44 lines
1.2 KiB
Text
44 lines
1.2 KiB
Text
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#ifndef IMAGE_H
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#define IMAGE_H
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#include <vector>
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#include "slam6d/point.h"
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using std::vector;
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class Image {
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public:
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Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution,
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const vector<Point> *points = 0);
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Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, const vector<double*> *points = 0);
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Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, double * const* points, int size);
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int getWidth();
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int getHeight();
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float getValueAt(int width, int height);
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float getMin();
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float getMax();
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int calcMarker(float threshold, int ** regdat);
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void mergeregion(int x, int y, int delreg, int targetreg, int** img, int it = 0);
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int blobColor(float dist, int ** regdat);
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int cluster(float dist, int** dat, int ** regdat);
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void writeCenters(int regions, int** clusters, const vector<Point> *points);
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void printScans(int ** regdat, double * const* points, int size);
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void printImage(const char* filename, bool color, int** img, int height, int width, int min, int max);
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void printImage(const char *filename, bool color);
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~Image();
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private:
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int width;
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int height;
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float minw;
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float maxw;
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float minh;
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float maxh;
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float threshold;
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float ** data;
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};
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#endif
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