Gaussian.h

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00001 #ifndef GAUSSIAN_H
00002 #define GAUSSIAN_H
00003 
00004 #include <cmath>
00005 #include <vector>
00006 
00007 namespace AprilTags {
00008 
00009 class Gaussian {
00010 
00011 public:
00012   static bool warned;
00013 
00014   //! Returns a Gaussian filter of size n.
00015   /*! @param sigma standard deviation of the Gaussian
00016    *  @param n length of the Gaussian (must be odd)
00017    */
00018   static std::vector<float> makeGaussianFilter(float sigma, int n);
00019 
00020   //! Convolve the input 'a' (which begins at offset aoff and is alen elements in length) with the filter 'f'.
00021   /*! The result is deposited in 'r' at offset 'roff'. f.size() should be odd.
00022    *  The output is shifted by -f.size()/2, so that there is no net time delay.
00023    *  @param a input vector of pixels
00024    *  @param aoff
00025    *  @param alen
00026    *  @param f
00027    *  @param r the resultant array of pixels
00028    *  @param roff 
00029    */
00030   static void convolveSymmetricCentered(const std::vector<float>& a, unsigned int aoff, unsigned int alen,
00031           const std::vector<float>& f, std::vector<float>& r, unsigned int roff);
00032   
00033 };
00034 
00035 } // namespace
00036 
00037 #endif