Image Class Reference

Platform independend definition of an image class. More...

#include <Image.h>

Inheritance diagram for Image:

[legend]Collaboration diagram for Image:

[legend]List of all members.

Public Member Functions
	Image ()
	constructs an image
	~Image ()
	deconstructs an 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)
	Converts an YUV image into an RGB image.
void	convertFromYCbCrToRGB (const Image &ycbcrImage)
	Converts an YCbCr image into an RGB image.
void	convertFromRGBToYUV (const Image &rgbImage)
	Converts an RGB image into an YUV image.
void	convertFromYCbCrToHSI (const Image &ycrcbImage)
	Converts an YCbCr image into an HSI image.
void	convertFromYUVToTSL (const Image &yuvImage)
	Converts an YUV image into an TSL image.
unsigned char	getHighResY (int x, int y) const
	Returns the high resolution y value of a pixel.
void	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.
Image &	operator= (const Image &other)
	Assignment operator.
void	setCameraInfo ()
	set values in CameraInfo according to image size
Static Public Member Functions
void	convertFromYCbCrToRGB (unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char &R, unsigned char &G, unsigned char &B)
	Converts an YCbCr pixel into an RGB pixel.
void	convertFromYCbCrToHSI (unsigned char Y, unsigned char Cb, unsigned char Cr, unsigned char &H, unsigned char &S, unsigned char &I)
	Converts an YCbCr pixel into an HSI pixel.
Public Attributes
unsigned char	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
CameraInfo	cameraInfo
unsigned long	frameNumber
	the frame number of that image
const ColorTable *	colorTable
	associated color table

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Detailed Description

Platform independend definition of an image class.

Definition at line 24 of file Image.h.

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Constructor & Destructor Documentation

Image::Image (   )

constructs an image Definition at line 13 of file Image.cpp. References CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

Image::~Image (   )

deconstructs an image Definition at line 27 of file Image.cpp.

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Member Function Documentation

bool Image::hasColorTable (  void   )

Definition at line 31 of file Image.cpp. References colorTable.

void Image::setColorTable (  const ColorTable *  ct  )

Definition at line 41 of file Image.cpp. References colorTable. Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), and ObstacleAvoiderOnGreenField::execute().

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

Definition at line 47 of file Image.cpp. References colorTable, and ColorTable::getColorClass(). Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), and ObstacleAvoiderOnGreenField::execute().

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char Image::getClassifiedColor (  unsigned long  index  )

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 LogPlayer::saveImages().

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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 Y. Referenced by convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYUVToRGB(), and GT2004BallSpecialist::getSimilarityToOrange().

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.

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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.

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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(), I, pi2, and Y. Referenced by convertFromYCbCrToHSI().

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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.

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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.

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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. Referenced by ColorTable64::generateHighResColorClassImage(), and ColorTable32K::generateHighResColorClassImage().

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.

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, cameraResolutionWidth_ERS210, cameraResolutionWidth_ERS7, CameraInfo::focalLength, focalLength_ERS210, focalLength_ERS7, CameraInfo::focalLengthInv, CameraInfo::focalLenPow2, CameraInfo::focalLenPow4, CameraInfo::fourthOrderRadialDistortion, fourthOrderRadialDistortion_ERS210, fourthOrderRadialDistortion_ERS7, 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< double >::x, and Vector2< double >::y. Referenced by operator>>().

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Member Data Documentation

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 GT2004EdgeSpecialist::addCandidate(), REdgeDetection::ballEdgeVote(), GT2004ImageProcessor::calcEdgeAngle(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), convertFromRGBToYUV(), convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYUVToTSL(), ColorClassImage::convertToImage(), ColorCorrector::correct(), ChallengeSpecialVision::countPixels(), REdgeDetection::crossEdgeVote(), MotionRecognition::drawDynamicDiff(), BarCodeReader::execute(), CheckerboardDetector::execute(), REdgeDetection::fastCrossEdgeVote(), REdgeDetection::fieldEdgeVote(), FastSUSANNoiseReduction::filterPixel(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), ColorTableTSL::generateTSLDialogImage(), REdgeDetection::getColor(), RasterStrategy::getColor(), RasterSpecialist::getColor(), GT2004ImageProcessor::getCoords(), CheckerboardDetector::getExactTransitionMiddle(), FastSUSANNoiseReduction::getFilteredImage(), FastSUSANNoiseReduction::getFilteredPixelSpectrum(), MotionRecognition::getPixelDiff(), CheckerboardDetector::getTransitionsOnLine(), CheckerboardDetector::getTransitionToWhite(), REdgeDetection::horizontalEdgeVote(), MotionRecognition::isDiff(), SUSANEdgeDetectionLite::isEdgePoint(), ColorCorrector::load(), AutoShutter::makeHistogram(), JPEGImage::onDestInit(), JPEGImage::onDestTerm(), operator<<(), JPEGImage::operator=(), operator>>(), LogPlayer::saveAMV(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004BeaconDetector::scanForBeaconEdges(), GT2004BeaconDetector::scanForBeaconPart(), GT2004BeaconDetector::scanForPink(), JPEGImage::toImage(), and REdgeDetection::verticalEdgeVote().

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(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), GT2004EdgeSpecialist::checkPoint(), RFieldSpecialist::checkRamp(), GT2004ImageProcessor::clusterRobots(), convertFromRGBToYUV(), convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYUVToTSL(), ColorClassImage::convertToImage(), ColorCorrector::correct(), REdgeDetection::crossEdgeVote(), BoxSpecialist::detectFreePartOfGoal(), MotionRecognition::drawDynamicDiff(), MotionRecognition::drawPixelFlow(), BarCodeReader::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), GT2004BeaconDetector::execute(), CheckerboardDetector::execute(), RBallSpecialist2::executePostProcessing(), REdgeDetection::fieldEdgeVote(), RBridgeSpecialist::findBridgeMark(), REdgeDetection::findStart(), BoxSpecialist::fusionGoal(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), ColorTableTSL::generateTSLDialogImage(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::getCenteredCoor(), REdgeDetection::getColor(), GT2004EdgeSpecialist::getEdgesPercept(), FastSUSANNoiseReduction::getFilteredImage(), CheckerboardDetector::getLineThroughPixels(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), SimpleMotionRecognition::getMotion(), MotionRecognition::getPixelDiff(), REdgeDetection::horizontalEdgeVote(), RDefaultStrategy::init(), RasterImageProcessor::init(), REdgeDetection::insideImage(), RasterImageProcessor::isValidPoint(), ColorCorrector::load(), MotionRecognition::MotionRecognition(), JPEGImage::onDestInit(), operator<<(), JPEGImage::operator=(), operator>>(), MotionRecognition::pixelInImage(), RDefaultStrategy::postScan(), RasterImageProcessor::RasterImageProcessor(), LogPlayer::saveAMV(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004ImageProcessor::scanColumns(), REdgeDetection::scanEast(), REdgeDetection::scanSouth(), BoxSpecialist::searchGoal(), SimpleMotionRecognition::SimpleMotionRecognition(), REdgeDetection::susanVote(), JPEGImage::toImage(), RBallSpecialist2::validateCircle(), and REdgeDetection::verticalEdgeVote().

unsigned long Image::frameNumber

the frame number of that image Definition at line 171 of file Image.h. Referenced by SimpleMotionRecognition::execute(), BB2004Calibrator::execute(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), FastSUSANNoiseReduction::getFilteredImage(), RasterImageProcessor::init(), ColorCorrector::load(), operator<<(), JPEGImage::operator=(), operator>>(), and JPEGImage::toImage().

const ColorTable* Image::colorTable

associated color table Definition at line 174 of file Image.h. Referenced by getClassifiedColor(), FastSUSANNoiseReduction::getFilteredImage(), hasColorTable(), and setColorTable().

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The documentation for this class was generated from the following files:

• Representations/Perception/Image.h
• Representations/Perception/Image.cpp

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