Representations/Perception/ColorClassImage.cpp

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/**
* @file ColorClassImage.cpp
*
* Implementation of class ColorClassImage
*
* @author Martin Lötzsch
*/

#include "ColorClassImage.h"
#include <string.h>


ColorClassImage::ColorClassImage() : height(144), width(176)
{
  memset(image,0,sizeof(image));
}

void ColorClassImage::convertToImage(Image& image)
{
  image.cameraInfo.resolutionHeight = height;
  image.cameraInfo.resolutionWidth = width;

  colorClass color;
  for (register int y = 0; y < height; y++) 
  {
    for (register int x = 0; x < width; x++) 
    {
      color = (colorClass)this->image[y][x];

      image.image[y][3][x] = 128;
      image.image[y][4][x] = 128;
      image.image[y][5][x] = 128;
      switch (color)
      {
      case white:
        image.image[y][0][x] = 255;
        image.image[y][1][x] = 127;
        image.image[y][2][x] = 127;
        break;
      case green:
        image.image[y][0][x] = 180;
        image.image[y][1][x] =   0;
        image.image[y][2][x] =   0;
        break;
      case gray:
        image.image[y][0][x] = 127;
        image.image[y][1][x] = 127;
        image.image[y][2][x] = 127;
        break;
      case red:
        image.image[y][0][x] = 0;
        image.image[y][1][x] = 255;
        image.image[y][2][x] = 0;
        break;
      case orange:
        image.image[y][0][x] = 100;
        image.image[y][1][x] = 255;
        image.image[y][2][x] = 0;
        break;
      case yellow:
        image.image[y][0][x] = 255;
        image.image[y][1][x] = 255;
        image.image[y][2][x] =   0;
        break;
      case yellowOrange:
        image.image[y][0][x] = 170;
        image.image[y][1][x] = 255;
        image.image[y][2][x] = 0;
        break;
      case pink:
        image.image[y][0][x] = 255;
        image.image[y][1][x] = 255;
        image.image[y][2][x] = 255;
        break;
      case skyblue:
        image.image[y][0][x] = 180;
        image.image[y][1][x] =   0;
        image.image[y][2][x] = 255;
        break;
      case blue:
        image.image[y][0][x] =  60;
        image.image[y][1][x] =  80;
        image.image[y][2][x] = 255;
        break;
      case black:
        image.image[y][0][x] =   0;
        image.image[y][1][x] = 127;
        image.image[y][2][x] = 127;
        break;
      default:
        image.image[y][0][x] = 70;
        image.image[y][1][x] = 127;
        image.image[y][2][x] = 127;
        break;
      }//switch (color)
    }
  }
}

Out& operator << (Out& stream, const ColorClassImage& colorClassImage)
{
  stream << colorClassImage.height << colorClassImage.width;

  // the current color class in the color table
  unsigned char currentColorClass = (unsigned char)colorClassImage.image[0][0];

  // the number of bytes in one sequence that have the same color class
  int currentLength = 0;

  for(int y = 0; y < colorClassImage.height; ++y)
    for(int x = 0; x < colorClassImage.width; ++x)
    {
      unsigned char nextColorClass = (unsigned char) colorClassImage.image[y][x];
    
      if (nextColorClass != currentColorClass)
      {
        stream << currentLength << currentColorClass;
        currentColorClass = nextColorClass;
        currentLength = 1;
      }
      else
        ++currentLength;
    }
  return stream << currentLength << currentColorClass;
}

In& operator>>(In& stream,ColorClassImage& colorClassImage)
{
  // the current color class in the color table
  unsigned char currentColorClass;

  // the number of bytes in one sequence that have the same color class
  unsigned int currentLength = 0;

  stream >> colorClassImage.height >> colorClassImage.width;

  for(int y = 0; y < colorClassImage.height; ++y)
    for(int x = 0; x < colorClassImage.width; ++x)
    {
      if(!currentLength)
        stream >> currentLength >> currentColorClass;
      colorClassImage.image[y][x] = currentColorClass;
      --currentLength;
    }
  return stream;
}

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