CMappedImage.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CMappedImage_H
#define CMappedImage_H

#include <mrpt/utils/CImage.h>

namespace mrpt
{
        namespace utils
        {
                /** 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).
                 *  Only work with graylevels (for convenience), so if a color image is passed it'll be passed first to grayscale.
                 *
                 * \sa CImage
                 * \ingroup mrpt_base_grp
                 */
                class BASE_IMPEXP CMappedImage
                {
                protected:
                        CImagePtr                       m_img;
                        double                                  m_x0,m_x1, m_y0, m_y1;
                        double                                  m_pixel_size; //!< width * pixel_size = (x1-x0)
                        TInterpolationMethod    m_method;

                public:
                        /** Constructor: Must pass an image (as a smart pointer) and the coordinates of the border
                          * \param img The image. A copy of the smart pointer is kept internally to this object.
                          * \param x0 Coordinate X of the left side (default: 0)
                          * \param x1 Coordinate X of the right side (or -1 to IMAGE_WIDTH-1)
                          * \param y0 Coordinate Y of the top side (default: 0)
                          * \param y1 Coordinate Y of the bottom side (or -1 to IMAGE_HEIGHT-1)
                          * \param method The interpolation method: It can be imNEAREST, imBILINEAR or imBICUBIC.
                          */
                        CMappedImage( CImagePtr img, double x0=0, double x1=-1, double y0=0, double y1=-1, TInterpolationMethod method = IMG_INTERP_LINEAR );

                        /** Changes the coordinates of the image (see constructor for the meaning) */
                        void changeCoordinates(double x0, double x1, double y0, double y1);

                        /** Returns the interpolated pixel at the coordinates (x,y), in the range [0,255] (grayscale) 
                          *  If the point is out of the image, 0 is returned.
                          */
                        double getPixel(double x,double y ) const;


                }; // End of class


        } // end of namespace utils

} // end of namespace mrpt

#endif