ImgPixel.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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 * Commercial Usage:
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 *
 * GNU General Public License Usage:
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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 */

#ifndef _MIRA_IMGPIXEL_H_
#define _MIRA_IMGPIXEL_H_

#include <opencv2/core/core.hpp>

#include <image/Color.h>

namespace mira {


template<typename T, int Channels>
class ImgPixelBase {
public:
    T operator[](int i) const {
        return v[i];
    }
    T& operator[](int i) {
        return v[i];
    }

    T operator()(int i) const {
        return v[i];
    }
    T& operator()(int i) {
        return v[i];
    }

public:
    bool operator==(const ImgPixelBase& other) const {
        return v == other.v;
    }

public:
    operator cv::Scalar() const {
        return (cv::Scalar) v;
    }

protected:
    cv::Vec<T, Channels> v;
};


template<typename T, int Channels>
class ImgPixel: public ImgPixelBase<T, Channels> {
public:
    ImgPixel() {
    }

    explicit ImgPixel(const cv::Scalar& s) {
        this->v = s;
    }
};

template<typename T>
class ImgPixel<T, 1> : public ImgPixelBase<T, 1> {
public:
    ImgPixel() {
    }

    ImgPixel(T v0) {
        this->v[0] = v0;
    }
};


template<typename T>
class ImgPixel<T, 2> : public ImgPixelBase<T, 2> {
public:
    ImgPixel() {
    }

    ImgPixel(T v0, T v1) {
        this->v[0] = v0;
        this->v[1] = v1;
    }
};


template<typename T>
class ImgPixel<T, 3> : public ImgPixelBase<T, 3> {
public:
    ImgPixel() {
    }

    ImgPixel(T v0, T v1, T v2) {
        this->v[0] = v0;
        this->v[1] = v1;
        this->v[2] = v2;
    }

    ImgPixel(const ColorBase& color) {
        Color::RGB c = color.toRGB();
        this->v[0] = (T) (c.b * 255.0f);
        this->v[1] = (T) (c.g * 255.0f);
        this->v[2] = (T) (c.r * 255.0f);
    }
};

template<typename T>
class ImgPixel<T, 4> : public ImgPixelBase<T, 4> {
public:
    ImgPixel() {
    }
    ImgPixel(T v0, T v1, T v2, T v3) {
        this->v[0] = v0;
        this->v[1] = v1;
        this->v[2] = v2;
        this->v[3] = v3;
    }

    ImgPixel(const ColorBase& color) {
        cv::Scalar c = color;
        this->v = c;
    }

};


}// namespace mira


namespace mira { namespace detail {

// make sure depth and type are defined in cv::DataType<ImgPixel>
// (deprecated  from base classes in OpenCV 3.3):
// hierarchy below checks for existence of cv::DataType<Vec>::depth,
// cv::DataType<Vec>::type separately and adds them if required,
// with original definitions taken from OpenCV

MIRA_MEMBER_DETECTOR(depth)

template<typename T, int Channels,
         bool HasDepth = MIRA_HAS_MEMBER_TEMPLATE(T, depth)::value>
class CVDataTypeVecEnsureDepth :
        public cv::DataType<cv::Vec<T, Channels> > {
};

template<typename T, int Channels>
class CVDataTypeVecEnsureDepth<T, Channels, false> :
        public cv::DataType<cv::Vec<T, Channels> > {

    typedef cv::DataType<cv::Vec<T, Channels> > Base;
public:
    enum { depth = cv::DataType<typename Base::channel_type>::depth };
};

MIRA_MEMBER_DETECTOR(type)

template<typename T, int Channels,
         bool HasType = MIRA_HAS_MEMBER_TEMPLATE(T, type)::value>
class CVDataTypeVecEnsureDepthAndType :
        public CVDataTypeVecEnsureDepth<T, Channels> {
};

template<typename T, int Channels>
class CVDataTypeVecEnsureDepthAndType<T, Channels, false> :
        public CVDataTypeVecEnsureDepth<T, Channels> {

    typedef CVDataTypeVecEnsureDepth<T, Channels> Base;
public:
    enum { type = CV_MAKETYPE(Base::depth, Base::channels) };
};

}}

namespace cv {

template<typename T, int Channels>
class DataType<mira::ImgPixel<T, Channels> > : 
    public mira::detail::CVDataTypeVecEnsureDepthAndType<T, Channels> {
};

}


#endif