centsur.h

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/* 
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Authors: Andrew Dankers, maintainer Vadim Tikhanoff
 * email:   vadim.tikhanoff@iit.it
 * website: www.robotcub.org 
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
#ifndef __CENTSUR_H__
#define __CENTSUR_H__
 
#include <opencv2/opencv.hpp>
 
class CentSur 
{ 
public:
    CentSur(cv::Size imsize, int nscale, double sigma = 1.0);
    ~CentSur();
 
    cv::Mat csTot32f, csTot32fTmp, csTot8u;
 
    void proc_im_8u(const cv::Mat &im_8u);
 
    void proc_im_32f( const cv::Mat &im_32f );
 
    cv::Mat get_centsur_32f(){ return csTot32f; }
 
    cv::Mat  get_centsur_norm8u(){ return csTot8u; }
    
    
private:
 
    cv::Size srcSize, *psize;
    cv::Rect *proi;
    cv::Mat pyramid[10], pyramid_gauss[10], gauss[10], img_32f;
    double sigma;
    int ngauss;
    std::vector<cv::Mat> dst;
    void make_pyramid(const cv::Mat &im_in);
};
#endif
//empty line to make gcc happy