CMappedImage.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CMappedImage_H
#define CMappedImage_H

#include <mrpt/utils/CImage.h>

namespace mrpt
{
namespace utils
{
/** This class encapsulates a MRPT Image and allows the sampling of individual
 * pixels with sub-pixel accuracy and with a change of coordinates (eg, meters).
 *  Only work with graylevels (for convenience), so if a color image is passed
 * it'll be passed first to grayscale.
 *
 * \sa CImage
 * \ingroup mrpt_base_grp
 */
class CMappedImage
{
   protected:
        CImage::Ptr m_img;
        double m_x0, m_x1, m_y0, m_y1;
        /** width * pixel_size = (x1-x0) */
        double m_pixel_size;
        TInterpolationMethod m_method;

   public:
        /** Constructor: Must pass an image (as a smart pointer) and the coordinates
         * of the border
          * \param img The image. A copy of the smart pointer is kept internally to
         * this object.
          * \param x0 Coordinate X of the left side (default: 0)
          * \param x1 Coordinate X of the right side (or -1 to IMAGE_WIDTH-1)
          * \param y0 Coordinate Y of the top side (default: 0)
          * \param y1 Coordinate Y of the bottom side (or -1 to IMAGE_HEIGHT-1)
          * \param method The interpolation method: It can be imNEAREST, imBILINEAR
         * or imBICUBIC.
          */
        CMappedImage(
                CImage::Ptr img, double x0 = 0, double x1 = -1, double y0 = 0,
                double y1 = -1, TInterpolationMethod method = IMG_INTERP_LINEAR);

        /** Changes the coordinates of the image (see constructor for the meaning)
         */
        void changeCoordinates(double x0, double x1, double y0, double y1);

        /** Returns the interpolated pixel at the coordinates (x,y), in the range
         * [0,255] (grayscale)
          *  If the point is out of the image, 0 is returned.
          */
        double getPixel(double x, double y) const;

};  // End of class

}  // end of namespace utils

}  // end of namespace mrpt

#endif