//static
void GradientsMergeMosaic::addToImage(imageType_t const & rImage_p,pcl_enum eType_p,
weightImageType_t const & rMask_p,
imageType_t &rSumImageDx_p,imageType_t &rSumImageDy_p,
weightImageType_t &rCountImageDx_p, weightImageType_t &rCountImageDy_p)
{
int const nCols=rImage_p.Width();
int const nRows=rImage_p.Height();
int const nChannels=rImage_p.NumberOfChannels();
imageType_t dxImage, dyImage;
const double zeroLimit=0.0; /// limit for weight that is considered zero
TimeMessage startDx("Creating Dx");
createDxImage(rImage_p,dxImage);
startDx.Stop();
TimeMessage startAddDx("Adding Dx");
// transfer useful dx pixels
// FIXME this is a relatively slow loop. Think about making it faster
for(int row=0;row<nRows;++row){
for(int col=0;col<nCols-1;++col){
if(rMask_p.Pixel(col,row)>zeroLimit && rMask_p.Pixel(col+1,row)>zeroLimit) {
// we are inside of image
realType_t weight=(rMask_p.Pixel(col,row)+rMask_p.Pixel(col+1,row))/2.0;
if(eType_p==GradientsMergeMosaicType::Average){
if(rCountImageDx_p.Pixel(col,row)<=0.0){
// first foreground pixel on this location
for(int channel=0;channel<nChannels;++channel){
rSumImageDx_p.Pixel(col,row,channel)=dxImage.Pixel(col,row,channel)*weight;
}
} else {
// there have been other pixels. Create average
for(int channel=0;channel<nChannels;++channel){
rSumImageDx_p.Pixel(col,row,channel)+=dxImage.Pixel(col,row,channel)*weight;
}
}
rCountImageDx_p.Pixel(col,row)+=weight;
} else {
// type overlay, last gradient wins
if(rCountImageDx_p.Pixel(col,row)<=0.0){
// first foreground pixel on this location
for(int channel=0;channel<nChannels;++channel){
rSumImageDx_p.Pixel(col,row,channel)=dxImage.Pixel(col,row,channel);
}
rCountImageDx_p.Pixel(col,row)=1.0; //mark as used
} else {
// there have been other pixels. Blend
for(int channel=0;channel<nChannels;++channel){
rSumImageDx_p.Pixel(col,row,channel)=dxImage.Pixel(col,row,channel)*weight+rSumImageDx_p.Pixel(col,row,channel)*(1.0-weight);
}
}
} //if type
} else if(rCountImageDx_p.Pixel(col,row)==0.0 &&
(rMask_p.Pixel(col,row)<0.0 || rMask_p.Pixel(col+1,row)<0.0)) {
// we are at border of image and dont have values there. Just copy in gradient so if nothing else comes in, we have at least the border
for(int channel=0;channel<nChannels;++channel){
rSumImageDx_p.Pixel(col,row,channel)=dxImage.Pixel(col,row,channel);
}
// add if first should win. Otherwise last will win
//rCountImageDx_p.Pixel(col,row)=-1.0; // mark as background already occupied
}
} //for col
} //for row
dxImage.AllocateData(0,0); //save some memory
startAddDx.Stop();
TimeMessage startDy("Creating Dy");
// transfer useful dy pixels
createDyImage(rImage_p,dyImage);
startDy.Stop();
TimeMessage startAddDy("Adding Dy");
for(int row=0;row<nRows-1;++row){
for(int col=0;col<nCols;++col){
if(rMask_p.Pixel(col,row)>zeroLimit && rMask_p.Pixel(col,row+1)>zeroLimit) {
realType_t weight=(rMask_p.Pixel(col,row)+rMask_p.Pixel(col,row+1))/2.0;
if(eType_p==GradientsMergeMosaicType::Average){
// type average and inside
if(rCountImageDy_p.Pixel(col,row)<=0.0){
// first foreground pixel on this location
for(int channel=0;channel<nChannels;++channel){
rSumImageDy_p.Pixel(col,row,channel)=dyImage.Pixel(col,row,channel)*weight;
}
} else {
// we already were there. Blend
for(int channel=0;channel<nChannels;++channel){
rSumImageDy_p.Pixel(col,row,channel)+=dyImage.Pixel(col,row,channel)*weight;
}
}
rCountImageDy_p.Pixel(col,row)+=weight;
} else {
// type overlay and inside, last gradient wins
if(rCountImageDy_p.Pixel(col,row)<=0.0){
// first foreground pixel on this location
for(int channel=0;channel<nChannels;++channel){
rSumImageDy_p.Pixel(col,row,channel)=dyImage.Pixel(col,row,channel);
}
rCountImageDy_p.Pixel(col,row)=1.0; //mark as used
} else {
// we have been there, merge
for(int channel=0;channel<nChannels;++channel){
rSumImageDy_p.Pixel(col,row,channel)=dyImage.Pixel(col,row,channel)*weight+rSumImageDy_p.Pixel(col,row,channel)*(1.0-weight);
}
}
} //if type
} else if(rCountImageDy_p.Pixel(col,row)==0.0 &&
(rMask_p.Pixel(col,row)<0.0 || rMask_p.Pixel(col,row+1)<0.0)){
// we are outside of image and dont have values there. Just copy in gradient
for(int channel=0;channel<nChannels;++channel){
rSumImageDy_p.Pixel(col,row,channel)=dyImage.Pixel(col,row,channel);
}
// add if first should win. Otherwise last will win
//rCountImageDy_p.Pixel(col,row)=-1.0;
}
} //for col
} //for row
startAddDy.Stop();
}
//static
void GradientsHdrComposition::addToImage(imageType_t const & rImage_p,
int imageNum_p,
weightImageType_t const & rMask_p,
imageType_t &rSumImageDx_p,imageType_t &rSumImageDy_p,
numImageType_t &rDxImage_p,
numImageType_t &rDyImage_p)
{
int const nCols=rImage_p.Width();
int const nRows=rImage_p.Height();
int const nChannels=rImage_p.NumberOfChannels();
Assert(nCols==rSumImageDx_p.Width()+1);
Assert(nRows==rSumImageDx_p.Height());
Assert(nChannels==rSumImageDx_p.NumberOfChannels());
Assert(nCols==rSumImageDy_p.Width());
Assert(nRows==rSumImageDy_p.Height()+1);
Assert(nChannels==rSumImageDy_p.NumberOfChannels());
Assert(nCols==rDxImage_p.Width());
Assert(nRows==rDxImage_p.Height());
Assert(nChannels==rDxImage_p.NumberOfChannels());
Assert(nCols==rDyImage_p.Width());
Assert(nRows==rDyImage_p.Height());
Assert(nChannels==rDyImage_p.NumberOfChannels());
imageType_t dxImage, dyImage;
const double zeroLimit=0.0; /// limit for weight that is considered zero
// handle Dx
TimeMessage startDx("Creating Dx");
createDxImage(rImage_p,dxImage);
startDx.Stop();
TimeMessage startAddDx("Adding Dx to gradients");
// transfer useful dx pixels
for(int row=0;row<nRows;++row){
for(int col=0;col<nCols-1;++col){
if(rMask_p.Pixel(col,row)>zeroLimit && rMask_p.Pixel(col+1,row)>zeroLimit) {
// we are inside of image, and have useful gradient there
for(int channel=0;channel<nChannels;++channel){
realType_t currentVal=dxImage.Pixel(col,row,channel);
realType_t sumVal=rSumImageDx_p.Pixel(col,row,channel);
if(std::abs(currentVal)>std::abs(sumVal)){
rSumImageDx_p.Pixel(col,row,channel)=currentVal;
rDxImage_p.Pixel(col,row,channel)=imageNum_p;
} //if abs
} // for chan
// FIXME may need to add border handling
} //if inside
} //for col
} //for row
dxImage.AllocateData(0,0); //save some memory
startAddDx.Stop();
// handle Dy just as dx
TimeMessage startDy("Creating Dy");
createDyImage(rImage_p,dyImage);
startDy.Stop();
TimeMessage startAddDy("Adding Dxy to gradients");
// transfer useful dy pixels
for(int row=0;row<nRows-1;++row){
for(int col=0;col<nCols;++col){
if(rMask_p.Pixel(col,row)>zeroLimit && rMask_p.Pixel(col,row+1)>zeroLimit) {
for(int channel=0;channel<nChannels;++channel){
// we are inside of image, and have useful gradient there
realType_t currentVal=dyImage.Pixel(col,row,channel);
realType_t sumVal=rSumImageDy_p.Pixel(col,row,channel);
if(std::abs(currentVal)>std::abs(sumVal)){
rSumImageDy_p.Pixel(col,row,channel)=currentVal;
rDyImage_p.Pixel(col,row,channel)=imageNum_p;
} //if abs()
} // for chan
// FIXME may need to add border handling
} // if inside
} //for col
} //for row
startAddDy.Stop();
}
