/usr/include/SurgSim/DataStructures/ImageBase-inl.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 | // This file is a part of the OpenSurgSim project.
// Copyright 2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_DATASTRUCTURES_IMAGEBASE_INL_H
#define SURGSIM_DATASTRUCTURES_IMAGEBASE_INL_H
#include "SurgSim/Framework/Assert.h"
namespace SurgSim
{
namespace DataStructures
{
template<class T>
ImageBase<T>::~ImageBase()
{
}
template<class T>
Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, 1>> ImageBase<T>::operator()(size_t x, size_t y)
{
SURGSIM_ASSERT(x < m_width) << "x is larger than the image width (" << x << " >= " << m_width << ")";
SURGSIM_ASSERT(y < m_height) << "y is larger than the image height (" << y << " >= " << m_height << ")";
return Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, 1>>
(getData() + m_channels * (x + y * m_width), m_channels);
}
template<class T>
Eigen::Map<const Eigen::Matrix<T, Eigen::Dynamic, 1>> ImageBase<T>::operator()(size_t x, size_t y) const
{
SURGSIM_ASSERT(x < m_width) << "x is larger than the image width (" << x << " >= " << m_width << ")";
SURGSIM_ASSERT(y < m_height) << "y is larger than the image height (" << y << " >= " << m_height << ")";
return Eigen::Map<const Eigen::Matrix<T, Eigen::Dynamic, 1>>
(getData() + m_channels * (x + y * m_width), m_channels);
}
template<class T>
Eigen::Map<typename ImageBase<T>::ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1>>
ImageBase<T>::getChannel(size_t index)
{
SURGSIM_ASSERT(index < m_channels) << "Channel number is larger than the number of channels";
Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> stride(m_width*m_channels, m_channels);
return Eigen::Map<ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1>>
(getData() + index, m_width, m_height, stride);
}
template<class T>
Eigen::Map<const typename ImageBase<T>::ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1>>
ImageBase<T>::getChannel(size_t index) const
{
SURGSIM_ASSERT(index < m_channels) << "Channel number is larger than the number of channels";
Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> stride(m_width*m_channels, m_channels);
return Eigen::Map<const ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1>>
(getData() + index, m_width, m_height, stride);
}
template<class T>
void ImageBase<T>::setChannel(size_t index, const Eigen::Ref<const ChannelType>& data)
{
auto myChannel = getChannel(index);
SURGSIM_ASSERT(myChannel.rows() == data.rows() && myChannel.cols() == data.cols())
<< "Channel data must be of size " << myChannel.rows() << "x" << myChannel.cols() << ". "
<< data.rows() << "x" << data.cols() << " data was provided.";
myChannel = data;
}
template<class T>
Eigen::Map<typename ImageBase<T>::VectorType, Eigen::Unaligned> ImageBase<T>::getAsVector()
{
return Eigen::Map<VectorType, Eigen::Unaligned>(getData(), m_width * m_height * m_channels);
}
template<class T>
Eigen::Map<const typename ImageBase<T>::VectorType, Eigen::Unaligned> ImageBase<T>::getAsVector() const
{
return Eigen::Map<const VectorType, Eigen::Unaligned>(getData(), m_width * m_height * m_channels);
}
template<class T>
void ImageBase<T>::setAsVector(const Eigen::Ref<const VectorType>& data)
{
auto myVector = getAsVector();
SURGSIM_ASSERT(myVector.rows() == data.rows() && myVector.cols() == data.cols())
<< "Vector must be of size " << myVector.rows() << "x" << myVector.cols() << ". "
<< "A " << data.rows() << "x" << data.cols() << " vector was provided.";
myVector = data;
}
template<class T>
size_t ImageBase<T>::getWidth() const
{
return m_width;
}
template<class T>
size_t ImageBase<T>::getHeight() const
{
return m_height;
}
template<class T>
std::array<size_t, 3> ImageBase<T>::getSize() const
{
std::array<size_t, 3> size = {m_width, m_height, m_channels};
return size;
}
template<class T>
size_t ImageBase<T>::getNumChannels() const
{
return m_channels;
}
template<class T>
void ImageBase<T>::setSize(size_t width, size_t height, size_t channels)
{
m_width = width;
m_height = height;
m_channels = channels;
}
};
};
#endif //SURGSIM_DATASTRUCTURES_IMAGEBASE_INL_H
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