81 lines
2.1 KiB
C++
81 lines
2.1 KiB
C++
/*
|
|
* vision.h
|
|
*
|
|
* Created on: May 14, 2013
|
|
* Author: cforster
|
|
*/
|
|
|
|
#ifndef VIKIT_VISION_H_
|
|
#define VIKIT_VISION_H_
|
|
|
|
#include <aligned_mem.h>
|
|
#include <Eigen/Core>
|
|
#include <opencv2/opencv.hpp>
|
|
|
|
namespace vk
|
|
{
|
|
|
|
//! Return value between 0 and 1
|
|
//! WARNING This function does not check whether the x/y is within the border
|
|
inline float
|
|
interpolateMat_32f(const cv::Mat& mat, float u, float v)
|
|
{
|
|
assert(mat.type()==CV_32F);
|
|
float x = floor(u);
|
|
float y = floor(v);
|
|
float subpix_x = u-x;
|
|
float subpix_y = v-y;
|
|
float wx0 = 1.0-subpix_x;
|
|
float wx1 = subpix_x;
|
|
float wy0 = 1.0-subpix_y;
|
|
float wy1 = subpix_y;
|
|
|
|
float val00 = mat.at<float>(y,x);
|
|
float val10 = mat.at<float>(y,x+1);
|
|
float val01 = mat.at<float>(y+1,x);
|
|
float val11 = mat.at<float>(y+1,x+1);
|
|
return (wx0*wy0)*val00 + (wx1*wy0)*val10 + (wx0*wy1)*val01 + (wx1*wy1)*val11;
|
|
}
|
|
|
|
//! Return value between 0 and 255
|
|
//! WARNING This function does not check whether the x/y is within the border
|
|
inline float
|
|
interpolateMat_8u(const cv::Mat& mat, float u, float v)
|
|
{
|
|
if(mat.empty())return 0.0;
|
|
if(mat.type()!=CV_8U)return 0.0;
|
|
int x = floor(u);
|
|
int y = floor(v);
|
|
float subpix_x = u-x;
|
|
float subpix_y = v-y;
|
|
|
|
float w00 = (1.0f-subpix_x)*(1.0f-subpix_y);
|
|
float w01 = (1.0f-subpix_x)*subpix_y;
|
|
float w10 = subpix_x*(1.0f-subpix_y);
|
|
float w11 = 1.0f - w00 - w01 - w10;
|
|
|
|
const int stride = mat.step.p[0];
|
|
unsigned char* ptr = mat.data + y*stride + x;
|
|
if(isnan(w00) || isnan(w01 )||isnan( w10) || isnan(w11) || isinf(w00) || isinf(w01)|| isinf(w10)|| isinf(w11))return 0.0;
|
|
if(ptr[0] == NULL || ptr[1]== NULL || ptr[stride]==NULL ||ptr[stride+1]==NULL)return 0.0;
|
|
return w00*ptr[0] + w01*ptr[stride] + w10*ptr[1] + w11*ptr[stride+1];
|
|
}
|
|
|
|
void halfSample(const cv::Mat& in, cv::Mat& out);
|
|
|
|
float shiTomasiScore(const cv::Mat& img, int u, int v);
|
|
|
|
void calcSharrDeriv(const cv::Mat& src, cv::Mat& dst);
|
|
|
|
#ifdef __SSE2__
|
|
|
|
/// Used to convert a Kinect depthmap
|
|
/// Code by Christian Kerl DVO, GPL Licence
|
|
void convertRawDepthImageSse_16u_to_32f(cv::Mat& depth_16u, cv::Mat& depth_32f, float scale);
|
|
|
|
#endif
|
|
|
|
} // namespace vk
|
|
|
|
#endif // VIKIT_VISION_H_
|