Representations/Perception/ColorTable.h

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

#ifndef _ColorTable_h_
#define _ColorTable_h_

// forward declaration
class ColorTable;
class ColorClassImage;

#include "Image.h"
#include "ColorClassImage.h"

/**
* @class ColorTable
*
* Base class of ColorTable64 and ColorTableTSL.
*/
class ColorTable
{
public:
  /** Constructor */
    ColorTable() {}

  /** Destructor */
  ~ColorTable() {}

  /** 
  * Calculates 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 {return noColor;}

  /**
  * 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
  * @return A reference to the created color class image.
  */
  virtual void generateColorClassImage(
    const Image& image, 
    ColorClassImage& colorClassImage) const
    {}

  /**
  * Segments an image to an color class image using the high resolution y values.
  * 
  * 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
  * @return A reference to the created color class image.
  */
  virtual void generateHighResColorClassImage(
    const Image& image, 
    ColorClassImage& colorClassImage) const
    {}

  /** Sets the color class of every 4x4x4 to noColor */
    virtual void clear() {}
  
  /** Sets all cubes that have the given color class to noColor */
    virtual void clearChannel(colorClass colorClass) {}

  /** 
  * Sets the color class for a cube with the size "range" around a pixel
  * given by y,u,v to the given color class.
  */
  virtual void addColorClass(
    colorClass colorClass,
    unsigned char y, 
    unsigned char u, 
    unsigned char v, 
    unsigned char range
    ) {}
  /**
  * This function marks the outer pixels of all segmented colors in the colorspace as noColor.
  */
  virtual void shrink(){}

  /**
  * This function marks the outer pixels of the parameter color in the colorspace as noColor.
  * &param color The color to shrink
  */
  virtual void shrink(unsigned char color){}

  /**
  * This function marks all noColor pixels in the colorspace, which are neighbors of segmented 
  * pixels, with the neighboring color.
  */
  virtual void grow(){}

  /**
  * This function marks all noColor pixels in the colorspace, which are neighbors of the parameter color, 
  * with the neighboring color.
  */
  virtual void grow(unsigned char color){}
};

#endif   //  _ColorTable_h_

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