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// robert - programme du robot 2005 
// 
// Copyright (C) 2005 Olivier Gaillard
//
// Robot APB Team/Efrei 2005.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

#ifndef img_h
#define img_h
#include <vector>
#include <string>

#include "image/image.hh"
#include "image/image_reader.hh"
#include "oconfig.hh"

/// Chargement des images, conversion en YUV, HSI, detection des contours, 
/// transformation d'une image segmentee en RGB, ecriture de l'image sur le disque
class Img
{
    friend class ConvertImg;
    friend class Group;
    friend class Magnifier;
    friend class SegmLearn;
    friend class Segm;
    friend class Comm;
    friend class Live;
    friend class Skittle;
    friend class OVision;

  public:
    /// Constructeur
    Img (void); 
    /// Destructeur
    ~Img (void); 
    /// Ecrite des valeurs RGB dans un fichier
    void writeRaw (const char *filename, unsigned char *tab = 0) const;
    /// Charge les valeurs RGB � partir d'un fichier
    void loadRaw (const char *filename, const Image::PixelFormat colorMode, const int width, const int height); 
    /// Charge plusieurs fichiers
    void loadMultipeRaw (const std::vector<std::string> &imgList, const Image::PixelFormat colorMode, const int width, const int height);
    /// Lit une image depuis un Image.
    void load (ImageReader &loader);
    /// Renvoie le minimum en fonction d'une bordure
    inline int minWithBorder (int n, int min) {return n > min ? n : min;}
    /// Renvoie le maximum en fonction d'une bordure
    inline int maxWithBorder (int n, int max) {return n < max ? n : max;}
  
  protected:
    /// tableau des couleurs bruts 
    unsigned char *tabData_; 
    /// tableau avec couleurs segmentees
    unsigned char *tabSegm_;
    /// dimension de l'image
    int height_, width_;
    /// nombres de pixels de l'image
    unsigned long nbPixels_;
    /// mode de l'espace de couleurs
    Image::PixelFormat colorMode_;
};



#endif // img_h