ColorCorrector Class Reference

The class represents a table for color correction. More...

#include <ColorCorrector.h>

List of all members.

Public Member Functions
	ColorCorrector ()
	Default constructor.
unsigned char	correct (const int x, const int y, const int c, const unsigned char intensity) const
	The functions returns a corrected intensity of a pixel.
void	correct (const int x, const int y, unsigned char &intensityY, unsigned char &intensityU, unsigned char &intensityV) const
	The functions returns the corrected color of a pixel.
void	correct (Image &image) const
	The functions corrects all pixels of an image.
Private Types
enum	{ maxRadius = 140, centerRadius = 10 }
enum	{ maxRadialOrder = 10, maxColorOrder = 10 }
Private Member Functions
void	load ()
	Loads the calibration image and computes the lookup table.
void	disable ()
	The function disables the color correction.
Static Private Member Functions
unsigned char	colorDistortionCorrection (const unsigned char radius_i, const unsigned char color, const unsigned char channel)
unsigned char	calcRadius (int x, int y)
	The function calculates the corresponding radius for an image coordinate.
Private Attributes
unsigned char	radiusTable [cameraResolutionHeight_ERS7][cameraResolutionWidth_ERS7]
	The radius table.
Static Private Attributes
unsigned char	correctionTable [maxRadius+1][256][3]
	The correction table.
int	radialOrder = 0
int	colorOrder = 0
double	radialP [3 *maxRadialOrder]
double	colorP [3 *maxColorOrder]
bool	loaded = false
	Determines whether the corrector has already been loaded.

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Detailed Description

The class represents a table for color correction.

Definition at line 25 of file ColorCorrector.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumeration values: maxRadius  centerRadius  Definition at line 28 of file ColorCorrector.h.

anonymous enum [private]

Enumeration values: maxRadialOrder  maxColorOrder  Definition at line 33 of file ColorCorrector.h.

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Constructor & Destructor Documentation

ColorCorrector::ColorCorrector (   )  [inline]

Default constructor. Definition at line 67 of file ColorCorrector.h. References load().

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Member Function Documentation

unsigned char ColorCorrector::colorDistortionCorrection (  const unsigned char  radius_i, const unsigned char  color, const unsigned char  channel )  [static, private]

Definition at line 210 of file ColorCorrector.cpp. References colorOrder, colorP, maxColorOrder, maxRadialOrder, radialOrder, and radialP.

unsigned char ColorCorrector::calcRadius (  int  x, int  y )  [inline, static, private]

The function calculates the corresponding radius for an image coordinate. Parameters: x  The x coordinate of a pixel. y  The y coordinate of a pixel. Returns: The distance from the center of the image. Definition at line 54 of file ColorCorrector.h. References cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS7, and centerRadius. Referenced by load().

unsigned char ColorCorrector::correct (  const int  x, const int  y, const int  c, const unsigned char  intensity )  const [inline]

The functions returns a corrected intensity of a pixel. Parameters: x  The x coordinate of the pixel. y  The y coordinate of the pixel. c  The color channel corrected. intensity  The intensity of the pixel in color channel c. Returns: The corrected intensity. Definition at line 77 of file ColorCorrector.h. References correctionTable. Referenced by correct(), VLCGoalRecognizer::detectEdge(), GT2005GoalRecognizer::detectEdge(), VLCLineFinder_DeterministicApproach::doVerificationScan(), SlamBorderFinder::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), SlamImageProcessor::execute(), VLCBallSpecialist::findEndOfBall(), GT2005BallSpecialist::findEndOfBall(), SlamBeaconDetector::findSpecial(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), VLCRobotSpecialist::noColorPixelsBetween(), GT2005RobotSpecialist::noColorPixelsBetween(), VLCRobotSpecialist::scan(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005RobotSpecialist::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), VLCGoalRecognizer::scanAlongLine(), GT2005GoalRecognizer::scanAlongLine(), VLCBeaconDetector::scanForBeaconEdges(), SlamBeaconDetector::scanForBeaconEdges(), GT2005BeaconDetector::scanForBeaconEdges(), VLCBeaconDetector::scanForBeaconPart(), SlamBeaconDetector::scanForBeaconPart(), GT2005BeaconDetector::scanForBeaconPart(), SlamBeaconDetector::scanForFlagCharacterization(), VLCBeaconDetector::scanForPink(), SlamBeaconDetector::scanForPink(), and GT2005BeaconDetector::scanForPink().

void ColorCorrector::correct (  const int  x, const int  y, unsigned char &  intensityY, unsigned char &  intensityU, unsigned char &  intensityV )  const [inline]

The functions returns the corrected color of a pixel. Parameters: x  The x coordinate of the pixel. y  The y coordinate of the pixel. intensityY  The intensity of the pixel in color channel Y. intensityU  The intensity of the pixel in color channel U. intensityV  The intensity of the pixel in color channel V. Definition at line 95 of file ColorCorrector.h. References correctionTable.

void ColorCorrector::correct (  Image &  image  )  const

The functions corrects all pixels of an image. Parameters: image  The image that is corrected. Definition at line 251 of file ColorCorrector.cpp. References Image::cameraInfo, correct(), Image::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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void ColorCorrector::load (   )  [private]

Loads the calibration image and computes the lookup table. Definition at line 35 of file ColorCorrector.cpp. References calcRadius(), Image::cameraInfo, cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS7, correctionTable, disable(), InStream< InFile, InBinary >::eof(), InFile::exists(), Image::frameNumber, getLocation(), getRobotConfiguration(), RobotConfiguration::getRobotDesign(), Image::image, loaded, maxRadius, InStream< InFile, InBinary >::read(), CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth. Referenced by ColorCorrector().

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void ColorCorrector::disable (   )  [private]

The function disables the color correction. The table is cleared. Definition at line 244 of file ColorCorrector.cpp. References cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS7, and maxRadius. Referenced by load().

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Member Data Documentation

unsigned char ColorCorrector::radiusTable[cameraResolutionHeight_ERS7][cameraResolutionWidth_ERS7] [private]

The radius table. Per (simulated) robot. Definition at line 29 of file ColorCorrector.h.

unsigned char ColorCorrector::correctionTable [static, private]

The correction table. Definition at line 19 of file ColorCorrector.cpp. Referenced by correct(), and load().

int ColorCorrector::radialOrder = 0 [static, private]

Definition at line 22 of file ColorCorrector.cpp. Referenced by colorDistortionCorrection().

int ColorCorrector::colorOrder = 0 [static, private]

Definition at line 23 of file ColorCorrector.cpp. Referenced by colorDistortionCorrection().

double ColorCorrector::radialP [static, private]

Definition at line 24 of file ColorCorrector.cpp. Referenced by colorDistortionCorrection().

double ColorCorrector::colorP [static, private]

Definition at line 25 of file ColorCorrector.cpp. Referenced by colorDistortionCorrection().

bool ColorCorrector::loaded = false [static, private]

Determines whether the corrector has already been loaded. Definition at line 18 of file ColorCorrector.cpp. Referenced by load().

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The documentation for this class was generated from the following files:

• Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h
• Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.cpp

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