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