ImageDraw.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_SIG_IMAGEDRAW_H
#define YARP_SIG_IMAGEDRAW_H
 
#include <cmath>
 
#include <yarp/sig/Image.h>
 
 
namespace yarp::sig::draw {
 
template <class T>
void addSegment(ImageOf<T>& dest, const T& pix, int x, int y, int dx, int dy)
{
    const double vx = double(dx - x);
    const double vy = double(dy - y);
    // can't use fmax - not portable --paulfitz
    double vbigger = fabs((fabs(vy) > fabs(vx)) ? vy : vx);
    const int steps = int(2 * vbigger);
    const double r = 1.0 / steps;
    for (int i = 0; i <= steps; i++) {
        dest.safePixel(int(x + vx * i * r), int(y + vy * i * r)) = pix;
    }
}
 
template <class T>
void addCircle(ImageOf<T>& dest, const T& pix,
               int i, int j, int r) {
    float d, r2 = (float)(r*r);
    for (int ii=i-r; ii<=i+r; ii++) {
        for (int jj=j-r; jj<=j+r; jj++) {
            d = float((ii-i)*(ii-i)+(jj-j)*(jj-j));
            if (d<=r2) {
                dest.safePixel(ii,jj) = pix;
            }
        }
    }
}
 
template <class T>
void addCrossHair(ImageOf<T>& dest, const T& pix,
                  int i, int j, int r) {
    for (int ii=i-r; ii<=i+r; ii++) {
        for (int jj=j-r; jj<=j+r; jj++) {
            if (ii==i||jj==j) {
                dest.safePixel(ii,jj) = pix;
            }
        }
    }
}
 
template <class T>
void addCircleOutline(ImageOf<T>& dest, const T& pix,
                      int i, int j, int r) {
    float d, r2 = float(r*r), r2l = float((r-1.1)*(r-1.1));
    for (int ii=i-r; ii<=i+r; ii++) {
        for (int jj=j-r; jj<=j+r; jj++) {
            d = float((ii-i)*(ii-i)+(jj-j)*(jj-j));
            if (d<=r2 && d>=r2l) {
                dest.safePixel(ii,jj) = pix;
            }
        }
    }
}
 
template <class T>
void addOvalOutline(ImageOf<T>& dest, const T& pix,
                    int i, int j, int h2, int w2) {
    float x, y;
    for (float th=0; th<2.0*3.14159; th+=0.01) {
        x = j+w2*cos(th);
        y = i+h2*sin(th);
        dest.safePixel((int)y,(int)x) = pix;
    }
}
 
 
template <class T>
void addRectangleOutline(ImageOf<T>& dest, const T& pix,
                         int i, int j, int w, int h) {
    for (int ii=i-w; ii<=i+w; ii++) {
        dest.safePixel(ii,j-h) = pix;
        dest.safePixel(ii,j-h+1) = pix;
        dest.safePixel(ii,j+h) = pix;
        dest.safePixel(ii,j+h-1) = pix;
    }
    for (int jj=j-h; jj<=j+h; jj++) {
        dest.safePixel(i-w,jj) = pix;
        dest.safePixel(i-w+1,jj) = pix;
        dest.safePixel(i+w,jj) = pix;
        dest.safePixel(i+w-1,jj) = pix;
    }
}
 
template <class T>
void addRectangle(ImageOf<T>& dest, const T& pix,
                  int i, int j, int w, int h) {
    for (int ii=i-w; ii<=i+w; ii++) {
        for (int jj=j-h; jj<=j+h; jj++) {
            dest.safePixel(ii,jj) = pix;
        }
    }
}
 
template <class T>
int applyThreshold(ImageOf<T>& src, ImageOf<T>& dest,
                   const T& thetalo, const T& thetahi,
                   const T& pix0, const T& pix1) {
    int h = src.height();
    int w = src.width();
    for (int i=0; i<h; i++) {
        for (int j=0; j<w; j++) {
            if (src(i,j)>=thetalo && src(i,j)<=thetahi) {
                dest(i,j) = pix1;
            } else {
                dest(i,j) = pix0;
            }
        }
    }
    return 0;
}
 
template <class T>
void setImagePixels(ImageOf<T>& src, const T& pix) {
    int h = src.height();
    int w = src.width();
    for (int i=0; i<h; i++) {
        for (int j=0; j<w; j++) {
            src(i,j) = pix;
        }
    }
}
 
#ifndef IMGFOR
#define IMGFOR(img,i,j) for (size_t i=0; i<(img).width(); i++) for (size_t j=0; j<(img).height(); j++)
#endif
 
} // namespace yarp::sig::draw
 
#endif // YARP_SIG_IMAGEDRAW_H