39 #ifndef _vpImageConvert_h_
40 #define _vpImageConvert_h_
45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpDebug.h>
47 #include <visp3/core/vpImage.h>
49 #include <visp3/core/vpRGBa.h>
51 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
52 #include <opencv2/imgproc/imgproc.hpp>
53 #include <opencv2/imgproc/types_c.h>
57 #include <yarp/sig/Image.h>
67 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_THREADS)
68 #include <visp3/core/vpColVector.h>
69 #include <visp3/core/vpImageException.h>
70 #include <visp3/core/vpPixelMeterConversion.h>
72 #include <pcl/pcl_config.h>
73 #include <pcl/point_types.h>
74 #include <pcl/point_cloud.h>
120 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
121 static void convert(
const cv::Mat &src,
vpImage<vpRGBa> &dest,
bool flip =
false);
122 static void convert(
const cv::Mat &src,
vpImage<unsigned char> &dest,
bool flip =
false,
unsigned int nThreads = 0);
123 static void convert(
const cv::Mat &src,
vpImage<float> &dest,
bool flip =
false);
124 static void convert(
const cv::Mat &src,
vpImage<double> &dest,
bool flip =
false);
125 static void convert(
const cv::Mat &src,
vpImage<vpRGBf> &dest,
bool flip =
false);
126 static void convert(
const cv::Mat &src,
vpImage<uint16_t> &dest,
bool flip =
false);
129 static void convert(
const vpImage<float> &src, cv::Mat &dest,
bool copyData =
true);
130 static void convert(
const vpImage<double> &src, cv::Mat &dest,
bool copyData =
true);
134 #ifdef VISP_HAVE_YARP
136 bool copyData =
true);
138 bool copyData =
true);
140 static void convert(
const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgba> *dest,
bool copyData =
true);
141 static void convert(
const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src,
vpImage<vpRGBa> &dest,
bool copyData =
true);
143 static void convert(
const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgb> *dest);
144 static void convert(
const yarp::sig::ImageOf<yarp::sig::PixelRgb> *src,
vpImage<vpRGBa> &dest);
147 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_THREADS)
150 pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud,
151 std::mutex *pointcloud_mutex =
nullptr,
155 pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud,
156 std::mutex *pointcloud_mutex =
nullptr,
180 static inline void YUVToRGB(
unsigned char y,
unsigned char u,
unsigned char v,
unsigned char &r,
unsigned char &g,
184 dr = floor(0.9999695 * y - 0.0009508 * (u - 128) + 1.1359061 * (v - 128));
185 dg = floor(0.9999695 * y - 0.3959609 * (u - 128) - 0.5782955 * (v - 128));
186 db = floor(0.9999695 * y + 2.04112 * (u - 128) - 0.0016314 * (v - 128));
188 dr = dr < 0. ? 0. : dr;
189 dg = dg < 0. ? 0. : dg;
190 db = db < 0. ? 0. : db;
191 dr = dr > 255. ? 255. : dr;
192 dg = dg > 255. ? 255. : dg;
193 db = db > 255. ? 255. : db;
195 r = (
unsigned char)dr;
196 g = (
unsigned char)dg;
197 b = (
unsigned char)db;
199 static void YUYVToRGBa(
unsigned char *yuyv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
200 static void YUYVToRGB(
unsigned char *yuyv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
201 static void YUYVToGrey(
unsigned char *yuyv,
unsigned char *grey,
unsigned int size);
202 static void YUV411ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int size);
203 static void YUV411ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int size);
204 static void YUV411ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
205 static void YUV422ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int size);
206 static void YUV422ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int size);
207 static void YUV422ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
208 static void YUV420ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
209 static void YUV420ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
210 static void YUV420ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
212 static void YUV444ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int size);
213 static void YUV444ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int size);
214 static void YUV444ToGrey(
unsigned char *yuv,
unsigned char *grey,
unsigned int size);
216 static void YV12ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
217 static void YV12ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
218 static void YVU9ToRGBa(
unsigned char *yuv,
unsigned char *rgba,
unsigned int width,
unsigned int height);
219 static void YVU9ToRGB(
unsigned char *yuv,
unsigned char *rgb,
unsigned int width,
unsigned int height);
220 static void RGBToRGBa(
unsigned char *rgb,
unsigned char *rgba,
unsigned int size);
221 static void RGBaToRGB(
unsigned char *rgba,
unsigned char *rgb,
unsigned int size);
223 static void RGBToGrey(
unsigned char *rgb,
unsigned char *grey,
unsigned int width,
unsigned int height,
225 static void RGBToGrey(
unsigned char *rgb,
unsigned char *grey,
unsigned int size);
226 static void RGBaToGrey(
unsigned char *rgba,
unsigned char *grey,
unsigned int width,
unsigned int height,
227 unsigned int nThreads = 0);
228 static void RGBaToGrey(
unsigned char *rgba,
unsigned char *grey,
unsigned int size);
230 static void RGBToRGBa(
unsigned char *rgb,
unsigned char *rgba,
unsigned int width,
unsigned int height,
233 static void GreyToRGBa(
unsigned char *grey,
unsigned char *rgba,
unsigned int width,
unsigned int height);
234 static void GreyToRGBa(
unsigned char *grey,
unsigned char *rgba,
unsigned int size);
235 static void GreyToRGB(
unsigned char *grey,
unsigned char *rgb,
unsigned int size);
237 static void BGRToRGBa(
unsigned char *bgr,
unsigned char *rgba,
unsigned int width,
unsigned int height,
240 static void BGRToGrey(
unsigned char *bgr,
unsigned char *grey,
unsigned int width,
unsigned int height,
241 bool flip =
false,
unsigned int nThreads = 0);
243 static void BGRaToGrey(
unsigned char *bgra,
unsigned char *grey,
unsigned int width,
unsigned int height,
244 bool flip =
false,
unsigned int nThreads = 0);
245 static void BGRaToRGBa(
unsigned char *bgra,
unsigned char *rgba,
unsigned int width,
unsigned int height,
248 static void YCbCrToRGB(
unsigned char *ycbcr,
unsigned char *rgb,
unsigned int size);
249 static void YCbCrToRGBa(
unsigned char *ycbcr,
unsigned char *rgb,
unsigned int size);
250 static void YCbCrToGrey(
unsigned char *ycbcr,
unsigned char *grey,
unsigned int size);
251 static void YCrCbToRGB(
unsigned char *ycrcb,
unsigned char *rgb,
unsigned int size);
252 static void YCrCbToRGBa(
unsigned char *ycrcb,
unsigned char *rgb,
unsigned int size);
253 static void MONO16ToGrey(
unsigned char *grey16,
unsigned char *grey,
unsigned int size);
254 static void MONO16ToRGBa(
unsigned char *grey16,
unsigned char *rgba,
unsigned int size);
256 static void HSVToRGBa(
const double *hue,
const double *saturation,
const double *value,
unsigned char *rgba,
258 static void HSVToRGBa(
const unsigned char *hue,
const unsigned char *saturation,
const unsigned char *value,
259 unsigned char *rgba,
unsigned int size,
bool h_full =
true);
260 static void RGBaToHSV(
const unsigned char *rgba,
double *hue,
double *saturation,
double *value,
unsigned int size);
261 static void RGBaToHSV(
const unsigned char *rgba,
unsigned char *hue,
unsigned char *saturation,
unsigned char *value,
262 unsigned int size,
bool h_full =
true);
264 static void HSVToRGB(
const double *hue,
const double *saturation,
const double *value,
unsigned char *rgb,
266 static void HSVToRGB(
const unsigned char *hue,
const unsigned char *saturation,
const unsigned char *value,
267 unsigned char *rgb,
unsigned int size,
bool h_full =
true);
268 static void RGBToHSV(
const unsigned char *rgb,
double *hue,
double *saturation,
double *value,
unsigned int size);
269 static void RGBToHSV(
const unsigned char *rgb,
unsigned char *hue,
unsigned char *saturation,
unsigned char *value,
270 unsigned int size,
bool h_full =
true);
272 static void demosaicBGGRToRGBaBilinear(
const uint8_t *bggr, uint8_t *rgba,
unsigned int width,
unsigned int height,
273 unsigned int nThreads = 0);
274 static void demosaicBGGRToRGBaBilinear(
const uint16_t *bggr, uint16_t *rgba,
unsigned int width,
unsigned int height,
275 unsigned int nThreads = 0);
277 static void demosaicGBRGToRGBaBilinear(
const uint8_t *gbrg, uint8_t *rgba,
unsigned int width,
unsigned int height,
278 unsigned int nThreads = 0);
279 static void demosaicGBRGToRGBaBilinear(
const uint16_t *gbrg, uint16_t *rgba,
unsigned int width,
unsigned int height,
280 unsigned int nThreads = 0);
282 static void demosaicGRBGToRGBaBilinear(
const uint8_t *grbg, uint8_t *rgba,
unsigned int width,
unsigned int height,
283 unsigned int nThreads = 0);
284 static void demosaicGRBGToRGBaBilinear(
const uint16_t *grbg, uint16_t *rgba,
unsigned int width,
unsigned int height,
285 unsigned int nThreads = 0);
287 static void demosaicRGGBToRGBaBilinear(
const uint8_t *rggb, uint8_t *rgba,
unsigned int width,
unsigned int height,
288 unsigned int nThreads = 0);
289 static void demosaicRGGBToRGBaBilinear(
const uint16_t *rggb, uint16_t *rgba,
unsigned int width,
unsigned int height,
290 unsigned int nThreads = 0);
292 static void demosaicBGGRToRGBaMalvar(
const uint8_t *bggr, uint8_t *rgba,
unsigned int width,
unsigned int height,
293 unsigned int nThreads = 0);
294 static void demosaicBGGRToRGBaMalvar(
const uint16_t *bggr, uint16_t *rgba,
unsigned int width,
unsigned int height,
295 unsigned int nThreads = 0);
297 static void demosaicGBRGToRGBaMalvar(
const uint8_t *gbrg, uint8_t *rgba,
unsigned int width,
unsigned int height,
298 unsigned int nThreads = 0);
299 static void demosaicGBRGToRGBaMalvar(
const uint16_t *gbrg, uint16_t *rgba,
unsigned int width,
unsigned int height,
300 unsigned int nThreads = 0);
302 static void demosaicGRBGToRGBaMalvar(
const uint8_t *grbg, uint8_t *rgba,
unsigned int width,
unsigned int height,
303 unsigned int nThreads = 0);
304 static void demosaicGRBGToRGBaMalvar(
const uint16_t *grbg, uint16_t *rgba,
unsigned int width,
unsigned int height,
305 unsigned int nThreads = 0);
307 static void demosaicRGGBToRGBaMalvar(
const uint8_t *rggb, uint8_t *rgba,
unsigned int width,
unsigned int height,
308 unsigned int nThreads = 0);
309 static void demosaicRGGBToRGBaMalvar(
const uint16_t *rggb, uint16_t *rgba,
unsigned int width,
unsigned int height,
310 unsigned int nThreads = 0);
313 static void computeYCbCrLUT();
315 static void HSV2RGB(
const double *hue,
const double *saturation,
const double *value,
unsigned char *rgba,
316 unsigned int size,
unsigned int step);
317 static void HSV2RGB(
const unsigned char *hue,
const unsigned char *saturation,
const unsigned char *value,
unsigned char *rgba,
318 unsigned int size,
unsigned int step,
bool h_full);
319 static void RGB2HSV(
const unsigned char *rgb,
double *hue,
double *saturation,
double *value,
unsigned int size,
321 static void RGB2HSV(
const unsigned char *rgb,
unsigned char *hue,
unsigned char *saturation,
unsigned char *value,
322 unsigned int size,
unsigned int step,
bool h_full);
325 static bool YCbCrLUTcomputed;
326 static int vpCrr[256];
327 static int vpCgb[256];
328 static int vpCgr[256];
329 static int vpCbb[256];
Generic class defining intrinsic camera parameters.
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.