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CMappedImage.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  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 
00033 namespace mrpt
00034 {
00035         namespace utils
00036         {
00037                 /** 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).
00038                  *  Only work with graylevels (for convenience), so if a color image is passed it'll be passed first to grayscale.
00039                  *
00040                  * \sa CImage
00041                  */
00042                 class BASE_IMPEXP CMappedImage
00043                 {
00044                 protected:
00045                         CImagePtr                       m_img;
00046                         double                                  m_x0,m_x1, m_y0, m_y1;
00047                         double                                  m_pixel_size; //!< width * pixel_size = (x1-x0)
00048                         TInterpolationMethod    m_method;
00049 
00050                 public:
00051                         /** Constructor: Must pass an image (as a smart pointer) and the coordinates of the border
00052                           * \param img The image. A copy of the smart pointer is kept internally to this object.
00053                           * \param x0 Coordinate X of the left side (default: 0)
00054                           * \param x1 Coordinate X of the right side (or -1 to IMAGE_WIDTH-1)
00055                           * \param y0 Coordinate Y of the top side (default: 0)
00056                           * \param y1 Coordinate Y of the bottom side (or -1 to IMAGE_HEIGHT-1)
00057                           * \param method The interpolation method: It can be imNEAREST, imBILINEAR or imBICUBIC.
00058                           */
00059                         CMappedImage( CImagePtr img, double x0=0, double x1=-1, double y0=0, double y1=-1, TInterpolationMethod method = IMG_INTERP_LINEAR );
00060 
00061                         /** Changes the coordinates of the image (see constructor for the meaning) */
00062                         void changeCoordinates(double x0, double x1, double y0, double y1);
00063 
00064                         /** Returns the interpolated pixel at the coordinates (x,y), in the range [0,255] (grayscale) 
00065                           *  If the point is out of the image, 0 is returned.
00066                           */
00067                         double getPixel(double x,double y ) const;
00068 
00069 
00070                 }; // End of class
00071 
00072 
00073         } // end of namespace utils
00074 
00075 } // end of namespace mrpt
00076 
00077 #endif



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