar(const uint16_t *rggb, uint16_t *rgba, unsigned int width, unsigned int height,
285  unsigned int nThreads = 0);
286 
287 private:
288  static void computeYCbCrLUT();
289 
290  static void HSV2RGB(const double *hue, const double *saturation, const double *value, unsigned char *rgba,
291  unsigned int size, unsigned int step);
292  static void RGB2HSV(const unsigned char *rgb, double *hue, double *saturation, double *value, unsigned int size,
293  unsigned int step);
294 
295 private:
296  static bool YCbCrLUTcomputed;
297  static int vpCrr[256];
298  static int vpCgb[256];
299  static int vpCgr[256];
300  static int vpCbb[256];
301 };
302 
303 #endif
vpImageConvert::convert
static void convert(const vpImage< Type > &src, vpImage< Type > &dest)
Definition: vpImageConvert.h:108
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:155
vpImage
Definition of the vpImage class member functions.
Definition: vpImage.h:69