/usr/include/x86_64-linux-gnu/visp3/core/vpImageFilter.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Various image tools, convolution, ...
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpImageFilter_H
#define vpImageFilter_H
/*!
\file vpImageFilter.h
\brief Various image filter, convolution, etc...
*/
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageException.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpMath.h>
#include <fstream>
#include <iostream>
#include <math.h>
#include <string.h>
/*!
\class vpImageFilter
\ingroup group_core_image
\brief Various image filter, convolution, etc...
*/
class VISP_EXPORT vpImageFilter
{
public:
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
static void canny(const vpImage<unsigned char>& I,
vpImage<unsigned char>& Ic,
const unsigned int gaussianFilterSize,
const double thresholdCanny,
const unsigned int apertureSobel);
#endif
/*!
Apply a 1x3 derivative filter to an image pixel.
\param I : Image to filter
\param r: coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
*/
template<class T>
static double derivativeFilterX(const vpImage<T> &I,
const unsigned int r, const unsigned int c)
{
return (2047.0 *(I[r][c+1] - I[r][c-1])
+913.0 *(I[r][c+2] - I[r][c-2])
+112.0 *(I[r][c+3] - I[r][c-3]))/8418.0;
}
/*!
Apply a 3x1 derivative filter to an image pixel.
\param I : Image to filter
\param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
*/
template<class T>
static double derivativeFilterY(const vpImage<T> &I,
const unsigned int r, const unsigned int c)
{
return (2047.0 *(I[r+1][c] - I[r-1][c])
+913.0 *(I[r+2][c] - I[r-2][c])
+112.0 *(I[r+3][c] - I[r-3][c]))/8418.0;
}
/*!
Apply a 1 x size Derivative Filter in X to an image pixel.
\param I : Image to filter
\param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
\param filter : coefficients of the filter to be initialized using vpImageFilter::getGaussianDerivativeKernel().
\param size : size of the filter
\sa vpImageFilter::getGaussianDerivativeKernel()
*/
template<class T>
static double derivativeFilterX(const vpImage<T> &I,
const unsigned int r, const unsigned int c,
const double *filter, const unsigned int size)
{
unsigned int i;
double result;
result = 0;
for(i=1; i<=(size-1)/2; i++)
{
result += filter[i]*(I[r][c+i] - I[r][c-i]) ;
}
return result;
}
/*!
Apply a size x 1 Derivative Filter in Y to an image pixel.
\param I : Image to filter
\param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
\param filter : coefficients of the filter to be initialized using vpImageFilter::getGaussianDerivativeKernel().
\param size : size of the filter
\sa vpImageFilter::getGaussianDerivativeKernel()
*/
template<class T>
static double derivativeFilterY(const vpImage<T> &I,
const unsigned int r, const unsigned int c,
const double *filter, const unsigned int size)
{
unsigned int i;
double result;
result = 0;
for(i=1; i<=(size-1)/2; i++)
{
result += filter[i]*(I[r+i][c] - I[r-i][c]) ;
}
return result;
}
static void filter(const vpImage<double> &I,
vpImage<double>& Iu,
vpImage<double>& Iv,
const vpMatrix& M) ;
static void filter(const vpImage<unsigned char> &I,
vpImage<double>& If,
const vpMatrix& M) ;
static void filter(const vpImage<unsigned char> &I, vpImage<double>& GI, const double *filter,unsigned int size);
static void filter(const vpImage<double> &I, vpImage<double>& GI, const double *filter,unsigned int size);
static inline unsigned char filterGaussXPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
{
return (unsigned char)((1.*I[i][j-2]+4.*I[i][j-1]+6.*I[i][j]+4.*I[i][j+1]+1.*I[i][j+2])/16.);
}
static inline unsigned char filterGaussYPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
{
return (unsigned char)((1.*I[i-2][j]+4.*I[i-1][j]+6.*I[i][j]+4.*I[i+1][j]+1.*I[i+2][j])/16.);
}
static void filterX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
static void filterX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
static inline double filterX(const vpImage<unsigned char> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterXLeftBorder(const vpImage<unsigned char> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(c>i)
result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
else
result += filter[i]*(I[r][c+i] + I[r][i-c]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterXRightBorder(const vpImage<unsigned char> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(c+i<I.getWidth())
result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
else
result += filter[i]*(I[r][2*I.getWidth()-c-i-1] + I[r][c-i]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterX(const vpImage<double> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterXLeftBorder(const vpImage<double> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(c>i)
result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
else
result += filter[i]*(I[r][c+i] + I[r][i-c]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterXRightBorder(const vpImage<double> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(c+i<I.getWidth())
result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
else
result += filter[i]*(I[r][2*I.getWidth()-c-i-1] + I[r][c-i]) ;
}
return result+filter[0]*I[r][c];
}
static void filterY(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
static void filterY(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
static inline double filterY(const vpImage<unsigned char> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
}
return result+filter[0]*I[r][c];
}
double static inline filterYTopBorder(const vpImage<unsigned char> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(r>i)
result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
else
result += filter[i]*(I[r+i][c] + I[i-r][c]) ;
}
return result+filter[0]*I[r][c];
}
double static inline filterYBottomBorder(const vpImage<unsigned char> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(r+i<I.getHeight())
result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
else
result += filter[i]*(I[2*I.getHeight()-r-i-1][c] + I[r-i][c]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterYTopBorder(const vpImage<double> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(r>i)
result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
else
result += filter[i]*(I[r+i][c] + I[i-r][c]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterYBottomBorder(const vpImage<double> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
if(r+i<I.getHeight())
result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
else
result += filter[i]*(I[2*I.getHeight()-r-i-1][c] + I[r-i][c]) ;
}
return result+filter[0]*I[r][c];
}
static inline double filterY(const vpImage<double> &I,
unsigned int r, unsigned int c,
const double *filter,unsigned int size)
{
double result;
result = 0;
for(unsigned int i=1; i<=(size-1)/2; i++)
{
result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
}
return result+filter[0]*I[r][c];
}
static void gaussianBlur(const vpImage<unsigned char> &I, vpImage<double>& GI, unsigned int size=7, double sigma=0., bool normalize=true);
static void gaussianBlur(const vpImage<double> &I, vpImage<double>& GI, unsigned int size=7, double sigma=0., bool normalize=true);
/*!
Apply a 5x5 Gaussian filter to an image pixel.
\param fr : Image to filter
\param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
*/
template<class T>
static double gaussianFilter(const vpImage<T> & fr,
const unsigned int r, const unsigned int c)
{
//filter Gaussien
return (
15.0 * fr[r][c]
+ 12.0 * ( fr[r-1][c] + fr[r][c-1] + fr[r+1][c] + fr[r][c+1] )
+ 9.0 * ( fr[r-1][c-1] + fr[r+1][c-1] + fr[r-1][c+1] + fr[r+1][c+1])
+ 5.0 * ( fr[r-2][c] + fr[r][c-2] + fr[r+2][c] + fr[r][c+2] )
+ 4.0 * ( fr[r-2][c+1] + fr[r-2][c-1] + fr[r-1][c-2] + fr[r+1][c-2] +
fr[r+2][c-1] + fr[r+2][c+1] + fr[r-1][c+2] + fr[r+1][c+2] )
+ 2.0 * ( fr[r-2][c-2] + fr[r+2][c-2] + fr[r-2][c+2] + fr[r+2][c+2] )
)
/159.0;
}
//operation pour pyramide gaussienne
static void getGaussPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
static void getGaussXPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
static void getGaussYPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
static void getGaussianKernel(double *filter, unsigned int size, double sigma=0., bool normalize=true);
static void getGaussianDerivativeKernel(double *filter, unsigned int size, double sigma=0., bool normalize=true);
//fonction renvoyant le gradient en X de l'image I pour traitement pyramidal => dimension /2
static void getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx);
static void getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter, unsigned int size);
static void getGradX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter, unsigned int size);
static void getGradXGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *gaussianKernel,
const double *gaussianDerivativeKernel, unsigned int size);
//fonction renvoyant le gradient en Y de l'image I
static void getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy);
static void getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *filter, unsigned int size);
static void getGradY(const vpImage<double> &I, vpImage<double>& dIy, const double *filter, unsigned int size);
static void getGradYGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *gaussianKernel,
const double *gaussianDerivativeKernel,unsigned int size);
} ;
#endif
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