ImageBase-inl.h
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// 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
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::DataStructures::ImageBase::getSize
std::array< size_t, 3 > getSize() const
Get the Image size.
Definition: ImageBase-inl.h:115
SurgSim::DataStructures::ImageBase::getHeight
size_t getHeight() const
Get the Image height.
Definition: ImageBase-inl.h:109
SurgSim::DataStructures::ImageBase::setChannel
void setChannel(size_t index, const Eigen::Ref< const ChannelType > &data)
Set the image data in the channel.
Definition: ImageBase-inl.h:71
SURGSIM_ASSERT
#define SURGSIM_ASSERT(condition)
Assert that condition is true.
Definition: Assert.h:77
SurgSim::DataStructures::ImageBase::ChannelType
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > ChannelType
2D Channel Type;
Definition: ImageBase.h:67
SurgSim::DataStructures::ImageBase::operator()
Eigen::Map< Eigen::Matrix< T, Eigen::Dynamic, 1 > > operator()(size_t x, size_t y)
Get the pixel value at (x, y)
Definition: ImageBase-inl.h:33
SurgSim::DataStructures::ImageBase::getChannel
Eigen::Map< ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1 > > getChannel(size_t index)
Get the 2D image channel data.
Definition: ImageBase-inl.h:52
SurgSim::DataStructures::ImageBase::setSize
void setSize(size_t width, size_t height, size_t channels)
Set the Image size.
Definition: ImageBase-inl.h:128
Assert.h
The header that provides the assertion API.
SurgSim::DataStructures::ImageBase::getWidth
size_t getWidth() const
Get the Image width.
Definition: ImageBase-inl.h:103
SurgSim::DataStructures::ImageBase::getAsVector
Eigen::Map< VectorType, Eigen::Unaligned > getAsVector()
Get the data as a 1D Vector.
Definition: ImageBase-inl.h:81
SurgSim::DataStructures::ImageBase::setAsVector
void setAsVector(const Eigen::Ref< const VectorType > &data)
Set the image data as a 1D Vector.
Definition: ImageBase-inl.h:93
SurgSim::DataStructures::ImageBase::~ImageBase
virtual ~ImageBase()
Destructor.
Definition: ImageBase-inl.h:28
SurgSim::DataStructures::ImageBase::getNumChannels
size_t getNumChannels() const
Get the number of channels in this Image.
Definition: ImageBase-inl.h:122