static void process(char *ims, char *imt, char* imd){
pnm pims = pnm_load(ims);
pnm pimt = pnm_load(imt);
int colst = pnm_get_width(pimt);
int rowst = pnm_get_height(pimt);
int colss = pnm_get_width(pims);
int rowss = pnm_get_height(pims);
pnm pimd = pnm_new(colst, rowst, PnmRawPpm);
float * LABs = malloc(colss * rowss * 3 * sizeof(float));
float * LABt = malloc(colst * rowst * 3 * sizeof(float));
float * LABd = malloc(colst * rowst * 3 * sizeof(float));
// Conversion des images sources (pims) et target (pimt) en format lab (LABs et LABt)
RGB2LAB(pims, LABs, colss, rowss);
RGB2LAB(pimt, LABt, colst, rowst);
// Colorisation de l'image de destination LABd (en format lab)
colorization(LABs, LABt, LABd, colst, rowst, colss, rowss);
// Conversion de l'image de destination (LABd) en format RGB (pimd)
LAB2RGB(pimd, LABd, colst, rowst);
free(LABs);
free(LABt);
free(LABd);
pnm_save(pimd, PnmRawPpm, imd);
pnm_free(pimt);
pnm_free(pimd);
pnm_free(pims);
}
// LABNode
bool
cpu_tsdf::LABNode::addObservation (float d_new, float w_new, float max_weight,
uint8_t r, uint8_t g, uint8_t b)
{
float wsum = w_ + w_new;
float L_new, A_new, B_new;
RGB2LAB (r, g, b, L_new, A_new, B_new);
uint8_t r_reconv, g_reconv, b_reconv;
LAB2RGB (L_new, A_new, B_new, r_reconv, g_reconv, b_reconv);
L_ = (w_*L_ + w_new*L_new) / wsum;
A_ = (w_*A_ + w_new*A_new) / wsum;
B_ = (w_*B_ + w_new*B_new) / wsum;
return (OctreeNode::addObservation (d_new, w_new, max_weight));
}
bool
cpu_tsdf::LABNode::getRGB (uint8_t &r, uint8_t &g, uint8_t &b) const
{
LAB2RGB (L_, A_, B_, r, g, b);
return (true);
}
