ImageUtil.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX::Tools
 * @author     Jan Issac (jan dot issac at gmx dot net)
 * @date       2011
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ImageUtil.h"
 
#include <map>
#include <set>
#include <string>
 
#include "TypeMapping.h"
 
// VisionXCore
#include <VisionX/core/ImageProcessor.h>
 
// IVT
#include <Image/ByteImage.h>
#include <Image/FloatImage.h>
#include <Image/ImageProcessor.h>
 
void
visionx::tools::convertImage(const visionx::ImageFormatInfo& imageFormat,
                             const visionx::ImageType destinationImageType,
                             void* inputData,
                             void* outputData)
{
    bool succeeded = true;
 
    visionx::ImageDimension dimension = imageFormat.dimension;
    visionx::ImageType sourceType = imageFormat.type;
    visionx::ImageType destinationType = destinationImageType;
 
    /* copy images if types are identical */
    if (sourceType == destinationType)
    {
        memcpy(outputData,
               inputData,
               imageFormat.bytesPerPixel * imageFormat.dimension.width *
                   imageFormat.dimension.height);
        return;
    }
 
    /* process conversion */
    CByteImage sourceImage(
        dimension.width, dimension.height, visionx::tools::convert(sourceType), true);
    sourceImage.pixels = (unsigned char*)inputData;
 
    CByteImage destinationImage(
        dimension.width, dimension.height, visionx::tools::convert(destinationType), true);
    destinationImage.pixels = (unsigned char*)outputData;
 
    switch (sourceType)
    {
        // BayerPattern to {RGB, Gray-Scale}
        case eBayerPattern:
        {
            switch (destinationType)
            {
                case eGrayScale:
                {
                    CByteImage tempRgbImage(dimension.width, dimension.height, CByteImage::eRGB24);
                    ::ImageProcessor::ConvertBayerPattern(
                        &sourceImage, &tempRgbImage, tools::convert(imageFormat.bpType));
                    ::ImageProcessor::ConvertImage(&tempRgbImage, &destinationImage);
                    break;
                }
 
                case eRgb:
                {
                    ::ImageProcessor::ConvertBayerPattern(
                        &sourceImage, &destinationImage, tools::convert(imageFormat.bpType));
                    break;
                }
 
                //case eBayerPattern:
                //case eFloat1Channel:
                //case eFloat3Channels:
                default:
                {
                    /* Invalid conversion. This will cause an exception */
                    succeeded = false;
                    break;
                }
            };
 
            break;
        }
 
        // RGB to {Gray-Scale}
        case eRgb:
        {
            switch (destinationType)
            {
                case eGrayScale:
                {
                    ::ImageProcessor::ConvertImage(&sourceImage, &destinationImage);
                    return;
                }
 
                //case eBayerPattern:
                //case eRgb:
                //case eFloat1Channel:
                //case eFloat3Channels:
                default:
                {
                    /* Invalid conversion. This will cause an exception */
                    succeeded = false;
                    break;
                }
            };
        }
        break;
 
        // Gray-Scale to {RGB}
        case eGrayScale:
        {
            switch (destinationType)
            {
                case eRgb:
                {
                    ::ImageProcessor::ConvertImage(&sourceImage, &destinationImage);
                    return;
                }
 
                //case eBayerPattern:
                //case eGrayScale:
                // case eFloat1Channel:
                // case eFloat3Channels:
                default:
                {
                    /* Invalid conversion. This will cause an exception */
                    succeeded = false;
                    break;
                }
            };
        }
        break;
 
        // HDR BayerPattern to {}
        // case eFloat1Channel:
        // HDR RGB to {}
        //case eFloat3Channels:
        default:
        {
            /* Invalid conversion. This will cause an exception */
            succeeded = false;
            break;
        }
    }
 
    if (!succeeded)
    {
        throw visionx::exceptions::local::UnsupportedImageConversionException(
            visionx::tools::imageTypeToTypeName(sourceType),
            visionx::tools::imageTypeToTypeName(destinationType));
    }
}
 
void
visionx::tools::convertImage(const visionx::ImageProviderInfo& imageProviderInfo,
                             void* inputData,
                             void* outputData)
{
    visionx::tools::convertImage(imageProviderInfo.imageFormat,
                                 imageProviderInfo.destinationImageType,
                                 inputData,
                                 outputData);
}
 
CByteImage*
visionx::tools::createByteImage(const visionx::ImageFormatInfo& imageFormat,
                                const visionx::ImageType imageType)
{
    CByteImage::ImageType type = CByteImage::eGrayScale;
 
    switch (imageType)
    {
        case eBayerPattern:
        case eGrayScale:
            break;
 
        case eRgb:
            type = CByteImage::eRGB24;
            break;
 
        //case eFloat1Channel:
        //case eFloat3Channels:
        default:
            throw visionx::exceptions::local::InvalidByteImageTypeException(
                visionx::tools::imageTypeToTypeName(imageType));
    }
 
    return new CByteImage(imageFormat.dimension.width, imageFormat.dimension.height, type);
}
 
CByteImage*
visionx::tools::createByteImage(const ImageFormatInfo& imageFormat)
{
    return createByteImage(imageFormat, imageFormat.type);
}
 
CByteImage*
visionx::tools::createByteImage(const visionx::ImageProviderInfo& imageProviderInfo)
{
    return visionx::tools::createByteImage(imageProviderInfo.imageFormat,
                                           imageProviderInfo.destinationImageType);
}
 
CFloatImage*
visionx::tools::createFloatImage(const visionx::ImageFormatInfo& imageFormat,
                                 const visionx::ImageType imageType)
{
    int numberOfChannels = 1;
 
    switch (imageType)
    {
        case eFloat1Channel:
            // already set to 1
            break;
 
        case eFloat3Channels:
            numberOfChannels = 3;
            break;
 
        //case eBayerPattern:
        //case eGrayScale:
        //case eRgb:
        default:
            throw visionx::exceptions::local::InvalidFloatImageTypeException(
                visionx::tools::imageTypeToTypeName(imageType));
    }
 
    return new CFloatImage(
        imageFormat.dimension.width, imageFormat.dimension.height, numberOfChannels);
}
 
CFloatImage*
visionx::tools::createFloatImage(const visionx::ImageProviderInfo& imageProviderInfo)
{
    return visionx::tools::createFloatImage(imageProviderInfo.imageFormat,
                                            imageProviderInfo.destinationImageType);
}
 
visionx::MonocularCalibration
visionx::tools::createDefaultMonocularCalibration()
{
    visionx::MonocularCalibration calibration;
    calibration.cameraParam.width = 640;
    calibration.cameraParam.height = 480;
    calibration.cameraParam.focalLength.resize(2);
    calibration.cameraParam.focalLength[0] = 500;
    calibration.cameraParam.focalLength[1] = 500;
    calibration.cameraParam.principalPoint.resize(2);
    calibration.cameraParam.principalPoint[0] = calibration.cameraParam.width / 2;
    calibration.cameraParam.principalPoint[1] = calibration.cameraParam.height / 2;
    std::vector<std::vector<float>> mat(3);
    std::vector<float> rowVec(3);
    rowVec[0] = 0;
    rowVec[1] = 0;
    rowVec[2] = 0;
    calibration.cameraParam.translation = rowVec;
    mat[0] = rowVec;
    mat[1] = rowVec;
    mat[2] = rowVec;
    mat[0][0] = 1;
    mat[1][1] = 1;
    mat[2][2] = 1;
    calibration.cameraParam.rotation = mat;
    rowVec.push_back(0);
    calibration.cameraParam.distortion = rowVec;
 
    return calibration;
}