Class CImagePyramid

Class Documentation

class CImagePyramid

Holds and builds a pyramid of images: starting with an image at full resolution (octave=1), it builds a number of half-resolution images: octave=2 at 1/2 , octave=3 at 1/2^2, octave=N at 1/2^(N-1).

Color (RGB) or grayscale pyramids can be built from color input images; only grayscale pyramids can be built from grayscale images.

The algorithm to halve the images can be either a 1:2 decimation or a smooth filter (arithmetic mean of every 4 pixels).

Pyramids are built by invoking the method buildPyramid() or buildPyramidFast()

Example of usage:

CImagePyramid  pyr;

CImage img = ...

pyr.buildPyramid(
   img,
   4,    // num. of octaves
   true  // smooth
   );

pyr.images[0].saveToFile("pyr0.jpg");
pyr.images[1].saveToFile("pyr1.jpg");
...

Note

Both converting to grayscale and building the octave images have SSE2-optimized implementations (if available).

Public Functions

CImagePyramid() = default
bool buildPyramid(const mrpt::img::CImage &img, size_t nOctaves, bool smooth_halves = true, bool convert_grayscale = false)

Fills the vector images with the different octaves built from the input image.

See also

buildPyramidFast

Parameters:
  • img[in] The input image. Can be either color or grayscale.

  • nOctaves[in] Number of octaves to build. 1 means just the original image, 2 means the original plus the 1/2 image, etc.

  • smooth_halves[in] If true, use an arithmetic mean of every 2x2 pixel block when downsampling.

  • convert_grayscale[in] If true, the pyramid is built in grayscale even for color input images.

Returns:

true if SSE2-optimized versions of CImage::scaleHalf() was used to build all the scales in the pyramid.

bool buildPyramidFast(mrpt::img::CImage &img, size_t nOctaves, bool smooth_halves = true, bool convert_grayscale = false)

Exactly like buildPyramid(), but if the input image has not to be converted from RGB to grayscale, the image data buffer is reutilized for the 1st octave in images[0], emptying the input image.

See also

buildPyramid

Public Members

std::vector<mrpt::img::CImage> images

The individual images:

  • images[0]: 1st octave (full-size)

  • images[1]: 2nd octave (1/2 size)

  • images[2]: 3rd octave (1/4 size)

  • images[i]: (i+1)-th octave (1/2^i size)