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src/util/MinimalImage.h

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+/**
+* This file is part of DSO.
+* 
+* Copyright 2016 Technical University of Munich and Intel.
+* Developed by Jakob Engel <engelj at in dot tum dot de>,
+* for more information see <http://vision.in.tum.de/dso>.
+* If you use this code, please cite the respective publications as
+* listed on the above website.
+*
+* DSO is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* DSO is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with DSO. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#pragma once
+
+#include "util/NumType.h"
+#include "algorithm"
+
+namespace dso
+{
+
+template<typename T>
+class MinimalImage
+{
+public:
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+	int w;
+	int h;
+	T* data;
+
+	/*
+	 * creates minimal image with own memory
+	 */
+	inline MinimalImage(int w_, int h_) : w(w_), h(h_)
+	{
+		data = new T[w*h];
+		ownData=true;
+	}
+
+	/*
+	 * creates minimal image wrapping around existing memory
+	 */
+	inline MinimalImage(int w_, int h_, T* data_) : w(w_), h(h_)
+	{
+		data = data_;
+		ownData=false;
+	}
+
+	inline ~MinimalImage()
+	{
+		if(ownData) delete [] data;
+	}
+
+	inline MinimalImage* getClone()
+	{
+		MinimalImage* clone = new MinimalImage(w,h);
+		memcpy(clone->data, data, sizeof(T)*w*h);
+		return clone;
+	}
+
+
+	inline T& at(int x, int y) {return data[(int)x+((int)y)*w];}
+	inline T& at(int i) {return data[i];}
+
+	inline void setBlack()
+	{
+		memset(data, 0, sizeof(T)*w*h);
+	}
+
+	inline void setConst(T val)
+	{
+		for(int i=0;i<w*h;i++) data[i] = val;
+	}
+
+	inline void setPixel1(const float &u, const float &v, T val)
+	{
+		at(u+0.5f,v+0.5f) = val;
+	}
+
+	inline void setPixel4(const float &u, const float &v, T val)
+	{
+		at(u+1.0f,v+1.0f) = val;
+		at(u+1.0f,v) = val;
+		at(u,v+1.0f) = val;
+		at(u,v) = val;
+	}
+
+	inline void setPixel9(const int &u, const int &v, T val)
+	{
+		at(u+1,v-1) = val;
+		at(u+1,v) = val;
+		at(u+1,v+1) = val;
+		at(u,v-1) = val;
+		at(u,v) = val;
+		at(u,v+1) = val;
+		at(u-1,v-1) = val;
+		at(u-1,v) = val;
+		at(u-1,v+1) = val;
+	}
+
+	inline void setPixelCirc(const int &u, const int &v, T val)
+	{
+		for(int i=-3;i<=3;i++)
+		{
+			at(u+3,v+i) = val;
+			at(u-3,v+i) = val;
+			at(u+2,v+i) = val;
+			at(u-2,v+i) = val;
+
+			at(u+i,v-3) = val;
+			at(u+i,v+3) = val;
+			at(u+i,v-2) = val;
+			at(u+i,v+2) = val;
+		}
+	}
+
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+private:
+	bool ownData;
+};
+
+typedef Eigen::Matrix<unsigned char,3,1> Vec3b;
+typedef MinimalImage<float> MinimalImageF;
+typedef MinimalImage<Vec3f> MinimalImageF3;
+typedef MinimalImage<unsigned char> MinimalImageB;
+typedef MinimalImage<Vec3b> MinimalImageB3;
+typedef MinimalImage<unsigned short> MinimalImageB16;
+
+}
+