trv_densificator.hpp

#ifndef TRV_DENSIFICATOR_HPP
#define TRV_DENSIFICATOR_HPP

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "jmath/ublasExtra.hpp"

#include <image/Image.hpp>

namespace jafar {
  namespace traversability {
    
    class Densificator {
      
      private:
        int mWinHalfWidth;
        int mWinHalfHeight;
        cv::Rect mWinRect;
        
      public:
        
        Densificator ( int winHalfWidth, int winHalfHeight ) :
          mWinHalfWidth(winHalfWidth), mWinHalfHeight(winHalfHeight) {};
        ~Densificator ( void ) {};
        
        /* optimized method
        for images 512x384 method takes around 240ms,
        for images 640x480 method takes around 360ms
        time measurements evaluated with gettimeofday()
        */
        void calc ( const jafar::image::Image &im0, const jafar::image::Image &im1,
                    jafar::image::Image &mask, jafar::image::Image &imZncc );
        
        
        
      public:
        
    };
  } // namespace traversability
} // namespace jafar


#endif