CImagePyramid.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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 "vision-precomp.h"  // Precompiled headers

#include <mrpt/vision/CImagePyramid.h>

using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::img;

// Template that generalizes the two user entry-points below:
template <bool FASTLOAD>
bool buildPyramid_templ(
    CImagePyramid& obj, mrpt::img::CImage& img, const size_t nOctaves,
    const bool smooth_halves, const bool convert_grayscale)
{
    ASSERT_ABOVE_(nOctaves, 0);

    // TImageSize  img_size = img.getSize();
    obj.images.resize(nOctaves);

    // First octave: Just copy the image:
    if (convert_grayscale && img.isColor())
    {
        // In this case we have to convert to grayscale, so FASTLOAD doesn't
        // really matter:
        img.grayscale(obj.images[0]);
    }
    else
    {
        // No need to convert to grayscale OR image already is grayscale:
        // Fast copy -> "move", destroying source.
        if (FASTLOAD)
            obj.images[0] = std::move(img);
        else
            obj.images[0] = img;  // Normal copy
    }

    // Rest of octaves, if any:
    bool all_used_sse2 = true;
    for (size_t o = 1; o < nOctaves; o++)
    {
        bool ret = obj.images[o - 1].scaleHalf(
            obj.images[o], smooth_halves ? IMG_INTERP_LINEAR : IMG_INTERP_NN);
        all_used_sse2 = all_used_sse2 && ret;
    }
    return all_used_sse2;
}

bool CImagePyramid::buildPyramid(
    const mrpt::img::CImage& img, const size_t nOctaves,
    const bool smooth_halves, const bool convert_grayscale)
{
    return buildPyramid_templ<false>(
        *this, *const_cast<mrpt::img::CImage*>(&img), nOctaves, smooth_halves,
        convert_grayscale);
}

bool CImagePyramid::buildPyramidFast(
    mrpt::img::CImage& img, const size_t nOctaves, const bool smooth_halves,
    const bool convert_grayscale)
{
    return buildPyramid_templ<true>(
        *this, img, nOctaves, smooth_halves, convert_grayscale);
}