Image Class Reference

Platform independend definition of an image class. More...

#include <Image.h>

Inheritance diagram for Image:

[legend]Collaboration diagram for Image:

[legend]List of all members.

Public Member Functions
	Image ()
	constructs an image
	~Image ()
	deconstructs an image
bool	hasColorTable (void)
void	setColorTable (const ColorTable *ct)
char	getClassifiedColor (int x, int y) const
char	getClassifiedColor (unsigned long index) const
void	convertFromYCbCrToRGB (const Image &ycbcrImage)
	Converts an YCbCr image into an RGB image.
void	convertFromRGBToYCbCr (const Image &rgbImage)
	Converts an RGB image into an YCbCr image.
void	convertFromYCbCrToHSI (const Image &ycrcbImage)
	Converts an YCbCr image into a HSI image.
void	convertFromHSIToYCbCr (const Image &hsiImage)
	Converts a HSI image into an YCbCr image.
void	convertFromYCbCrToTSL (const Image &ycbcrImage)
	Converts an YCbCr image into a TSL image.
unsigned char	getHighResY (int x, int y) const
	Returns the high resolution y value of a pixel.
void	setHighResY (int x, int y, unsigned char tl, unsigned char bl, unsigned char tr, unsigned char br)
	Sets the high resolution y values for one pixel in low resolution.
Image &	operator= (const Image &other)
	Assignment operator.
void	setCameraInfo ()
	set values in CameraInfo according to image size
Public Attributes
unsigned char	image [cameraResolutionHeight_ERS7][6][cameraResolutionWidth_ERS7]
	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
CameraInfo	cameraInfo
unsigned long	frameNumber
	the frame number of that image
const ColorTable *	colorTable
	associated color table

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Detailed Description

Platform independend definition of an image class.

Definition at line 24 of file Image.h.

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Constructor & Destructor Documentation

Image::Image (   )

constructs an image Definition at line 13 of file Image.cpp. References CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

Image::~Image (   )

deconstructs an image Definition at line 27 of file Image.cpp.

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Member Function Documentation

bool Image::hasColorTable (  void   )

Definition at line 31 of file Image.cpp. References colorTable.

void Image::setColorTable (  const ColorTable *  ct  )

Definition at line 41 of file Image.cpp. References colorTable.

char Image::getClassifiedColor (  int  x, int  y )  const

Definition at line 47 of file Image.cpp. References colorTable, and ColorTable::getColorClass().

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char Image::getClassifiedColor (  unsigned long  index  )  const

void Image::convertFromYCbCrToRGB (  const Image &  ycbcrImage  )

Converts an YCbCr image into an RGB image. Parameters: ycbcrImage  The given YCbCr image Definition at line 54 of file Image.cpp. References cameraInfo, ColorModelConversions::fromYCbCrToRGB(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth. Referenced by LogPlayer::saveImages().

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void Image::convertFromRGBToYCbCr (  const Image &  rgbImage  )

Converts an RGB image into an YCbCr image. Parameters: rgbImage  The given RGB image Definition at line 67 of file Image.cpp. References cameraInfo, ColorModelConversions::fromRGBToYCbCr(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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void Image::convertFromYCbCrToHSI (  const Image &  ycrcbImage  )

Converts an YCbCr image into a HSI image. Parameters: ycrcbImage  The given YCbCr image Definition at line 80 of file Image.cpp. References cameraInfo, ColorModelConversions::fromYCbCrToHSI(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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void Image::convertFromHSIToYCbCr (  const Image &  hsiImage  )

Converts a HSI image into an YCbCr image. Parameters: hsiImage  The given HSI image Definition at line 93 of file Image.cpp. References cameraInfo, ColorModelConversions::fromHSIToYCbCr(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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void Image::convertFromYCbCrToTSL (  const Image &  ycbcrImage  )

Converts an YCbCr image into a TSL image. Parameters: ycbcrImage  The given YCbCr image Definition at line 106 of file Image.cpp. References cameraInfo, ColorModelConversions::fromYCbCrToTSL(), image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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unsigned char Image::getHighResY (  int  x, int  y )  const

Returns the high resolution y value of a pixel. Parameters: x  The x coord. of the pixel in high resolution y  The y coord. of the pixel in high resolution Returns: The y value of the pixel Definition at line 119 of file Image.cpp. Referenced by VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), GT2005ColorCorrector::generateCorrectedImage(), ColorTable64::generateHighResColorClassImage(), and ColorTable32K::generateHighResColorClassImage().

void Image::setHighResY (  int  x, int  y, unsigned char  tl, unsigned char  bl, unsigned char  tr, unsigned char  br )

Sets the high resolution y values for one pixel in low resolution. Parameters: x  The x coord. of the pixel y  The y coord. of the pixel tl  The y value of the top left subpixel bl  The y value of the bottom left subpixel tr  The y value of the top right subpixel br  The y value of the bottom right subpixel Definition at line 149 of file Image.cpp. Referenced by VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), and GT2005ColorCorrector::generateCorrectedImage().

Image& Image::operator= (  const Image &  other  )  [inline]

Assignment operator. Parameters: other  The other Image that is assigned to this one Returns: A reference to this object after the assignment. Reimplemented in JPEGImage, and JPEGImage2. Definition at line 84 of file Image.h.

void Image::setCameraInfo (   )

set values in CameraInfo according to image size Definition at line 171 of file Image.cpp. References ASSERT, cameraResolutionWidth_ERS210, cameraResolutionWidth_ERS7, CameraInfo::focalLength, focalLength_ERS210, focalLength_ERS7, CameraInfo::focalLengthInv, CameraInfo::focalLenPow2, CameraInfo::focalLenPow4, CameraInfo::fourthOrderRadialDistortion, fourthOrderRadialDistortion_ERS210, fourthOrderRadialDistortion_ERS7, CameraInfo::openingAngleHeight, openingAngleHeight_ERS210, openingAngleHeight_ERS7, CameraInfo::openingAngleWidth, openingAngleWidth_ERS210, openingAngleWidth_ERS7, CameraInfo::opticalCenter, opticalCenterX_ERS210, opticalCenterX_ERS7, opticalCenterY_ERS210, opticalCenterY_ERS7, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, CameraInfo::secondOrderRadialDistortion, secondOrderRadialDistortion_ERS210, secondOrderRadialDistortion_ERS7, CameraInfo::simulated, Vector2< double >::x, and Vector2< double >::y. Referenced by operator>>().

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Member Data Documentation

unsigned char Image::image[cameraResolutionHeight_ERS7][6][cameraResolutionWidth_ERS7]

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 Definition at line 96 of file Image.h. Referenced by SlamEdgeSpecialist::addCandidate(), GT2005EdgeSpecialist::addCandidate(), GT2004EdgeDetection::ballEdgeVote(), VLCImageProcessor::calcEdgeAngle(), SlamImageProcessor::calcEdgeAngle(), GT2005ImageProcessor::calcEdgeAngle(), GT2005PlayerSpecialist::checkForWhiteLineBetweenBlue(), GT2005PlayerSpecialist::checkForWhiteLineBetweenRed(), convertFromHSIToYCbCr(), convertFromRGBToYCbCr(), convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYCbCrToTSL(), ColorClassImage::convertToImage(), GrayScaleImage::copyChannel(), ColorCorrector::correct(), MSH2004ColorCorrector::correctPixel(), ChallengeSpecialVision::countPixels(), GT2004EdgeDetection::crossEdgeVote(), GT2005PlayerSpecialist::detectBlueRobots(), VLCGoalRecognizer::detectEdge(), GT2005GoalRecognizer::detectEdge(), VLCGoalRecognizer::detectGreenBelowGoalpost(), GT2005GoalRecognizer::detectGreenBelowGoalpost(), GT2005PlayerSpecialist::detectRedRobots(), VLCLineFinder_DeterministicApproach::doVerificationScan(), SlamBorderFinder::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), ImageBrightnessEstimator::execute(), BarCodeReader::execute(), GT2004EdgeDetection::fastCrossEdgeVote(), GT2004EdgeDetection::fieldEdgeVote(), FastSUSANNoiseReduction::filterPixel(), GT2005PlayerSpecialist::findBlueFootPointYAxis(), GT2005PlayerSpecialist::findRedFootPointYAxis(), SlamBeaconDetector::findSpecial(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), GT2005ColorCorrector::generateCorrectedImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), ColorTableTSL::generateTSLDialogImage(), GT2004EdgeDetection::getColor(), VLCImageProcessor::getCoords(), SlamImageProcessor::getCoords(), GT2005ImageProcessor::getCoords(), FastSUSANNoiseReduction::getFilteredImage(), FastSUSANNoiseReduction::getFilteredPixelSpectrum(), GT2004EdgeDetection::horizontalEdgeVote(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), GT2005PlayerSpecialist::inspectColorArea(), VLCGoalRecognizer::inspectNeighbourhood(), GT2005GoalRecognizer::inspectNeighbourhood(), SUSANEdgeDetectionLite::isEdgePoint(), GuideDogRobotSpecialist::isRed(), ColorCorrector::load(), AutoShutter::makeHistogram(), VLCRobotSpecialist::noColorPixelsBetween(), GT2005RobotSpecialist::noColorPixelsBetween(), JPEGImage2::onDestInit(), JPEGImage::onDestInit(), JPEGImage2::onDestTerm(), JPEGImage::onDestTerm(), operator<<(), JPEGImage2::operator=(), JPEGImage::operator=(), operator>>(), LogPlayer::saveAMV(), LogPlayer::saveImages(), 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(), GT2005BeaconDetector::scanForPink(), JPEGImage2::toImage(), JPEGImage::toImage(), and GT2004EdgeDetection::verticalEdgeVote().

CameraInfo Image::cameraInfo

Definition at line 98 of file Image.h. Referenced by VLCLineFinder_DeterministicApproach::addCrossingsPercept(), SlamBorderFinder::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), GT2004EdgeDetection::ballEdgeVote(), VLCImageProcessor::calcEdgeAngle(), SlamImageProcessor::calcEdgeAngle(), GT2005ImageProcessor::calcEdgeAngle(), VLCLineFinder_DeterministicApproach::calculateLineOnField(), SlamBorderFinder::calculateLineOnField(), GT2005LineFinder_DeterministicApproach::calculateLineOnField(), GuideDogRobotSpecialist::calculateScanLinesParallelToHorizon(), SlamBeaconDetector::characterizeNewFlag(), GT2005CenterCircleFinder::checkCircleMidpoint(), GT2005CenterCircleFinder::checkCircleMidpoint2(), SlamEdgeSpecialist::checkPoint(), GT2005EdgeSpecialist::checkPoint(), VLCBeaconDetector::clusterPinkBeaconParts(), GT2005BeaconDetector::clusterPinkBeaconParts(), VLCImageProcessor::clusterRobots(), SlamImageProcessor::clusterRobots(), convertFromHSIToYCbCr(), convertFromRGBToYCbCr(), convertFromYCbCrToHSI(), convertFromYCbCrToRGB(), convertFromYCbCrToTSL(), ColorClassImage::convertToImage(), GrayScaleImage::copyChannel(), ColorCorrector::correct(), GT2004EdgeDetection::crossEdgeVote(), GT2005PlayerSpecialist::detectBlueRobots(), GT2005PlayerSpecialist::detectRedRobots(), VLCCenterCircleFinder::determineCirclePoint(), VLCLineFinder_DeterministicApproach::doVerificationScan(), SlamBorderFinder::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), ImageBrightnessEstimator::execute(), BarCodeReader::execute(), VLCImageProcessor::execute(), VLCBeaconDetector::execute(), SlamImageProcessor::execute(), SlamBeaconDetector::execute(), GuideDogRobotSpecialist::execute(), GT2005ImageProcessor::execute(), GT2005BeaconDetector::execute(), GT2004EdgeDetection::fieldEdgeVote(), VLCLineFinder_DeterministicApproach::findIntersections(), SlamBorderFinder::findIntersections(), GT2005LineFinder_DeterministicApproach::findIntersections(), VLCLineFinder_DeterministicApproach::findLines(), SlamBorderFinder::findLines(), GT2005LineFinder_DeterministicApproach::findLines(), SlamBeaconDetector::findSpecial(), GT2004EdgeDetection::findStart(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), GT2005ColorCorrector::generateCorrectedImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), ColorTableTSL::generateTSLDialogImage(), GT2004EdgeDetection::getColor(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), FastSUSANNoiseReduction::getFilteredImage(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), GT2004EdgeDetection::horizontalEdgeVote(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), GT2004EdgeDetection::insideImage(), VLCGoalRecognizer::interpretResults(), ColorCorrector::load(), VLCRobotSpecialist::noColorPixelsBetween(), GT2005RobotSpecialist::noColorPixelsBetween(), JPEGImage2::onDestInit(), JPEGImage::onDestInit(), operator<<(), JPEGImage2::operator=(), JPEGImage::operator=(), operator>>(), GT2005GoalRecognizer::publishResults(), LogPlayer::saveAMV(), LogPlayer::saveImages(), VLCRobotSpecialist::scan(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005RobotSpecialist::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), SlamImageProcessor::scanColumns(), GT2004EdgeDetection::scanEast(), SlamBeaconDetector::scanForFlagCharacterization(), GuideDogRobotSpecialist::scanParallelToHorizon(), GT2004EdgeDetection::scanSouth(), GT2005CenterCircleFinder::scanSurrounding(), GT2004EdgeDetection::susanVote(), JPEGImage2::toImage(), JPEGImage::toImage(), and GT2004EdgeDetection::verticalEdgeVote().

unsigned long Image::frameNumber

the frame number of that image Definition at line 101 of file Image.h. Referenced by VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), FastSUSANNoiseReduction::getFilteredImage(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), ColorCorrector::load(), GT2005GoalRecognizer::notifyAboutNewImage(), GTCamTimeSyncHandler::onReceive(), operator<<(), JPEGImage2::operator=(), JPEGImage::operator=(), operator>>(), GTCamTimeSyncHandler::startTimeSync(), JPEGImage2::toImage(), and JPEGImage::toImage().

const ColorTable* Image::colorTable

associated color table Definition at line 104 of file Image.h. Referenced by VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), GT2005ColorCorrector::generateCorrectedImage(), getClassifiedColor(), FastSUSANNoiseReduction::getFilteredImage(), hasColorTable(), JPEGImage2::operator=(), and setColorTable().

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

• Representations/Perception/Image.h
• Representations/Perception/Image.cpp

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