Image Class Reference

#include <Image.h>

Inheritance diagram for Image:

JPEGImage List of all members.

Public Member Functions

 Image ()
 ~Image ()
bool hasColorTable (void)
void setColorTable (const ColorTable *ct)
char getClassifiedColor (int x, int y)
char getClassifiedColor (unsigned long index)
void convertFromYUVToRGB (const Image &yuvImage)
void convertFromYCbCrToRGB (const Image &ycbcrImage)
void convertFromRGBToYUV (const Image &rgbImage)
void convertFromYCbCrToHSI (const Image &ycrcbImage)
void convertFromYUVToTSL (const Image &yuvImage)
unsigned char getHighResY (int x, int y) const
void setHighResY (int x, int y, unsigned char tl, unsigned char bl, unsigned char tr, unsigned char br)
Imageoperator= (const Image &other)
void setCameraInfo ()

Static Public Member Functions

static void convertFromYCbCrToRGB (unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char &R, unsigned char &G, unsigned char &B)
static void convertFromYCbCrToHSI (unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char &H, unsigned char &S, unsigned char &I)

Public Attributes

unsigned char image [cameraResolutionHeight_ERS7][6][cameraResolutionWidth_ERS7]
CameraInfo cameraInfo
unsigned long frameNumber
const ColorTablecolorTable

Detailed Description

Platform independend definition of an image class

Definition at line 24 of file Image.h.


Constructor & Destructor Documentation

Image::Image (  ) 

constructs an image

Definition at line 13 of file Image.cpp.

References cameraInfo, image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

Image::~Image (  ) 

deconstructs an image

Definition at line 27 of file Image.cpp.


Member Function Documentation

void Image::convertFromRGBToYUV ( const Image rgbImage  ) 

Converts an RGB image into an YUV image.

Parameters:
rgbImage The given RGB image

Definition at line 95 of file Image.cpp.

References cameraInfo, image, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, U, V, and Y.

void Image::convertFromYCbCrToHSI ( const Image ycrcbImage  ) 

Converts an YCbCr image into an HSI image.

Parameters:
ycrcbImage The given Ycrcb image

Definition at line 133 of file Image.cpp.

References cameraInfo, convertFromYCbCrToHSI(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

static void Image::convertFromYCbCrToHSI ( unsigned char  Y,
unsigned char  Cb,
unsigned char  Cr,
unsigned char &  H,
unsigned char &  S,
unsigned char &  I 
) [inline, static]

Converts an YCbCr pixel into an HSI pixel.

Parameters:
Y The Y channel of the source pixel.
Cb The Cb channel of the source pixel.
Cr The Cr channel of the source pixel.
H The H channel of the target pixel.
S The S channel of the target pixel.
I The I channel of the target pixel.

Definition at line 88 of file Image.h.

References convertFromYCbCrToRGB(), int(), and pi2.

Referenced by convertFromYCbCrToHSI(), HSIColorTableToolCore::createColorTable64FromHSIColorTable(), OpenGLMethods::paintImagePixelsToOpenGLList(), and HSIColorTableToolCore::setImageToPlace().

void Image::convertFromYCbCrToRGB ( const Image ycbcrImage  ) 

Converts an YCbCr image into an RGB image.

Parameters:
ycbcrImage The given YCbCr image

Definition at line 82 of file Image.cpp.

References cameraInfo, convertFromYCbCrToRGB(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

static void Image::convertFromYCbCrToRGB ( unsigned char  Y,
unsigned char  Cb,
unsigned char  Cr,
unsigned char &  R,
unsigned char &  G,
unsigned char &  B 
) [inline, static]

Converts an YCbCr pixel into an RGB pixel.

Parameters:
Y The Y channel of the source pixel.
Cb The Cb channel of the source pixel.
Cr The Cr channel of the source pixel.
R The R channel of the target pixel.
G The G channel of the target pixel.
B The B channel of the target pixel.

Definition at line 52 of file Image.h.

References b, and int().

Referenced by convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYUVToRGB(), PanoramaModel::drawTransition(), PanoramaImageProcessor::drawTransition(), SignatureGenerator::drawTransition(), and GT2004BallSpecialist::getSimilarityToOrange().

void Image::convertFromYUVToRGB ( const Image yuvImage  ) 

Converts an YUV image into an RGB image.

Parameters:
yuvImage The given YUV image

Definition at line 54 of file Image.cpp.

References convertFromYCbCrToRGB().

Referenced by OpenGLMethods::paintImagePixelsToOpenGLList(), PaintMethodsWin32::paintImageProjectionOnGroundToCDC(), OpenGLMethods::paintRotatedImageToOpenGLList(), and LogPlayer::saveImages().

void Image::convertFromYUVToTSL ( const Image yuvImage  ) 

Converts an YUV image into an TSL image.

Parameters:
yuvImage The given YUV image

Definition at line 146 of file Image.cpp.

References cameraInfo, image, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, U, V, and Y.

Referenced by OpenGLMethods::paintImagePixelsToOpenGLList().

char Image::getClassifiedColor ( unsigned long  index  ) 

char Image::getClassifiedColor ( int  x,
int  y 
)

Definition at line 47 of file Image.cpp.

References colorTable, ColorTable::getColorClass(), and image.

Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), and ObstacleAvoiderOnGreenField::execute().

unsigned char Image::getHighResY ( int  x,
int  y 
) const

Returns the high resolution y value of a pixel

Parameters:
x The x coord. of the pixel in high resolution
y The y coord. of the pixel in high resolution
Returns:
The y value of the pixel

Definition at line 216 of file Image.cpp.

References image, and int().

Referenced by CColorTable64DlgBar::removeColorClassFromImage(), and CColorTable64DlgBar::smoothImage().

bool Image::hasColorTable ( void   ) 

Definition at line 31 of file Image.cpp.

References colorTable.

Image& Image::operator= ( const Image other  )  [inline]

Assignment operator

Parameters:
other The other Image that is assigned to this one
Returns:
A reference to this object after the assignment.

Reimplemented in JPEGImage.

Definition at line 154 of file Image.h.

void Image::setCameraInfo (  ) 

set values in CameraInfo according to image size

Definition at line 268 of file Image.cpp.

References ASSERT, cameraInfo, cameraResolutionWidth_ERS210, cameraResolutionWidth_ERS7, CameraInfo::focalLength, focalLength_ERS210, focalLength_ERS7, CameraInfo::focalLengthInv, CameraInfo::focalLenPow2, CameraInfo::focalLenPow4, CameraInfo::fourthOrderRadialDistortion, fourthOrderRadialDistortion_ERS210, fourthOrderRadialDistortion_ERS7, frameNumber, CameraInfo::openingAngleHeight, openingAngleHeight_ERS210, openingAngleHeight_ERS7, CameraInfo::openingAngleWidth, openingAngleWidth_ERS210, openingAngleWidth_ERS7, CameraInfo::opticalCenter, opticalCenterX_ERS210, opticalCenterX_ERS7, opticalCenterY_ERS210, opticalCenterY_ERS7, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, CameraInfo::secondOrderRadialDistortion, secondOrderRadialDistortion_ERS210, secondOrderRadialDistortion_ERS7, CameraInfo::simulated, Vector2< V >::x, and Vector2< V >::y.

Referenced by operator>>().

void Image::setColorTable ( const ColorTable ct  ) 

Definition at line 41 of file Image.cpp.

References colorTable.

Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), and ObstacleAvoiderOnGreenField::execute().

void Image::setHighResY ( int  x,
int  y,
unsigned char  tl,
unsigned char  bl,
unsigned char  tr,
unsigned char  br 
)

Sets the high resolution y values for one pixel in low resolution

Parameters:
x The x coord. of the pixel
y The y coord. of the pixel
tl The y value of the top left subpixel
bl The y value of the bottom left subpixel
tr The y value of the top right subpixel
br The y value of the bottom right subpixel

Definition at line 246 of file Image.cpp.

References image, and int().


Member Data Documentation

CameraInfo Image::cameraInfo

Definition at line 168 of file Image.h.

Referenced by RBallSpecialist2::addBallPercept(), RasterImageProcessor::addFieldPoint(), RasterImageProcessor::addFlag(), RasterImageProcessor::addObstaclePoints(), REdgeDetection::ballEdgeVote(), GT2004ImageProcessor::calcEdgeAngle(), REnemySpecialist::calculateFarestPoint(), REnemySpecialist::calculateFarestPointCOG(), REnemySpecialist::calculateFarestPointFastCOG(), REnemySpecialist::calculatePointOnFieldFromSegment(), GoalRecognizer::calculateScanLinesParallelToHorizon(), GT2004GoalRecognizer::calculateScanLinesParallelToHorizon(), GoalRecognizer::calculateVerticalGoalScanLines(), GT2004GoalRecognizer::calculateVerticalGoalScanLines(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), RFieldSpecialist::checkRamp(), EMGaussianMixture::clusterImage(), GT2004ImageProcessor::clusterRobots(), convertFromRGBToYUV(), convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYUVToTSL(), AnisotropicImage::copyFromImage(), AnisotropicImage::copyToImage(), REdgeDetection::crossEdgeVote(), BoxSpecialist::detectFreePartOfGoal(), HSIColorTableToolCore::doImageSegmentation(), ImageView::draw(), MotionRecognition::drawDynamicDiff(), MotionRecognition::drawPixelFlow(), VariableLighting::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), GT2004GoalRecognizer::execute(), CheckerboardDetector::execute(), RBallSpecialist2::executePostProcessing(), REdgeDetection::fieldEdgeVote(), RBridgeSpecialist::findBridgeMark(), REdgeDetection::findStart(), FastPanoramaProcessor::framePrepare(), BoxSpecialist::fusionGoal(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::getCenteredCoor(), REdgeDetection::getColor(), CRobotControlDialogBar::getDebugImageCameraInfo(), FastSUSANNoiseReduction::getFilteredImage(), GoalRecognizer::getGoalPercept(), CheckerboardDetector::getLineThroughPixels(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), SimpleMotionRecognition::getMotion(), MotionRecognition::getPixelDiff(), CColorTable64DlgBar::handleMessage(), CColorSpaceDlgBar::handleMessage(), REdgeDetection::horizontalEdgeVote(), Image(), RDefaultStrategy::init(), RasterImageProcessor::init(), PanoramaImageProcessor::initialize(), REdgeDetection::insideImage(), RasterImageProcessor::isValidPoint(), MotionRecognition::MotionRecognition(), CColorTable64DlgBar::OnHighRes(), CColorSpaceDlgBar::OnHScroll(), CColorTable64DlgBar::OnInitDialog(), CColorTable64DlgBar::OnLButtonDown(), CColorTable64DlgBar::OnMouseMove(), CColorTable64DlgBar::OnPaint(), CColorTable64DlgBar::OnRButtonDown(), CColorTable64DlgBar::OnRecordClick(), CColorTable64DlgBar::OnRecordNewImage(), operator<<(), JPEGImage::operator=(), operator>>(), CColorSpaceDlgBar::paintBoundingCube(), MotionRecognition::pixelInImage(), RDefaultStrategy::postScan(), ScanningGrid::prepareHorizontalScanline(), ScanningGrid::prepareImageInfo(), RasterImageProcessor::RasterImageProcessor(), CColorTable64DlgBar::removeColorClassFromImage(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004ImageProcessor::scanColumns(), REdgeDetection::scanEast(), GoalRecognizer::scanHorizontalForGoals(), GT2004GoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanLinesForGoals(), GT2004GoalRecognizer::scanLinesForGoals(), REdgeDetection::scanSouth(), BoxSpecialist::searchGoal(), setCameraInfo(), SimpleMotionRecognition::SimpleMotionRecognition(), CColorTable64DlgBar::smoothImage(), REdgeDetection::susanVote(), JPEGImage::toImage(), RBallSpecialist2::validateCircle(), REdgeDetection::verticalEdgeVote(), and EMGaussianMixture::visualizeClusters().

const ColorTable* Image::colorTable

associated color table

Definition at line 174 of file Image.h.

Referenced by getClassifiedColor(), FastSUSANNoiseReduction::getFilteredImage(), hasColorTable(), and setColorTable().

unsigned long Image::frameNumber

the frame number of that image

Definition at line 171 of file Image.h.

Referenced by VariableLighting::execute(), BB2004Calibrator::execute(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), FastPanoramaProcessor::framePrepare(), FastSUSANNoiseReduction::getFilteredImage(), RasterImageProcessor::init(), PanoramaImageProcessor::initialize(), operator<<(), JPEGImage::operator=(), operator>>(), setCameraInfo(), and JPEGImage::toImage().

unsigned char Image::image[cameraResolutionHeight_ERS7][6][cameraResolutionWidth_ERS7]

representation for an image height color width point of origin is the upper left corner, height is positive downwards and width positive to the right the color values are in the order Y,U,V

Definition at line 166 of file Image.h.

Referenced by PanoramaImageProcessor::applyImageFilters(), REdgeDetection::ballEdgeVote(), GT2004ImageProcessor::calcEdgeAngle(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), EMGaussianMixture::clusterImage(), convertFromRGBToYUV(), convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYUVToTSL(), AnisotropicImage::copyFromImage(), AnisotropicImage::copyToImage(), ChallengeSpecialVision::countPixels(), REdgeDetection::crossEdgeVote(), HSIColorTableToolCore::doImageSegmentation(), MotionRecognition::drawDynamicDiff(), HSIColorTableToolZoomDlg::editHSIColorRange(), VariableLighting::execute(), BarCodeReader::execute(), SignatureGenerator::execute(), HorizonEstimator::execute(), CheckerboardDetector::execute(), REdgeDetection::fastCrossEdgeVote(), REdgeDetection::fieldEdgeVote(), FastSUSANNoiseReduction::filterPixel(), ColorSpaceUsageCounter::generateImage(), CTSLColorTableToolDlgBar::generateNoiseImage(), getClassifiedColor(), REdgeDetection::getColor(), RasterStrategy::getColor(), RasterSpecialist::getColor(), GT2004ImageProcessor::getCoords(), CheckerboardDetector::getExactTransitionMiddle(), FastSUSANNoiseReduction::getFilteredImage(), getHighResY(), MotionRecognition::getPixelDiff(), CheckerboardDetector::getTransitionsOnLine(), CheckerboardDetector::getTransitionToWhite(), REdgeDetection::horizontalEdgeVote(), Image(), MotionRecognition::isDiff(), JPEGImage::JPEGImage(), AutoShutter::makeHistogram(), JPEGImage::onDestInit(), JPEGImage::onDestTerm(), CColorTable64DlgBar::OnPaint(), CColorTable64DlgBar::OnRecordClick(), CColorTable64DlgBar::OnRecordFloodfill(), CColorTable64DlgBar::OnRecordInitImages(), CColorTable64DlgBar::OnRecordNewImage(), CColorTable64DlgBar::OnRecordSeedPixel(), CTSLColorTableToolDlgBar::OnTSLColorTableToolSaveYUV(), operator<<(), JPEGImage::operator=(), operator>>(), OpenGLMethods::paintImagePixelsToOpenGLList(), PaintMethodsWin32::paintImageProjectionOnGroundToCDC(), OpenGLMethods::paintRotatedImageToOpenGLList(), CColorTable64DlgBar::removeColorClassFromImage(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004BeaconDetector::scanForBeaconEdges(), GT2004BeaconDetector::scanForBeaconPart(), GT2004BeaconDetector::scanForPink(), GoalRecognizer::scanHorizontalForGoals(), GT2004GoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanLinesForGoals(), GT2004GoalRecognizer::scanLinesForGoals(), SignatureGenerator::scanPixel(), HorizonEstimator::scanPixel(), ColorClustering::scanPixel(), SignatureGenerator::scanPixelDetail(), setHighResY(), ColorCollection::showCollectedColors(), CColorTable64DlgBar::smoothImage(), JPEGImage::toImage(), REdgeDetection::verticalEdgeVote(), EMGaussianMixture::visualizeClusters(), PanoramaModel::visualizeLikelihoods(), and GlobalAlignment::visualizeMatch().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:37:48 2006 for DT2005.panorama by  doxygen 1.4.7