Representations/Perception/Image.h

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/**
 * @file Image.h
 * 
 * Declaration of class Image
 */ 

#ifndef __Image_h_
#define __Image_h_

#include "CameraInfo.h"

// forward declaration
class Image;

#include "Tools/Streams/InOut.h"
#include "Representations/Perception/ColorTable.h"
#include "Tools/ColorClasses.h"
#include "Tools/Math/Common.h"
#include <string.h>

/**
* Platform independend definition of an image class
*/
class Image
{
public:
  /** constructs an image */
  Image();

  /** deconstructs an image */
  ~Image();

  bool          hasColorTable(void);
  void          setColorTable(const ColorTable* ct);
  char          getClassifiedColor(int x, int y) const;
  char          getClassifiedColor(unsigned long index) const;

  /** Converts an YCbCr image into an RGB image.
   *  @param ycbcrImage The given YCbCr image
   */
  void convertFromYCbCrToRGB(const Image& ycbcrImage);

  /** Converts an RGB image into an YCbCr image.
   *  @param rgbImage The given RGB image
   */
  void convertFromRGBToYCbCr(const Image& rgbImage);

  /** Converts an YCbCr image into a HSI image.
   *  @param ycrcbImage The given YCbCr image
   */
  void convertFromYCbCrToHSI(const Image& ycrcbImage);

  /** Converts a HSI image into an YCbCr image.
   *  @param hsiImage The given HSI image
   */
  void convertFromHSIToYCbCr(const Image& hsiImage);

  /** Converts an YCbCr image into a TSL image.
   *  @param ycbcrImage The given YCbCr image
   */
  void convertFromYCbCrToTSL(const Image& ycbcrImage);

  /** Returns the high resolution y value of a pixel
   *  @param x The x coord. of the pixel in high resolution
   *  @param y The y coord. of the pixel in high resolution
   *  @return The y value of the pixel
   */
  unsigned char getHighResY(int x, int y) const;

  /** Sets the high resolution y values for one pixel in low resolution 
   * @param x The x coord. of the pixel
   * @param y The y coord. of the pixel
   * @param tl The y value of the top left subpixel
   * @param bl The y value of the bottom left subpixel
   * @param tr The y value of the top right subpixel
   * @param br The y value of the bottom right subpixel
   */
  void setHighResY(int x, int y, unsigned char tl, unsigned char bl, unsigned char tr, unsigned char br);

  /** Assignment operator
  *\param other The other Image that is assigned to this one
  *\return A reference to this object after the assignment.
  */
  Image& operator=(const Image& other) 
  {
    memcpy((void *)this, (const void *)&other, sizeof(Image));
    return *this;
  }

  /** 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, 3xY in a higher resolution
  */
  unsigned char image[cameraResolutionHeight_ERS7][6][cameraResolutionWidth_ERS7];

  CameraInfo cameraInfo;

  /** the frame number of that image */
  unsigned long frameNumber;

  /** associated color table */
  const ColorTable* colorTable;

  /**
  * set values in CameraInfo according to image size
  */
  void setCameraInfo();
};

/**
 * Streaming operator that writes an Image to a stream.
 * @param stream The stream to write on.
 * @param image The Image object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const Image& image);

/**
 * Streaming operator that reads a Image from a stream.
 * @param stream The stream to read from.
 * @param image The Image object.
 * @return The stream.
 */ 
In& operator>>(In& stream,Image& image);

#endif //__Image_h_

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