Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpImageMorphology.h
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30  *
31  * Description:
32  * Morphology tools.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpImageMorphology_H
40 #define vpImageMorphology_H
41 
47 #include <visp3/core/vpImage.h>
48 #include <visp3/core/vpImageException.h>
49 #include <visp3/core/vpMatrix.h>
50 
51 #include <fstream>
52 #include <iostream>
53 #include <math.h>
54 #include <string.h>
55 
67 class VISP_EXPORT vpImageMorphology
68 {
69 public:
73  typedef enum {
74  CONNEXITY_4,
76  CONNEXITY_8
80 
81 public:
82  template <class Type>
83  static void erosion(vpImage<Type> &I, Type value, Type value_out, vpConnexityType connexity = CONNEXITY_4);
84 
85  template <class Type>
86  static void dilatation(vpImage<Type> &I, Type value, Type value_out, vpConnexityType connexity = CONNEXITY_4);
87 
88  static void erosion(vpImage<unsigned char> &I, const vpConnexityType &connexity = CONNEXITY_4);
89  static void dilatation(vpImage<unsigned char> &I, const vpConnexityType &connexity = CONNEXITY_4);
90 };
91 
109 template <class Type>
110 void vpImageMorphology::erosion(vpImage<Type> &I, Type value, Type value_out, vpConnexityType connexity)
111 {
112  if (I.getSize() == 0) {
113  std::cerr << "Input image is empty!" << std::endl;
114  return;
115  }
116 
117  vpImage<Type> J(I.getHeight() + 2, I.getWidth() + 2);
118  // Copy I to J and add border
119  for (unsigned int i = 0; i < J.getHeight(); i++) {
120  if (i == 0 || i == J.getHeight() - 1) {
121  for (unsigned int j = 0; j < J.getWidth(); j++) {
122  J[i][j] = value;
123  }
124  } else {
125  J[i][0] = value;
126  memcpy(J[i] + 1, I[i - 1], sizeof(unsigned char) * I.getWidth());
127  J[i][J.getWidth() - 1] = value;
128  }
129  }
130 
131  if (connexity == CONNEXITY_4) {
132  for (unsigned int i = 0; i < I.getHeight(); i++) {
133  for (unsigned int j = 0; j < I.getWidth(); j++) {
134  if (J[i + 1][j + 1] == value) {
135  // Consider 4 neighbors
136  if ((J[i][j + 1] == value_out) || // Top
137  (J[i + 2][j + 1] == value_out) || // Bottom
138  (J[i + 1][j] == value_out) || // Left
139  (J[i + 1][j + 2] == value_out)) { // Right
140  I[i][j] = value_out;
141  }
142  }
143  }
144  }
145  } else {
146  for (unsigned int i = 0; i < I.getHeight(); i++) {
147  for (unsigned int j = 0; j < I.getWidth(); j++) {
148  if (J[i + 1][j + 1] == value) {
149  // Consider 8 neighbors
150  if ((J[i][j] == value_out) || (J[i][j + 1] == value_out) || (J[i][j + 2] == value_out) ||
151  (J[i + 1][j] == value_out) || (J[i + 1][j + 2] == value_out) || (J[i + 2][j] == value_out) ||
152  (J[i + 2][j + 1] == value_out) || (J[i + 2][j + 2] == value_out))
153  I[i][j] = value_out;
154  }
155  }
156  }
157  }
158 }
159 
177 template <class Type>
178 void vpImageMorphology::dilatation(vpImage<Type> &I, Type value, Type value_out, vpConnexityType connexity)
179 {
180  if (I.getSize() == 0) {
181  std::cerr << "Input image is empty!" << std::endl;
182  return;
183  }
184 
185  vpImage<Type> J(I.getHeight() + 2, I.getWidth() + 2);
186  // Copy I to J and add border
187  for (unsigned int i = 0; i < J.getHeight(); i++) {
188  if (i == 0 || i == J.getHeight() - 1) {
189  for (unsigned int j = 0; j < J.getWidth(); j++) {
190  J[i][j] = value_out;
191  }
192  } else {
193  J[i][0] = value_out;
194  memcpy(J[i] + 1, I[i - 1], sizeof(unsigned char) * I.getWidth());
195  J[i][J.getWidth() - 1] = value_out;
196  }
197  }
198 
199  if (connexity == CONNEXITY_4) {
200  for (unsigned int i = 0; i < I.getHeight(); i++) {
201  for (unsigned int j = 0; j < I.getWidth(); j++) {
202  if (J[i + 1][j + 1] == value_out) {
203  // Consider 4 neighbors
204  if ((J[i][j + 1] == value) || // Top
205  (J[i + 2][j + 1] == value) || // Bottom
206  (J[i + 1][j] == value) || // Left
207  (J[i + 1][j + 2] == value)) { // Right
208  I[i][j] = value;
209  }
210  }
211  }
212  }
213  } else {
214  for (unsigned int i = 0; i < I.getHeight(); i++) {
215  for (unsigned int j = 0; j < I.getWidth(); j++) {
216  if (J[i + 1][j + 1] == value_out) {
217  // Consider 8 neighbors
218  if ((J[i][j] == value) || (J[i][j + 1] == value) || (J[i][j + 2] == value) || (J[i + 1][j] == value) ||
219  (J[i + 1][j + 2] == value) || (J[i + 2][j] == value) || (J[i + 2][j + 1] == value) ||
220  (J[i + 2][j + 2] == value)) {
221  I[i][j] = value;
222  }
223  }
224  }
225  }
226  }
227 }
228 #endif
229 
230 /*
231  * Local variables:
232  * c-basic-offset: 2
233  * End:
234  */
Various mathematical morphology tools, erosion, dilatation...
static void dilatation(vpImage< Type > &I, Type value, Type value_out, vpConnexityType connexity=CONNEXITY_4)
static void erosion(vpImage< Type > &I, Type value, Type value_out, vpConnexityType connexity=CONNEXITY_4)
unsigned int getHeight() const
Definition: vpImage.h:188
unsigned int getSize() const
Definition: vpImage.h:227
unsigned int getWidth() const
Definition: vpImage.h:246
Definition of the vpImage class member functions.
Definition: vpImage.h:126