46 #ifndef vpIMAGECONVERT_H
47 #define vpIMAGECONVERT_H
52 #include <visp3/core/vpConfig.h>
53 #include <visp3/core/vpDebug.h>
54 #include <visp3/core/vpImage.h>
56 #include <visp3/core/vpRGBa.h>
58 #ifdef VISP_HAVE_OPENCV
59 #if (VISP_HAVE_OPENCV_VERSION >= 0x040000)
60 #include <opencv2/highgui.hpp>
61 #include <opencv2/imgproc.hpp>
62 #include <opencv2/imgproc/types_c.h>
63 #elif (VISP_HAVE_OPENCV_VERSION >= 0x030000)
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)
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)
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>
82 #include <yarp/sig/Image.h>
134 #ifdef VISP_HAVE_OPENCV
136 static void convert(
const IplImage *src,
vpImage<vpRGBa> &dest,
bool flip =
false);
140 #if VISP_HAVE_OPENCV_VERSION >= 0x020100
141 static void convert(
const cv::Mat &src,
vpImage<vpRGBa> &dest,
bool flip =
false);
142 static void convert(
const cv::Mat &src,
vpImage<unsigned char> &dest,
bool flip =
false,
unsigned int nThreads = 0);
148 #ifdef VISP_HAVE_YARP
150 bool copyData =
true);
152 bool copyData =
true);
154 static void convert(
const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgba> *dest,
bool copyData =
true);
155 static void convert(
const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src,
vpImage<vpRGBa> &dest,
bool copyData =
true);
157 static void convert(
const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgb> *dest);
158 static void convert(
const yarp::sig::ImageOf<yarp::sig::PixelRgb> *src,
vpImage<vpRGBa> &dest);
182 static inline void YUVToRGB(
unsigned char y,
unsigned char u,
unsigned char v,
unsigned char &r,
unsigned char &g,
186 dr = floor(0.9999695 * y - 0.0009508 * (u - 128) + 1.1359061 * (v - 128));
187 dg = floor(0.9999695 * y - 0.3959609 * (u - 128) - 0.5782955 * (v - 128));
188 db = floor(0.9999695 * y + 2.04112 * (u - 128) - 0.0016314 * (v - 128));
190 dr = dr < 0. ? 0. : dr;
191 dg = dg < 0. ? 0. : dg;
192 db = db < 0. ? 0. : db;
193 dr = dr > 255. ? 255. : dr;
194 dg = dg > 255. ? 255. : dg;
195 db = db > 255. ? 255. : db;
197 r = (
unsigned char)dr;
198 g = (
unsigned char)dg;
199 b = (
unsigned char)db;
201 static void YUYVToRGBa(
unsigned char *yuyv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
202 static void YUYVToRGB(
unsigned char *yuyv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
203 static void YUYVToGrey(
unsigned char *yuyv,
unsigned char *grey,
unsigned int size);
204 static void YUV411ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int size);
205 static void YUV411ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int size);
206 static void YUV411ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
207 static void YUV422ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int size);
208 static void YUV422ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int size);
209 static void YUV422ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
210 static void YUV420ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
211 static void YUV420ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
212 static void YUV420ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
214 static void YUV444ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int size);
215 static void YUV444ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int size);
216 static void YUV444ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
218 static void YV12ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
219 static void YV12ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
220 static void YVU9ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
221 static void YVU9ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
222 static void RGBToRGBa(
unsigned char *rgb,
unsigned char *rgba,
unsigned int size);
223 static void RGBaToRGB(
unsigned char *rgba,
unsigned char *rgb,
unsigned int size);
225 static void RGBToGrey(
unsigned char *rgb,
unsigned char *grey,
unsigned int width,
unsigned int height,
227 static void RGBToGrey(
unsigned char *rgb,
unsigned char *grey,
unsigned int size);
228 static void RGBaToGrey(
unsigned char *rgba,
unsigned char *grey,
unsigned int width,
unsigned int height,
229 unsigned int nThreads = 0);
230 static void RGBaToGrey(
unsigned char *rgba,
unsigned char *grey,
unsigned int size);
232 static void RGBToRGBa(
unsigned char *rgb,
unsigned char *rgba,
unsigned int width,
unsigned int height,
235 static void GreyToRGBa(
unsigned char *grey,
unsigned char *rgba,
unsigned int width,
unsigned int height);
236 static void GreyToRGBa(
unsigned char *grey,
unsigned char *rgba,
unsigned int size);
237 static void GreyToRGB(
unsigned char *grey,
unsigned char *rgb,
unsigned int size);
239 static void BGRToRGBa(
unsigned char *bgr,
unsigned char *rgba,
unsigned int width,
unsigned int height,
242 static void BGRToGrey(
unsigned char *bgr,
unsigned char *grey,
unsigned int width,
unsigned int height,
243 bool flip =
false,
unsigned int nThreads = 0);
245 static void BGRaToGrey(
unsigned char *bgra,
unsigned char *grey,
unsigned int width,
unsigned int height,
246 bool flip =
false,
unsigned int nThreads = 0);
247 static void BGRaToRGBa(
unsigned char *bgra,
unsigned char *rgba,
unsigned int width,
unsigned int height,
250 static void YCbCrToRGB(
unsigned char *ycbcr,
unsigned char *rgb,
unsigned int size);
251 static void YCbCrToRGBa(
unsigned char *ycbcr,
unsigned char *rgb,
unsigned int size);
252 static void YCbCrToGrey(
unsigned char *ycbcr,
unsigned char *grey,
unsigned int size);
253 static void YCrCbToRGB(
unsigned char *ycrcb,
unsigned char *rgb,
unsigned int size);
254 static void YCrCbToRGBa(
unsigned char *ycrcb,
unsigned char *rgb,
unsigned int size);
255 static void MONO16ToGrey(
unsigned char *grey16,
unsigned char *grey,
unsigned int size);
256 static void MONO16ToRGBa(
unsigned char *grey16,
unsigned char *rgba,
unsigned int size);
258 static void HSVToRGBa(
const double *hue,
const double *saturation,
const double *value,
unsigned char *rgba,
260 static void HSVToRGBa(
const unsigned char *hue,
const unsigned char *saturation,
const unsigned char *value,
261 unsigned char *rgba,
unsigned int size);
262 static void RGBaToHSV(
const unsigned char *rgba,
double *hue,
double *saturation,
double *value,
unsigned int size);
263 static void RGBaToHSV(
const unsigned char *rgba,
unsigned char *hue,
unsigned char *saturation,
unsigned char *value,
266 static void HSVToRGB(
const double *hue,
const double *saturation,
const double *value,
unsigned char *rgb,
268 static void HSVToRGB(
const unsigned char *hue,
const unsigned char *saturation,
const unsigned char *value,
269 unsigned char *rgb,
unsigned int size);
270 static void RGBToHSV(
const unsigned char *rgb,
double *hue,
double *saturation,
double *value,
unsigned int size);
271 static void RGBToHSV(
const unsigned char *rgb,
unsigned char *hue,
unsigned char *saturation,
unsigned char *value,
274 static void demosaicBGGRToRGBaBilinear(
const uint8_t *bggr, uint8_t *rgba,
unsigned int width,
unsigned int height,
275 unsigned int nThreads = 0);
276 static void demosaicBGGRToRGBaBilinear(
const uint16_t *bggr, uint16_t *rgba,
unsigned int width,
unsigned int height,
277 unsigned int nThreads = 0);
279 static void demosaicGBRGToRGBaBilinear(
const uint8_t *gbrg, uint8_t *rgba,
unsigned int width,
unsigned int height,
280 unsigned int nThreads = 0);
281 static void demosaicGBRGToRGBaBilinear(
const uint16_t *gbrg, uint16_t *rgba,
unsigned int width,
unsigned int height,
282 unsigned int nThreads = 0);
284 static void demosaicGRBGToRGBaBilinear(
const uint8_t *grbg, uint8_t *rgba,
unsigned int width,
unsigned int height,
285 unsigned int nThreads = 0);
286 static void demosaicGRBGToRGBaBilinear(
const uint16_t *grbg, uint16_t *rgba,
unsigned int width,
unsigned int height,
287 unsigned int nThreads = 0);
289 static void demosaicRGGBToRGBaBilinear(
const uint8_t *rggb, uint8_t *rgba,
unsigned int width,
unsigned int height,
290 unsigned int nThreads = 0);
291 static void demosaicRGGBToRGBaBilinear(
const uint16_t *rggb, uint16_t *rgba,
unsigned int width,
unsigned int height,
292 unsigned int nThreads = 0);
294 static void demosaicBGGRToRGBaMalvar(
const uint8_t *bggr, uint8_t *rgba,
unsigned int width,
unsigned int height,
295 unsigned int nThreads = 0);
296 static void demosaicBGGRToRGBaMalvar(
const uint16_t *bggr, uint16_t *rgba,
unsigned int width,
unsigned int height,
297 unsigned int nThreads = 0);
299 static void demosaicGBRGToRGBaMalvar(
const uint8_t *gbrg, uint8_t *rgba,
unsigned int width,
unsigned int height,
300 unsigned int nThreads = 0);
301 static void demosaicGBRGToRGBaMalvar(
const uint16_t *gbrg, uint16_t *rgba,
unsigned int width,
unsigned int height,
302 unsigned int nThreads = 0);
304 static void demosaicGRBGToRGBaMalvar(
const uint8_t *grbg, uint8_t *rgba,
unsigned int width,
unsigned int height,
305 unsigned int nThreads = 0);
306 static void demosaicGRBGToRGBaMalvar(
const uint16_t *grbg, uint16_t *rgba,
unsigned int width,
unsigned int height,
307 unsigned int nThreads = 0);
309 static void demosaicRGGBToRGBaMalvar(
const uint8_t *rggb, uint8_t *rgba,
unsigned int width,
unsigned int height,
310 unsigned int nThreads = 0);
311 static void demosaicRGGBToRGBaMalvar(
const uint16_t *rggb, uint16_t *rgba,
unsigned int width,
unsigned int height,
312 unsigned int nThreads = 0);
315 static void computeYCbCrLUT();
317 static void HSV2RGB(
const double *hue,
const double *saturation,
const double *value,
unsigned char *rgba,
318 unsigned int size,
unsigned int step);
319 static void RGB2HSV(
const unsigned char *rgb,
double *hue,
double *saturation,
double *value,
unsigned int size,
323 static bool YCbCrLUTcomputed;
324 static int vpCrr[256];
325 static int vpCgb[256];
326 static int vpCgr[256];
327 static int vpCbb[256];
static void convert(const vpImage< Type > &src, vpImage< Type > &dest)
static void YUVToRGB(unsigned char y, unsigned char u, unsigned char v, unsigned char &r, unsigned char &g, unsigned char &b)
Definition of the vpImage class member functions.