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