00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CMappedImage_H 00029 #define CMappedImage_H 00030 00031 #include <mrpt/utils/CImage.h> 00032 #include <mrpt/vision/utils.h> 00033 00034 namespace mrpt 00035 { 00036 namespace utils 00037 { 00038 /** 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). 00039 * Only work with graylevels (for convenience), so if a color image is passed it'll be passed first to grayscale. 00040 * 00041 * \sa CImage 00042 */ 00043 class MRPTDLLIMPEXP CMappedImage 00044 { 00045 protected: 00046 CImagePtr m_img; 00047 double m_x0,m_x1, m_y0, m_y1; 00048 double m_pixel_size; //!< width * pixel_size = (x1-x0) 00049 mrpt::vision::TInterpolationMethod m_method; 00050 00051 public: 00052 /** Constructor: Must pass an image (as a smart pointer) and the coordinates of the border 00053 * \param img The image. A copy of the smart pointer is kept internally to this object. 00054 * \param x0 Coordinate X of the left side (default: 0) 00055 * \param x1 Coordinate X of the right side (or -1 to IMAGE_WIDTH-1) 00056 * \param y0 Coordinate Y of the top side (default: 0) 00057 * \param y1 Coordinate Y of the bottom side (or -1 to IMAGE_HEIGHT-1) 00058 * \param method The interpolation method: It can be imNEAREST, imBILINEAR or imBICUBIC. 00059 */ 00060 CMappedImage( CImagePtr img, double x0=0, double x1=-1, double y0=0, double y1=-1, mrpt::vision::TInterpolationMethod method = mrpt::vision::imBILINEAR ); 00061 00062 /** Changes the coordinates of the image (see constructor for the meaning) */ 00063 void changeCoordinates(double x0, double x1, double y0, double y1); 00064 00065 /** Returns the interpolated pixel at the coordinates (x,y), in the range [0,255] (grayscale) 00066 * If the point is out of the image, 0 is returned. 00067 */ 00068 double getPixel(double x,double y ) const; 00069 00070 00071 }; // End of class 00072 00073 00074 } // end of namespace utils 00075 00076 } // end of namespace mrpt 00077 00078 #endif
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