feat: image transform with uv index

farm-ng · Dec 8, 2023 · 038a0c3 · 038a0c3
1 parent 47312c0
commit 038a0c3
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diff --git a/cpp/sophus/image/image.h b/cpp/sophus/image/image.h
@@ -72,6 +72,15 @@ class Image : public ImageView<TPixel> {
     return MutImage<TPixel>::makeFromTransform(view, unary_op);
   }
 
+  /// Creates new Image given view and unary uv-transform function.
+  ///
+  /// image(u, v) = unary_op(view(u, v));
+  template <class TOtherPixel, class TUnaryOperationUv>
+  static auto makeFromTransformUv(
+      ImageView<TOtherPixel> view, TUnaryOperationUv const& unary_op) -> Image {
+    return MutImage<TPixel>::makeFromTransformUv(view, unary_op);
+  }
+
   /// Creates new Image given two views and binary transform function.
   ///
   /// image(u, v) = binary_op(lhs(u, v), rhs(u, v));

diff --git a/cpp/sophus/image/mut_image.h b/cpp/sophus/image/mut_image.h
@@ -140,6 +140,18 @@ class MutImage : public MutImageView<TPixel> {
     return mut_image;
   }
 
+  /// Creates new MutImage given view and unary uv-transform function.
+  ///
+  /// mut_image(u, v) = unary_op(view(u, v), u, v);
+  template <class TOtherPixel, class TUnaryOperationUv>
+  static auto makeFromTransformUv(
+      ImageView<TOtherPixel> view, TUnaryOperationUv const& unary_op)
+      -> MutImage {
+    MutImage mut_image(view.imageSize());
+    mut_image.transformUvFrom(view, unary_op);
+    return mut_image;
+  }
+
   /// Creates new MutImage given two views and binary transform function.
   ///
   /// mut_image(u, v) = binary_op(lhs(u, v), rhs(u, v));

diff --git a/cpp/sophus/image/mut_image_test.cpp b/cpp/sophus/image/mut_image_test.cpp
@@ -101,3 +101,21 @@ TEST(MutImage, makeFromTransform) {
     }
   }
 }
+
+TEST(MutImage, makeFromTransformUv) {
+  ImageLayout layout = ImageLayout::makeFromSizeAndPitch<float>(
+      {2, 3}, 2 * sizeof(float) + sizeof(float));
+  MutImage<float> one_image(layout);
+  one_image.fill(1.f);
+
+  MutImage3F32 pattern = MutImage3F32::makeFromTransformUv(
+      one_image, [](float value, int u, int v) {
+        return Pixel3F32(value, 0.5f * u, 2.f * v);
+      });
+
+  for (int v = 0; v < 3; ++v) {
+    for (int u = 0; u < 2; ++u) {
+      SOPHUS_ASSERT_EQ(pattern(u, v), Pixel3F32(1.0, 0.5f * u, 2.f * v));
+    }
+  }
+}
diff --git a/cpp/sophus/image/mut_image_view.h b/cpp/sophus/image/mut_image_view.h
@@ -184,6 +184,31 @@ class MutImageView : public ImageView<TPixel> {
     }
   }
 
+  /// Transforms view using unary operation and pixel index.
+  ///
+  /// It assigns result to this.
+  ///
+  /// Preconditions:
+  ///   - this must not be empty.
+  ///   - this->imageSize() == view.imageSize()
+  template <class TOtherPixel, class TUnaryOperationUv>
+  void transformUvFrom(
+      ImageView<TOtherPixel> view, TUnaryOperationUv const& unary_op) const {
+    SOPHUS_ASSERT(!this->isEmpty());
+    SOPHUS_ASSERT_EQ(view.imageSize(), this->imageSize());
+
+    for (int v = 0; v < this->layout_.height(); ++v) {
+      TPixel* mut_p = this->rowPtrMut(v);
+      TOtherPixel const* p = view.rowPtr(v);
+      TOtherPixel const* end_of_row = p + view.layout().width();
+      int u = 0;
+
+      for (; p != end_of_row; ++p, ++mut_p, ++u) {
+        *mut_p = unary_op(*p, u, v);
+      }
+    }
+  }
+
   /// Transforms two views using binary operation and assigns result to this.
   ///
   /// Preconditions: