CMappedImage.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "img-precomp.h"  // Precompiled headers

#include <mrpt/core/round.h>
#include <mrpt/img/CMappedImage.h>

using namespace mrpt;
using namespace mrpt::img;
using namespace mrpt::math;

/*---------------------------------------------------------------
                Constructor
 ---------------------------------------------------------------*/
CMappedImage::CMappedImage(
    CImage::Ptr img, double x0, double x1, double y0, double y1,
    TInterpolationMethod method)
    : m_img(img),
      m_x0(x0),
      m_x1(x1),
      m_y0(y0),
      m_y1(y1),
      m_pixel_size(0),
      m_method(method)
{
    m_img->grayscale();
    if (m_img->isColor())
    {
        auto* new_img = new CImage();
        m_img->grayscale(*new_img);
        m_img = CImage::Ptr(new_img);
    }
    changeCoordinates(x0, x1, y0, y1);
}

/*---------------------------------------------------------------
                changeCoordinates
 ---------------------------------------------------------------*/
void CMappedImage::changeCoordinates(double x0, double x1, double y0, double y1)
{
    MRPT_START
    ASSERT_(x0 != x1);
    ASSERT_(y0 != y1);

    m_x0 = x0;
    m_x1 = x1;
    m_y0 = y0;
    m_y1 = y1;

    if (y1 < 0 || x1 < 0)
    {
        m_x1 = m_img->getWidth() - 1;
        m_y1 = m_img->getHeight() - 1;
    }

    ASSERT_(m_img->getWidth() > 0 && m_img->getHeight());

    m_pixel_size = (m_x1 - m_x0) / m_img->getWidth();

    MRPT_END
}

/*---------------------------------------------------------------
                getPixel
 ---------------------------------------------------------------*/
double CMappedImage::getPixel(double x, double y) const
{
    // Image size:
    const size_t W = m_img->getWidth();
    const size_t H = m_img->getHeight();

    // the sub-pixel pixel coordinates:
    const double px = (x - m_x0) / m_pixel_size;
    const double py = (y - m_y0) / m_pixel_size;

    if (px < 0 || py < 0 || px > W || py > H)
    {
        return 0;
    }  // Out of image

    switch (m_method)
    {
        case IMG_INTERP_NN:
        {
            // The closest pixel:
            const unsigned int px0 = mrpt::round(px);
            const unsigned int py0 = mrpt::round(py);
            return static_cast<double>((*m_img).at<uint8_t>(px0, py0));
        }
        break;
        case IMG_INTERP_LINEAR:
        {
            // See: http://en.wikipedia.org/wiki/Bilinear_interpolation

            // The four pixels around:
            const int px0 = (int)floor(px);
            const int px1 = (int)ceil(px);
            const int py0 = (int)floor(py);
            const int py1 = (int)ceil(py);

            const auto P11 =
                static_cast<double>((*m_img).at<uint8_t>(px0, py0));
            const auto P12 =
                static_cast<double>((*m_img).at<uint8_t>(px0, py1));
            const auto P21 =
                static_cast<double>((*m_img).at<uint8_t>(px1, py0));
            const auto P22 =
                static_cast<double>((*m_img).at<uint8_t>(px1, py1));

            const double R1 = P11 * (px1 - px) /* /(px1-px0)*/ +
                              P21 * (px - px0) /* /(px1-px0) */;
            const double R2 = P12 * (px1 - px) /* /(px1-px0)*/ +
                              P22 * (px - px0) /* /(px1-px0) */;

            return R1 * (py1 - py) + R2 * (py - py0);
        }
        break;

        case IMG_INTERP_CUBIC:
        case IMG_INTERP_AREA:
        default:
            THROW_EXCEPTION(
                "The selected interpolation method is not supported in this "
                "method.");
    };
}