Modules/ImageProcessor/SlamImageProcessor/SlamImageProcessorTools.h

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/**
* @file SlamImageProcessorTools.h
*
* Tools and Definitons for SlamImageProcessor
*
* @author Max Risler
* @author <a href="mailto:timlaue@tzi.de">Tim Laue</a>
*/

#ifndef __SlamImageProcessorTools_h_
#define __SlamImageProcessorTools_h_

// Uncomment to use it with ColorTable32K
//~ #define CT32K_LAYOUT
#include "Modules/ImageProcessor/ImageProcessorTools/ImageProcessorUtilityClasses.h"

// Cognition includes multiple xxxImageProcessorTools (but no file that actually uses the 
// macros does) so apply a simple hack to avoid a redefinition error.
#ifdef COLOR_CLASS
#undef COLOR_CLASS
#undef CORRECTED_COLOR_CLASS
#endif


#ifdef CT32K_LAYOUT
#include "Representations/Perception/ColorTable32K.h"
#else
#include "Representations/Perception/ColorTable64.h"
#endif
#include "Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Math/Geometry.h"

#ifdef CT32K_LAYOUT
#define COLOR_CLASS(y,u,v) (colorClass)((ColorTable32K&) colorTable).colorClassesUnpacked[((y>>4)<<12)|((v>>2)<<6)|(u>>2)]
#define C(px, py, layer, value) colorCorrector.correct(px,py, layer, value)
#define CORRECTED_COLOR_CLASS(px,py,y,u,v) COLOR_CLASS(C(px, py, 0, y),C(px, py, 1, u),C(px, py, 2, v))
#else
// This is a hack to speed up color table access. It obviously only works with ColorTable64
#define COLOR_CLASS(y,u,v) (colorClass)((ColorTable64&) colorTable).colorClasses[(y) >> 2][(u) >> 2][(v) >> 2]
#define CORRECTED_COLOR_CLASS(px,py,y,u,v) (colorClass)((ColorTable64&) colorTable).colorClasses[colorCorrector.correct(px,py, 0, (y)) >> 2][colorCorrector.correct(px,py, 1, (u)) >> 2][colorCorrector.correct(px,py, 2, (v)) >> 2]
#endif


/**
* @class SlamImageInfo
*
* Additional information about the current image,
* computed by the ImageProcessor
*/
//~ class SlamImageInfo
//~ {
//~ public:
  //~ /** The horizon*/
  //~ Geometry::Line horizon;
  //~ /** A line perpendicular to the horizon*/
  //~ Geometry::Line vertLine;
  //~ /** Flag, indicates whether the horizon is in the image or not*/
  //~ bool horizonInImage;
  //~ /** The starting point of the horizon*/
  //~ Vector2<int> horizonStart;
  //~ /** The end point of the horizon*/
  //~ Vector2<int> horizonEnd;
  //~ /** The bottom right corner of the image*/
  //~ Vector2<int> maxImageCoordinates;
//~ };

#endif // __SlamImageProcessorTools_h_

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