98 lines
3.5 KiB
C
98 lines
3.5 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/image/BoostGil.h"
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#include "carla/image/ColorConverter.h"
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#include "carla/sensor/data/Color.h"
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#include "carla/sensor/data/ImageTmpl.h"
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#include <type_traits>
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namespace carla {
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namespace image {
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class ImageView {
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private:
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template <typename SrcViewT>
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using GrayPixelLayout = boost::gil::pixel<typename boost::gil::channel_type<SrcViewT>::type, boost::gil::gray_layout_t>;
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template <typename DstPixelT, typename ImageT>
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static auto MakeViewFromSensorImage(ImageT &image) {
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using namespace boost::gil;
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namespace sd = carla::sensor::data;
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static_assert(
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std::is_same<typename ImageT::pixel_type, sd::Color>::value,
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"Invalid pixel type");
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static_assert(
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sizeof(sd::Color) == sizeof(DstPixelT),
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"Invalid pixel size");
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return interleaved_view(
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image.GetWidth(),
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image.GetHeight(),
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reinterpret_cast<DstPixelT*>(image.data()),
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sizeof(sd::Color) * image.GetWidth()); // row length in bytes.
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}
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public:
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template <typename ImageT>
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static auto MakeView(ImageT &image) {
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return boost::gil::view(image);
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}
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static auto MakeView(sensor::data::ImageTmpl<sensor::data::Color> &image) {
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return MakeViewFromSensorImage<boost::gil::bgra8_pixel_t>(image);
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}
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static auto MakeView(const sensor::data::ImageTmpl<sensor::data::Color> &image) {
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return MakeViewFromSensorImage<boost::gil::bgra8c_pixel_t>(image);
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}
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template <typename SrcViewT, typename DstPixelT, typename CC>
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static auto MakeColorConvertedView(const SrcViewT &src, CC cc) {
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return _MakeColorConvertedView<DstPixelT>(src, cc);
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}
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template <typename SrcViewT, typename DstPixelT = GrayPixelLayout<SrcViewT>>
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static auto MakeColorConvertedView(const SrcViewT &src, ColorConverter::Depth cc) {
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return _MakeColorConvertedView<DstPixelT>(src, cc);
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}
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template <typename SrcViewT, typename DstPixelT = GrayPixelLayout<SrcViewT>>
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static auto MakeColorConvertedView(const SrcViewT &src, ColorConverter::LogarithmicDepth) {
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auto intermediate_view = _MakeColorConvertedView<boost::gil::gray32f_pixel_t>(src, ColorConverter::Depth());
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return _MakeColorConvertedView<DstPixelT>(intermediate_view, ColorConverter::LogarithmicLinear());
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}
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template <typename SrcViewT, typename DstPixelT = typename SrcViewT::value_type>
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static auto MakeColorConvertedView(const SrcViewT &src, ColorConverter::CityScapesPalette cc) {
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return _MakeColorConvertedView<DstPixelT>(src, cc);
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}
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private:
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template <typename SrcView, typename DstP, typename CC>
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struct color_converted_type {
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private:
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typedef boost::gil::color_convert_deref_fn<typename SrcView::const_t::reference, DstP, CC> deref_t;
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typedef typename SrcView::template add_deref<deref_t> add_ref_t;
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public:
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typedef typename add_ref_t::type type;
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static type make(const SrcView &sv, CC cc) { return add_ref_t::make(sv, deref_t(cc)); }
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};
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template <typename DstPixelT, typename SrcViewT, typename CC>
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static auto _MakeColorConvertedView(const SrcViewT &src, CC cc) {
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return color_converted_type<SrcViewT, DstPixelT, CC>::make(src, cc);
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}
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};
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} // namespace image
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} // namespace carla
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