Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 /* \author Stefan Holzer */ 00037 00038 #ifndef PCL_INTEGRAL_IMAGE_2D_H_ 00039 #define PCL_INTEGRAL_IMAGE_2D_H_ 00040 00041 #include <vector> 00042 00043 namespace pcl 00044 { 00045 00050 template <class DataType, class IIDataType> 00051 class IntegralImage2D 00052 { 00053 public: // functions 00054 00067 IntegralImage2D (DataType * data, 00068 const int width, 00069 const int height, 00070 const int dimensions, 00071 const bool compute_second_order_integral_images, 00072 const int element_stride, const int row_stride); 00074 virtual ~IntegralImage2D (); 00075 00079 IIDataType getSum (const int start_x, const int start_y, 00080 const int width, const int height, 00081 const int dimension_index); 00082 00087 IIDataType getSum (const int start_x, const int start_y, 00088 const int width, const int height, 00089 const int dimension_index_1, const int dimension_index_2); 00090 00091 protected: // functions 00092 00094 void 00095 computeIntegralImages (DataType * data); 00096 00098 void 00099 computeIntegralImagesOneDimensional (DataType * data); 00100 00101 protected: // data 00102 00104 int width_; 00106 int height_; 00108 int dimensions_; 00110 int element_stride_; 00112 int row_stride_; 00114 bool are_second_order_ii_available_; 00115 00117 std::vector <IIDataType *> first_order_integral_images_; 00119 std::vector <std::vector <IIDataType*> > second_order_integral_images_; 00120 }; 00121 00122 } 00123 00124 #include <pcl/features/impl/integral_image_2d.hpp> 00125 00126 #endif 00127 00128