void YARPBlobFinder::Apply(const YARPImageOf<YarpPixelRGB>& is, YARPImageOf<YarpPixelRGB>& id)
{
// no padding enforced.
assert (id.GetPadding() == 0);
assert (is.GetPadding() == 0);
assert (id.GetHeight() == is.GetHeight() && id.GetWidth() == is.GetWidth());
// extract the saliency image.
m_saliency.Apply (is, m_hsv_enhanced);
_apply (is, id);
}
void YARPColorConverter::RGB2Normalized (const YARPImageOf<YarpPixelRGB>& in, YARPImageOf<YarpPixelRGBFloat>& out, float threshold)
{
assert (out.GetIplPointer() != NULL && in.GetIplPointer() != NULL);
assert (out.GetHeight() == in.GetHeight());
assert (out.GetWidth() == in.GetWidth());
unsigned char *inTmp = (unsigned char *) in.GetAllocatedArray();
unsigned char *outTmp = (unsigned char *) out.GetAllocatedArray();
int r = 0;
int c = 0;
int padIn = in.GetPadding();
int padOut = out.GetPadding();
float lum;
float *tmp;
for(r = 0; r<in.GetHeight(); r++)
{
for(c = 0; c < in.GetWidth(); c++)
{
tmp = (float *) outTmp;
lum = (float)( inTmp[0] + inTmp[1] + inTmp[2]);
if (lum > threshold)
{
tmp[0] = inTmp[0]/lum;
tmp[1] = inTmp[1]/lum;
tmp[2] = inTmp[2]/lum;
}
else
{
tmp[0] = 0.0;
tmp[1] = 0.0;
tmp[2] = 0.0;
}
inTmp += 3;
outTmp += 3*sizeof(float);
}
inTmp += padIn;
outTmp += padOut;
}
}
void YARPGaussianFeatures::Apply (const YARPImageOf<YarpPixelMono>& in)
{
assert (in.GetPadding() == 0);
for (int i = 1; i <= m_sigmas; i++)
{
m_features(i) = SpecialConvolveX (m_coeffs[i-1], (const unsigned char *)in.GetAllocatedArray());
m_features(i+m_sigmas) = SpecialConvolveY (m_coeffs[i-1], (const unsigned char *)in.GetAllocatedArray());
}
}
// this function now is exactly like the RGB one; however, in the future we may want to use
// different weights for different colors.
void YARPColorConverter::RGB2Normalized (const YARPImageOf<YarpPixelBGR>& in, YARPImageOf<YarpPixelBGR>& out, float threshold)
{
assert (out.GetIplPointer() != NULL && in.GetIplPointer() != NULL);
assert (out.GetHeight() == in.GetHeight());
assert (out.GetWidth() == in.GetWidth());
unsigned char *inTmp = (unsigned char *) in.GetAllocatedArray();
unsigned char *outTmp = (unsigned char *) out.GetAllocatedArray();
int r = 0;
int c = 0;
int padIn = in.GetPadding();
int padOut = out.GetPadding();
float lum;
for(r = 0; r<in.GetHeight(); r++)
{
for(c = 0; c < in.GetWidth(); c++)
{
lum = (float) (inTmp[0] + inTmp[1] + inTmp[2]);
if (lum > threshold)
{
outTmp[0] = (unsigned char)((inTmp[0]/lum)*255 + 0.5); // B
outTmp[1] = (unsigned char)((inTmp[1]/lum)*255 + 0.5); // G
outTmp[2] = (unsigned char)((inTmp[2]/lum)*255 + 0.5); // R
}
else
{
outTmp[0] = 0;
outTmp[1] = 0;
outTmp[2] = 0;
}
inTmp += 3;
outTmp += 3;
}
inTmp += padIn;
outTmp += padOut;
}
}