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C++ reference for MRPT 1.4.0
mrpt
vision
CImagePyramid.h
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/* +---------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+---------------------------------------------------------------------------+ */
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#ifndef __mrpt_vision_image_pyramid_H
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#define __mrpt_vision_image_pyramid_H
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#include <
mrpt/utils/CImage.h
>
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#include <
mrpt/vision/link_pragmas.h
>
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namespace
mrpt
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{
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namespace
vision
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{
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/** Holds and builds a pyramid of images: starting with an image at full resolution (octave=1), it builds
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* a number of half-resolution images: octave=2 at 1/2 , octave=3 at 1/2^2, octave=N at 1/2^(N-1).
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*
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* Color (RGB) or grayscale pyramids can be built from color input images; only grayscale pyramids can be built from
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* grayscale images.
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*
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* The algorithm to halve the images can be either a 1:2 decimation or a smooth filter (arithmetic mean of every 4 pixels).
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*
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* Pyramids are built by invoking the method \a buildPyramid() or \a buildPyramidFast()
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*
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* Example of usage:
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* \code
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* CImagePyramid pyr;
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*
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* CImage img = ...
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*
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* pyr.buildPyramid(
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* img,
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* 4, // num. of octaves
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* true // smooth
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* );
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*
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* pyr.images[0].saveToFile("pyr0.jpg");
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* pyr.images[1].saveToFile("pyr1.jpg");
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* ...
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* \endcode
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*
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* \note Both converting to grayscale and building the octave images have SSE2-optimized implementations (if available).
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*
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* \sa mrpt::utils::CImage
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* \ingroup mrpt_vision_grp
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*/
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class
VISION_IMPEXP
CImagePyramid
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{
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public
:
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CImagePyramid
();
//!< Default constructor, does nothing
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~
CImagePyramid
();
//!< Destructor, frees the stored images.
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/** Fills the vector \a images with the different octaves built from the input image.
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* \param[in] img The input image. Can be either color or grayscale.
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* \param[in] nOctaves Number of octaves to build. 1 means just the original image, 2 means the original plus the 1/2 image, etc.
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* \param[in] smooth_halves If true, use an arithmetic mean of every 2x2 pixel block when downsampling.
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* \param[in] convert_grayscale If true, the pyramid is built in grayscale even for color input images.
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* \sa buildPyramidFast
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*/
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void
buildPyramid(
const
mrpt::utils::CImage
&img,
const
size_t
nOctaves,
const
bool
smooth_halves =
true
,
const
bool
convert_grayscale =
false
);
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/** Exactly like \a buildPyramid(), but if the input image has not to be converted from RGB to grayscale, the image data buffer is *reutilized*
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* for the 1st octave in \a images[0], emptying the input image.
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* \sa buildPyramid
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*/
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void
buildPyramidFast(
mrpt::utils::CImage
&img,
const
size_t
nOctaves,
const
bool
smooth_halves =
true
,
const
bool
convert_grayscale =
false
);
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/** The individual images:
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* - images[0]: 1st octave (full-size)
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* - images[1]: 2nd octave (1/2 size)
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* - images[2]: 3rd octave (1/4 size)
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*/
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std::vector<mrpt::utils::CImage>
images
;
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};
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}
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}
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#endif
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition:
CParticleFilter.h:16
mrpt::utils::CImage
A class for storing images as grayscale or RGB bitmaps.
Definition:
CImage.h:101
VISION_IMPEXP
#define VISION_IMPEXP
Definition:
vision/include/mrpt/vision/link_pragmas.h:90
link_pragmas.h
mrpt::vision::CImagePyramid::images
std::vector< mrpt::utils::CImage > images
The individual images:
Definition:
CImagePyramid.h:79
CImage.h
mrpt::vision::CImagePyramid
Holds and builds a pyramid of images: starting with an image at full resolution (octave=1),...
Definition:
CImagePyramid.h:53
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