imageTools.hpp

Go to the documentation of this file.

#ifndef IMAGETOOLS_HPP_
#define IMAGETOOLS_HPP_

#include "rtslam/gaussian.hpp"
#include "image/Image.hpp"

namespace jafar {
  namespace image {

    template<class Vec>
    cv::Rect gauss2rect(const Vec & x, double dx, double dy){
        double xmin = (int) (x(0) - dx);
        double xmax = (int) (x(0) + dx);
        double ymin = (int) (x(1) - dy);
        double ymax = (int) (x(1) + dy);

        cv::Rect rect(xmin, ymin, xmax - xmin + 1, ymax - ymin + 1);
        return rect;
    }

    
    template<class Vec, class Sym_mat>
    cv::Rect gauss2rect(const Vec & x, const Sym_mat & P, double n_sigmas = 3.0){
        double dx = n_sigmas * sqrt(P(0,0));
        double dy = n_sigmas * sqrt(P(1,1));
        return gauss2rect(x, dx, dy);
    }

    cv::Rect gauss2rect(const rtslam::Gaussian & g, double sigma = 3.0){
      return gauss2rect(g.x(), g.P(), sigma);
    }

    void extractPatch(const Image & src, const vec2 & pix, Image & patch){
      int shift_x = (patch.width()-1)/2;
      int shift_y = (patch.height()-1)/2;
      int x_src = (int)(pix(0)-0.5) - shift_x;
      int y_src = (int)(pix(1)-0.5) - shift_y;
      src.copy(patch, x_src, y_src, 0, 0, patch.width(), patch.height());
    }

    Image extractPatch(const Image & src, const vec2 & pix, int width, int height){
      Image patch(width, height, src.depth(), src.colorSpace());
      extractPatch(src, pix, width, height);
      return patch;
    }

  }
}

#endif /* IMAGETOOLS_HPP_ */