Representations/Perception/ColorTableTSL.h

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/** 
* @file ColorTableTSL.h
* Declaration of class ColorTableTSL.
*
* @author <A href=mailto:robocup@andreosterhues.de>André Osterhues</A>
*/

#ifndef _ColorTableTSL_h_
#define _ColorTableTSL_h_

// forward declaration
class ColorTableTSL;

#include "ColorTable.h"
#include "Tools/Streams/InOut.h"
#include "Tools/ColorClasses.h"
#include "ColorClassImage.h"
#include "Image.h"
#include "Modules/ImageProcessor/ImageProcessorTools/MSH2004ColorCorrector.h"

/**
* @class ColorTableTSL
*
* Contains a ColorTableTSL which can decode the color for
* every 8 * 4 * 4 cube in the 255 * 255 * 255 YUV color space.
*
* @author <A href=mailto:robocup@andreosterhues.de>André Osterhues</A>
*/
class ColorTableTSL : public ColorTable
{
public:
  /** Constructor */
  ColorTableTSL();

  /** Destructor */
  ~ColorTableTSL();

  /**
  * Clear color tables
  */
  void clear();

  /**
  * Reset to default TSL values
  */
  void reset();

  /** Generates the Image for the TSL-Dialog-Bar */
  void generateTSLDialogImage(const Image &image,ColorClassImage &colorClassImage);
  
  /** 
  * Add a TSL range color class to the color table
  * @param colorClass the color class
  * @param t_min the min t value
  * @param t_max the max t value
  * @param s_min the min s value
  * @param s_max the max s value
  * @param l_min the min l value
  * @param l_max the max l value
  */
  void addColorClass(
    colorClass colorClass,
    unsigned char t_min,
    unsigned char t_max,
    unsigned char s_min,
    unsigned char s_max,
    unsigned char l_min,
    unsigned char l_max
    );

  /** 
  * Calculates the lookup table 
  */
  void calculateLUT();  

  /** 
  * Returns the color class of a pixel.
  * @param y the y value of the pixel
  * @param u the u value of the pixel
  * @param v the v value of the pixel
  * @return the color class
  */
  virtual colorClass getColorClass(
    const unsigned char y, 
    const unsigned char u, 
    const unsigned char v
    ) const;

  /**
  * Segments an image to an color class image.
  * 
  * This doesn't need to used in the image processor, but is needed for visualisation
  * of color tables.
  * @param image A reference to the image to be segmented
  * @param colorClassImage A reference to the color class image to be created
  */
  virtual void generateColorClassImage(
    const Image& image, 
    ColorClassImage& colorClassImage
    ) const;

  //!@name Members to be used by the ColorTableTSL dialog
  //!@{

  /**
  * YUV->TSL conversion
  */
  void convertYUVToTSL(
    unsigned char y,
    unsigned char u,
    unsigned char v,
    unsigned char *t,
    unsigned char *s,
    unsigned char *l
    ) const;

  /**
  * TSL->colorClass classification
  */
  colorClass classifyTSL(
    unsigned char t,
    unsigned char s,
    unsigned char l
    ) const;

  /** 
  * The color table.
  * Each entry contains both the color class A (lower 4 bits) and the color class B 
  * (higher 4 bits) values.
  * As Y information is less relevant, only 5 bits are used for Y; U and V use 6 bits.
  */
  unsigned char colorClasses[32][64][64];
  
  /** 
  * The TSL threshold table.
  * This table stores the TSL thresholds as given by addColorClass() and 
  * updateColorClass().
  * The first index selects the color class.
  * The second index selects min (0) or max (1).
  * The third index selects t (0), s (1) or l (2).
  */
  unsigned char tsl_threshold[numOfColors][2][3];

  /** 
  * The TSL threshold index.
  */
  unsigned char tsl_index;

  /**
  * The TSL order table.
  * It contains a permutation of colorClass.
  */
  colorClass tsl_order[numOfColors];

  //!@}

  private: 
    
  MSH2004ColorCorrector corrector;

};

/**
 * Streaming operator that reads a ColorTableTSL from a stream.
 * @param stream The stream from which is read.
 * @param colorTableTSL The ColorTableTSL object.
 * @return The stream.
 */ 
In& operator>>(In& stream, ColorTableTSL& colorTableTSL);
 
/**
 * Streaming operator that writes a ColorTableTSL to a stream.
 * @param stream The stream to write on.
 * @param colorTableTSL The ColorTableTSL object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const ColorTableTSL& colorTableTSL);

#endif   //  _ColorTableTSL_h_

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