ScaleSpace.cpp

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
// Copyright: (C) 2006-2007 Alex Bernardino, ISR-IST
// Authors: Alex Bernardino
// CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
#include <iCub/ScaleSpace.h>
 
#include <cstring>
#include <cstdlib>
#include <cmath>
 
ScaleSpace::ScaleSpace()
{
    _width = _height = _levels = 0;
    _allocated = false;
    _scales = NULL;
    _scalespace = NULL;
    _filters = NULL;
}
 
ScaleSpace::~ScaleSpace()
{
    FreeResources();
}
 
bool ScaleSpace::AllocateResources(int lines, int cols, int levels, double *scales)
{
    int i;
    if(lines < 10)  //image too small
        return false;
    if(cols < 10)   //image too small
        return false;
    if(levels < 1)  //
        return false;
 
    if(_allocated)
        FreeResources();
    _width = cols;
    _height = lines;
    _levels = levels;
 
    _scales = (double*)malloc(_levels*sizeof(double));
    if(scales == 0) return false;
    _scalespace = (float**)malloc(_levels*sizeof(float*));
    if(_scalespace == 0) return false;
    _filters = new FastGauss[levels];
    if(_filters == 0) return false;
    for(i=0; i < levels; i++)
    {
        _scales[i] = scales[i];
        _filters[i].AllocateResources(lines, cols, _scales[i]);
        _scalespace[i] = (float*)malloc(_width*_height*sizeof(float));
        if(_scalespace[i] == 0) return false;
    }
    _allocated = true;
    return true;
}
 
bool ScaleSpace::FreeResources()
{
    int i;
    if(!_allocated)
        return true;
    delete [] _filters;
    free(_scales);
    for(i=0; i < _levels; i++)
        free(_scalespace[i]);
    free(_scalespace);
    _allocated = false;
    return true;
}
 
bool ScaleSpace::BuildLevel(int level, float *in)
{
    if(!_allocated)
        return false;
    if( level < 0 || level >= _levels )
        return false;
    return _filters[level].GaussFilt(in, _scalespace[level]);
}
 
bool ScaleSpace::BuildAll(float *in) 
{
    int i;
    bool retval = true;
    if(!_allocated)
        return false;
    for(i = 0; i < _levels; i++)
        retval = (retval && _filters[i].GaussFilt(in, _scalespace[i]));
    return retval;
}
float* ScaleSpace::GetLevel(int level)
{
    if(!_allocated)
        return 0;
    if( level < 0 || level >= _levels )
        return 0;
    return _scalespace[level];
}