Visual Servoing Platform version 3.5.0
vpGaussianFilter.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Gaussian filter class
33 *
34 *****************************************************************************/
35
36#include <visp3/core/vpGaussianFilter.h>
37#include <visp3/core/vpImageConvert.h>
38#include <Simd/SimdLib.h>
39
40#ifndef DOXYGEN_SHOULD_SKIP_THIS
41class vpGaussianFilter::Impl
42{
43public:
44 Impl(unsigned int width, unsigned int height, float sigma, bool deinterleave)
45 : m_funcPtrGray(NULL), m_funcPtrRGBa(NULL), m_deinterleave(deinterleave)
46 {
47 const float epsilon = 0.001f;
48 {
49 const size_t channels = 1;
50 m_funcPtrGray = SimdGaussianBlurInit(width, height, channels, &sigma, &epsilon);
51 }
52 {
53 const size_t channels = 4;
54 m_funcPtrRGBa = SimdGaussianBlurInit(width, height, channels, &sigma, &epsilon);
55 }
56
57 if (m_deinterleave) {
58 m_red.resize(height, width);
59 m_green.resize(height, width);
60 m_blue.resize(height, width);
61
62 m_redBlurred.resize(height, width);
63 m_greenBlurred.resize(height, width);
64 m_blueBlurred.resize(height, width);
65 }
66 }
67
68 ~Impl()
69 {
70 if (m_funcPtrGray) {
71 SimdRelease(m_funcPtrGray);
72 }
73
74 if (m_funcPtrRGBa) {
75 SimdRelease(m_funcPtrRGBa);
76 }
77 }
78
80 {
81 I_blur.resize(I.getHeight(), I.getWidth());
82 SimdGaussianBlurRun(m_funcPtrGray, I.bitmap, I.getWidth(), I_blur.bitmap, I_blur.getWidth());
83 }
84
85 void apply(const vpImage<vpRGBa>& I, vpImage<vpRGBa>& I_blur)
86 {
87 I_blur.resize(I.getHeight(), I.getWidth());
88 if (!m_deinterleave) {
89 SimdGaussianBlurRun(m_funcPtrRGBa, reinterpret_cast<unsigned char *>(I.bitmap), I.getWidth()*4,
90 reinterpret_cast<unsigned char *>(I_blur.bitmap), I_blur.getWidth()*4);
91 } else {
92 vpImageConvert::split(I, &m_red, &m_green, &m_blue);
93 SimdGaussianBlurRun(m_funcPtrGray, m_red.bitmap, m_red.getWidth(), m_redBlurred.bitmap, m_redBlurred.getWidth());
94 SimdGaussianBlurRun(m_funcPtrGray, m_green.bitmap, m_green.getWidth(), m_greenBlurred.bitmap, m_greenBlurred.getWidth());
95 SimdGaussianBlurRun(m_funcPtrGray, m_blue.bitmap, m_blue.getWidth(), m_blueBlurred.bitmap, m_blueBlurred.getWidth());
96
97 vpImageConvert::merge(&m_redBlurred, &m_greenBlurred, &m_blueBlurred, NULL, I_blur);
98 }
99 }
100
101protected:
102 void * m_funcPtrGray;
103 void * m_funcPtrRGBa;
104 bool m_deinterleave;
108 vpImage<unsigned char> m_redBlurred;
109 vpImage<unsigned char> m_greenBlurred;
110 vpImage<unsigned char> m_blueBlurred;
111};
112#endif // DOXYGEN_SHOULD_SKIP_THIS
113
123vpGaussianFilter::vpGaussianFilter(unsigned int width, unsigned int height, float sigma, bool deinterleave)
124 : m_impl(new Impl(width, height, sigma, deinterleave))
125{
126}
127
129{
130 delete m_impl;
131}
132
140{
141 m_impl->apply(I, I_blur);
142}
143
151{
152 m_impl->apply(I, I_blur);
153}
void apply(const vpImage< unsigned char > &I, vpImage< unsigned char > &I_blur)
vpGaussianFilter(unsigned int width, unsigned int height, float sigma, bool deinterleave=false)
static void split(const vpImage< vpRGBa > &src, vpImage< unsigned char > *pR, vpImage< unsigned char > *pG, vpImage< unsigned char > *pB, vpImage< unsigned char > *pa=NULL)
static void merge(const vpImage< unsigned char > *R, const vpImage< unsigned char > *G, const vpImage< unsigned char > *B, const vpImage< unsigned char > *a, vpImage< vpRGBa > &RGBa)
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
Type * bitmap
points toward the bitmap
Definition: vpImage.h:143
unsigned int getHeight() const
Definition: vpImage.h:188