GT2004: Modules/ImageProcessor/GT2004ImageProcessor/GT2004ImageProcessorTools.h Source File

00001 /**
00002 * @file GT2004ImageProcessorTools.h
00003 *
00004 * Tools and Definitons for GT2004ImageProcessor
00005 *
00006 * @author Max Risler
00007 * @author <a href="mailto:timlaue@tzi.de">Tim Laue</a>
00008 */
00009 
00010 #ifndef __GT2004ImageProcessorTools_h_
00011 #define __GT2004ImageProcessorTools_h_
00012 
00013 // Uncomment to use it with ColorTable32K
00014 //~ #define CT32K_LAYOUT
00015 #include "Modules/ImageProcessor/ImageProcessorTools/ImageProcessorUtilityClasses.h"
00016 
00017 #ifdef CT32K_LAYOUT
00018 #include "Representations/Perception/ColorTable32K.h"
00019 #else
00020 #include "Representations/Perception/ColorTable64.h"
00021 #endif
00022 #include "Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h"
00023 #include "Tools/Math/Vector2.h"
00024 #include "Tools/Math/Geometry.h"
00025 
00026 #ifdef CT32K_LAYOUT
00027 #define COLOR_CLASS(y,u,v) (colorClass)((ColorTable32K&) colorTable).colorClassesUnpacked[((y>>4)<<12)|((v>>2)<<6)|(u>>2)]
00028 #define C(px, py, layer, value) colorCorrector.correct(px,py, layer, value)
00029 #define CORRECTED_COLOR_CLASS(px,py,y,u,v) COLOR_CLASS(C(px, py, 0, y),C(px, py, 1, u),C(px, py, 2, v))
00030 #else
00031 // This is a hack to speed up color table access. It obviously only works with ColorTable64
00032 #define COLOR_CLASS(y,u,v) (colorClass)((ColorTable64&) colorTable).colorClasses[(y) >> 2][(u) >> 2][(v) >> 2]
00033 #define CORRECTED_COLOR_CLASS(px,py,y,u,v) (colorClass)((ColorTable64&) colorTable).colorClasses[colorCorrector.correct(px,py, 0, (y)) >> 2][colorCorrector.correct(px,py, 1, (u)) >> 2][colorCorrector.correct(px,py, 2, (v)) >> 2]
00034 #endif
00035 
00036 #endif // __GT2004ImageProcessorTools_h_
00037 
00038 /*
00039 * $Log: GT2004ImageProcessorTools.h,v $
00040 * Revision 1.3  2004/09/08 14:39:02  wachter
00041 * - Fixed some doxygen-errors
00042 *
00043 * Revision 1.2  2004/07/02 10:11:47  nistico
00044 * Cloned main image processor and created
00045 * SpecialLandmarks specialist for SLAM challenge
00046 *
00047 * Revision 1.1.1.1  2004/05/22 17:19:46  cvsadm
00048 * created new repository GT2004_WM
00049 *
00050 * Revision 1.2  2004/05/06 16:03:56  nistico
00051 * Supports ColorTable32K through CT32K_LAYOUT switch located into
00052 * GT2004ImageProcessorTools.h
00053 *
00054 * Revision 1.1  2004/05/04 13:40:20  tim
00055 * added GT2004ImageProcessor
00056 *
00057 */