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<div class="title">CMappedImage.h</div> </div>
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<a href="_c_mapped_image_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMappedImage_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMappedImage_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>utils
<a name="l00036"></a>00036 {<span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment"> /** 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).</span>
<a name="l00038"></a>00038 <span class="comment"> * Only work with graylevels (for convenience), so if a color image is passed it'll be passed first to grayscale.</span>
<a name="l00039"></a>00039 <span class="comment"> *</span>
<a name="l00040"></a>00040 <span class="comment"> * \sa CImage</span>
<a name="l00041"></a>00041 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00042"></a>00042 <span class="comment"> */</span>
<a name="l00043"></a>00043 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CMappedImage
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">protected</span>:
<a name="l00046"></a><a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a2c8c03b1327c622accd1ea24ef3adf72">00046</a> <a class="code" href="structmrpt_1_1utils_1_1_c_image_ptr.html">CImagePtr</a> <a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a2c8c03b1327c622accd1ea24ef3adf72">m_img</a>;
<a name="l00047"></a><a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a930775a75d658b72345d094d6777743a">00047</a> <span class="keywordtype">double</span> m_x0,m_x1, m_y0, <a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a930775a75d658b72345d094d6777743a">m_y1</a>;
<a name="l00048"></a><a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a29ee26a3f9a053ea10bbfe10fa5835c6">00048</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a29ee26a3f9a053ea10bbfe10fa5835c6" title="width * pixel_size = (x1-x0)">m_pixel_size</a>; <span class="comment">//!< width * pixel_size = (x1-x0)</span>
<a name="l00049"></a><a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a0cf0e674dbe69bfa1a53bc306700f3ab">00049</a> <span class="comment"></span> <a class="code" href="group__mrpt__base__grp.html#gaaa1dce60212047066cc950eb834e96fd" title="Interpolation methods for images.">TInterpolationMethod</a> <a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html#a0cf0e674dbe69bfa1a53bc306700f3ab">m_method</a>;
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00052"></a>00052 <span class="comment"> /** Constructor: Must pass an image (as a smart pointer) and the coordinates of the border</span>
<a name="l00053"></a>00053 <span class="comment"> * \param img The image. A copy of the smart pointer is kept internally to this object.</span>
<a name="l00054"></a>00054 <span class="comment"> * \param x0 Coordinate X of the left side (default: 0)</span>
<a name="l00055"></a>00055 <span class="comment"> * \param x1 Coordinate X of the right side (or -1 to IMAGE_WIDTH-1)</span>
<a name="l00056"></a>00056 <span class="comment"> * \param y0 Coordinate Y of the top side (default: 0)</span>
<a name="l00057"></a>00057 <span class="comment"> * \param y1 Coordinate Y of the bottom side (or -1 to IMAGE_HEIGHT-1)</span>
<a name="l00058"></a>00058 <span class="comment"> * \param method The interpolation method: It can be imNEAREST, imBILINEAR or imBICUBIC.</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 <a class="code" href="classmrpt_1_1utils_1_1_c_mapped_image.html" title="This class encapsulates a MRPT Image and allows the sampling of individual pixels with sub-pixel accu...">CMappedImage</a>( <a class="code" href="structmrpt_1_1utils_1_1_c_image_ptr.html">CImagePtr</a> img, <span class="keywordtype">double</span> x0=0, <span class="keywordtype">double</span> x1=-1, <span class="keywordtype">double</span> y0=0, <span class="keywordtype">double</span> y1=-1, <a class="code" href="group__mrpt__base__grp.html#gaaa1dce60212047066cc950eb834e96fd" title="Interpolation methods for images.">TInterpolationMethod</a> method = <a class="code" href="group__mrpt__base__grp.html#ggaaa1dce60212047066cc950eb834e96fda998c25e4b4040a1948a085e843acdb76">IMG_INTERP_LINEAR</a> );
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** Changes the coordinates of the image (see constructor for the meaning) */</span>
<a name="l00063"></a>00063 <span class="keywordtype">void</span> changeCoordinates(<span class="keywordtype">double</span> x0, <span class="keywordtype">double</span> x1, <span class="keywordtype">double</span> y0, <span class="keywordtype">double</span> y1);
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Returns the interpolated pixel at the coordinates (x,y), in the range [0,255] (grayscale) </span>
<a name="l00066"></a>00066 <span class="comment"> * If the point is out of the image, 0 is returned.</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 <span class="keywordtype">double</span> getPixel(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> ) <span class="keyword">const</span>;
<a name="l00069"></a>00069
<a name="l00070"></a>00070
<a name="l00071"></a>00071 }; <span class="comment">// End of class</span>
<a name="l00072"></a>00072
<a name="l00073"></a>00073
<a name="l00074"></a>00074 } <span class="comment">// end of namespace utils</span>
<a name="l00075"></a>00075
<a name="l00076"></a>00076 } <span class="comment">// end of namespace mrpt</span>
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="preprocessor">#endif</span>
</pre></div></div>
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