University Of Massachusetts at Lowell
Robotics Lab
00001 /* --------------------------------------------------------------------------- 00002 Phission : 00003 Realtime Vision Processing System 00004 00005 Copyright (C) 2003-2006 Philip D.S. Thoren (pthoren@cs.uml.edu) 00006 University of Massachusetts at Lowell, 00007 Laboratory for Artificial Intelligence and Robotics 00008 00009 This file is part of Phission. 00010 00011 Phission is free software; you can redistribute it and/or modify 00012 it under the terms of the GNU Lesser General Public License as published by 00013 the Free Software Foundation; either version 2 of the License, or 00014 (at your option) any later version. 00015 00016 Phission is distributed in the hope that it will be useful, 00017 but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 GNU Lesser General Public License for more details. 00020 00021 You should have received a copy of the GNU Lesser General Public License 00022 along with Phission; if not, write to the Free Software 00023 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00024 00025 ---------------------------------------------------------------------------*/ 00026 #ifndef _PHHISTOGRAMDATA_H 00027 #define _PHHISTOGRAMDATA_H 00028 00034 #include <ImageDefinitions.h> 00035 #include <ImageGfx.h> 00036 #include <phLiveObject.h> 00037 #include <phImage.h> 00038 00044 #ifdef __cplusplus 00045 extern "C" { 00046 #endif 00047 00048 /* This computes the histogram from the image data and dimensions. 00049 * The bin arrays are allocated and returned using the pointers. */ 00054 int ph_histogram_data_gen_from_image(const uint32_t width, 00055 const uint32_t height, 00056 const uint32_t depth, 00057 const uint8_t *img, 00058 00059 uint32_t x1, 00060 uint32_t y1, 00061 uint32_t x2, 00062 uint32_t y2, 00063 00064 const uint32_t nbins, 00065 const float max_element_value, 00066 uint32_t **pbinVal, 00067 uint32_t *pbinVal_size, 00068 uint32_t **pbinCnt, 00069 uint32_t *pbinCnt_size, 00070 uint32_t **pbinAvg, 00071 uint32_t *pbinAvg_size ); 00072 00073 /* Compute avg, and remember best by storing the max values */ 00078 int ph_histogram_data_gen_max( const uint32_t nbins, 00079 const uint32_t depth, 00080 const uint32_t format, 00081 const float max_element_value, 00082 const uint32_t *binVal, 00083 const uint32_t *binCnt, 00084 /* These are returned/altered parameters */ 00085 uint32_t *binAvg, 00086 phColor *pmaxbin_color, 00087 phColor *pmaxbin_threshold, 00088 uint32_t **pmaxBin, 00089 uint32_t *pmaxBin_size, 00090 uint32_t **pmaxCnt, 00091 uint32_t *pmaxCnt_size, 00092 uint32_t **pmaxAvg, 00093 uint32_t *pmaxAvg_size ); 00094 00095 int ph_histogram_data_bin_regions( const uint32_t nbins, 00096 const uint32_t depth, 00097 const uint32_t format, 00098 const float max_element_value, 00099 const uint32_t val_percent_cutoff, 00100 const uint32_t max_bin_breaks, 00101 const uint32_t *valarray, 00102 const uint32_t *cntarray, 00103 const uint32_t *avgarray, 00104 const uint32_t *maxBin, 00105 const uint32_t *maxCnt, 00106 const uint32_t *maxAvg, 00107 phColor *pcolor, 00108 phColor *pthreshold ); 00109 00114 int ph_histogram_data_compute( const uint32_t op, 00115 const uint32_t nbins_one, 00116 const uint32_t binstep_one, 00117 const uint32_t binelems_one, 00118 const uint32_t nbins_two, 00119 const uint32_t binstep_two, 00120 const uint32_t binelems_two, 00121 uint32_t *binVal_one, 00122 uint32_t *binCnt_one, 00123 uint32_t *binVal_two, 00124 uint32_t *binCnt_two, 00125 uint32_t *binVal_out, 00126 uint32_t *binCnt_out ); 00127 00128 #ifdef __cplusplus 00129 } 00130 #endif 00131 /* Histogram Functions */ 00133 00139 #define phHISTFILE_ALL 1 00140 #define phHISTFILE_BASIC 2 00141 00142 /* ------------------------------------------------------------------------ */ 00143 /* bins are organized as follows: 00144 * 00145 * [ bin0d0, bin0d1, bin0d2,...bin0dN, ... binNd0, binNd1, binNd2.... ] 00146 * 00147 */ 00148 /* ------------------------------------------------------------------------ */ 00164 PHAPI(class) phHistogramData : public phLiveObject 00165 { 00166 private: 00167 /* bins and depth determine the array sizes */ 00168 uint32_t m_binCount; 00169 uint32_t m_binStep; 00170 uint32_t m_binElems; 00171 00172 phColor m_maxbin_color; 00173 phColor m_maxbin_threshold; 00174 00175 phColor m_color; 00176 phColor m_threshold; 00177 00178 uint32_t *m_binVal; 00179 uint32_t *m_binCnt; 00180 uint32_t *m_binAvg; 00181 uint32_t *m_maxAvg; 00182 uint32_t *m_maxCnt; 00183 uint32_t *m_maxBin; 00184 00185 uint32_t m_binVal_size; 00186 uint32_t m_binCnt_size; 00187 uint32_t m_binAvg_size; 00188 uint32_t m_maxAvg_size; 00189 uint32_t m_maxCnt_size; 00190 uint32_t m_maxBin_size; 00191 00192 phImage m_image; 00193 uint32_t m_image_height; 00194 00195 void init(); 00196 int updateFromBins(); 00197 public: 00198 phHistogramData(); 00199 ~phHistogramData(); 00200 00201 phHistogramData(const phHistogramData &hist); 00202 00203 int copy( phObject *copyto_obj ); 00204 int swap( phObject *obj ); 00205 00206 int setData(uint32_t binCount, 00207 uint32_t binStep, 00208 uint32_t *binVal, 00209 uint32_t *binCnt ); 00210 00211 int setData(uint32_t binCount, 00212 uint32_t binStep, 00213 phColor maxbin_color, 00214 phColor maxbin_threshold, 00215 phColor color, 00216 phColor threshold, 00217 uint32_t *binVal, 00218 uint32_t *binCnt, 00219 uint32_t *binAvg, 00220 uint32_t *maxBin, 00221 uint32_t *maxAvg, 00222 uint32_t *maxCnt); 00223 00224 int copy( phHistogramData ©from ); 00225 00226 int setColor(phColor color){ this->m_color = color; return 0; }; 00227 int setThreshold(phColor threshold){ this->m_threshold = threshold; return 0; }; 00228 00229 /* These get functions should only be used for private copies 00230 * of histogram data. Don't use this with an instance that is constantly 00231 * being updated */ 00232 uint32_t getBinCount() { return this->m_binCount; }; 00233 uint32_t getBinStep() { return this->m_binStep; }; 00234 uint32_t getDepth() { return this->m_binStep; }; 00235 phColor getMaxBinColor() { return this->m_maxbin_color; }; 00236 phColor getMaxBinThreshold(){ return this->m_maxbin_threshold; }; 00237 phColor getColor() { return this->m_color; }; 00238 phColor getThreshold() { return this->m_threshold; }; 00239 00240 uint32_t *getBinCntArray() { return this->m_binCnt; }; 00241 uint32_t *getBinValArray() { return this->m_binVal; }; 00242 uint32_t *getBinAvgArray() { return this->m_binAvg; }; 00243 00244 uint32_t *getMaxBin() { return this->m_maxBin; }; 00245 uint32_t *getMaxAvgArray() { return this->m_maxAvg; }; 00246 uint32_t *getMaxArray() { return this->m_maxCnt; }; 00247 00248 phHistogramData &operator =( phHistogramData &right ); 00249 00250 phHistogramData &operator +=( phHistogramData &right ); 00251 //phHistogramData operator +( phHistogramData &right ); 00252 00253 phHistogramData &operator -=( phHistogramData &right ); 00254 //phHistogramData operator -( phHistogramData &right ); 00255 00256 /* Sets the height for the auto generated image */ 00257 int setImageHeight ( uint32_t height ); 00258 int autoGenerateImage ( uint32_t height = 0 ); 00259 int generateImage ( uint32_t height = 0 ); 00260 phImage *getImage(); 00261 00262 void print_data(); 00263 void print_stats(); 00264 00265 int save(const char *filename, int overwrite = 0); 00266 int load(const char *filename); 00267 }; 00268 /* ImageProcessing */ 00270 00271 #endif /* _PHHISTOGRAMDATA_H */
| Copyright (C) 2002 - 2007 |
Philip D.S. Thoren ( pthoren@users.sourceforge.net ) University Of Massachusetts at Lowell Robotics Lab |
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