preprocessor.hpp

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/*
 * SPDX-FileCopyrightText: 2014 University of Edinburgh, Imperial College, University of Manchester
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2019-2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2019-2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: MIT
 */

#ifndef SE_PREPROCESSOR_HPP
#define SE_PREPROCESSOR_HPP

#include "se/image/image.hpp"

namespace se {
namespace preprocessor {

void downsample_depth(se::Image<float>& input_depth_img, se::Image<float>& output_depth_img);

void downsample_rgba(se::Image<uint32_t>& input_RGBA_img, se::Image<uint32_t>& output_RGBA_img);

void bilateral_filter(se::Image<float>& out,
                      const se::Image<float>& in,
                      const std::vector<float>& gaussian,
                      const float e_d,
                      const int radius);


template<typename SensorT>
void depth_to_point_cloud(se::Image<Eigen::Vector3f>& point_cloud_C,
                          const se::Image<float>& depth_image,
                          const SensorT& sensor);

void point_cloud_to_depth(se::Image<float>& depth_image,
                          const se::Image<Eigen::Vector3f>& point_cloud_X,
                          const Eigen::Matrix4f& T_CX);

template<bool NegY>
void point_cloud_to_normal(se::Image<Eigen::Vector3f>& out, const se::Image<Eigen::Vector3f>& in);

void half_sample_robust_image(se::Image<float>& out,
                              const se::Image<float>& in,
                              const float e_d,
                              const int r);

} // namespace preprocessor
} // namespace se

#include "impl/preprocessor_impl.hpp"

#endif // SE_PREPROCESSOR_HPP