CImagePyramid.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
 
#include "vision-precomp.h"  // Precompiled headers
#include <mrpt/vision/CImagePyramid.h>
 
using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::img;
 
CImagePyramid::CImagePyramid() {}
CImagePyramid::~CImagePyramid()
{
        // Nothing especial to do, mem. is automatically freed.
}
 
// Template that generalizes the two user entry-points below:
template <bool FASTLOAD>
void 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:
                if (FASTLOAD)
                        obj.images[0].copyFastFrom(
                                img);  // Fast copy -> "move", destroying source.
                else
                        obj.images[0] = img;  // Normal copy
        }
 
        // Rest of octaves, if any:
        for (size_t o = 1; o < nOctaves; o++)
        {
                if (smooth_halves)
                        obj.images[o - 1].scaleHalfSmooth(obj.images[o]);
                else
                        obj.images[o - 1].scaleHalf(obj.images[o]);
        }
}
 
void CImagePyramid::buildPyramid(
        const mrpt::img::CImage& img, const size_t nOctaves,
        const bool smooth_halves, const bool convert_grayscale)
{
        buildPyramid_templ<false>(
                *this, *const_cast<mrpt::img::CImage*>(&img), nOctaves, smooth_halves,
                convert_grayscale);
}
 
void CImagePyramid::buildPyramidFast(
        mrpt::img::CImage& img, const size_t nOctaves, const bool smooth_halves,
        const bool convert_grayscale)
{
        buildPyramid_templ<true>(
                *this, img, nOctaves, smooth_halves, convert_grayscale);
}