/usr/include/choreonoid-1.1/cnoid/src/Util/GaussianFilter.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | /*! @file
@brief Header file of gaussian filter functions
@author Shin'ichiro Nakaoka
*/
#ifndef CNOID_UTIL_GAUSSIAN_FILTER_H_INCLUDED
#define CNOID_UTIL_GAUSSIAN_FILTER_H_INCLUDED
#include <cmath>
#include <vector>
namespace cnoid {
template <class T>
void setGaussWindow(T sigma, int range, std::vector<T>& out_window)
{
const double mu = 0.0;
out_window.resize(range * 2 + 1);
T x = 0.0;
for(int i = 0; i <= range; ++i){
out_window[i + range] = exp(- (x - mu) * (x - mu) / (2.0 * sigma * sigma));
}
// nomalization
T area_half = out_window[range] / 2.0;
for(int i=1; i <= range; ++i){
area_half += out_window[i + range];
}
const T area = area_half * 2.0;
out_window[range] /= area;
for(int i=1; i <= range; ++i){
T& v = out_window[i + range];
v /= area;
out_window[range - i] = v;
}
}
template <class RESULTVECTOR, class SRCVECTOR, class ELEMENT, class T>
void applyGaussianFilter(RESULTVECTOR& result, const SRCVECTOR& src, std::vector<T>& gwin, ELEMENT zero)
{
const int range = (gwin.size() - 1) / 2;
const int size = src.size();
// head
for(int i=0; i < range; i++){
ELEMENT v = zero; T ave = 0.0;
for(int j = - i; j <= +range; j++){
v += src[i+j] * gwin[j+range];
ave += gwin[j+range];
}
result[i] = v / ave;
}
// body
for(int i=range; i < size - range; i++){
ELEMENT v = zero;
for(int j=-range; j <= +range; j++){
v += src[i+j] * gwin[j+range];
}
result[i] = v;
}
// tail
for(int i = size - range; i < size; i++){
ELEMENT v = zero; T ave = 0.0;
for(int j=-range; j < size - i; j++){
v += src[i+j] * gwin[j+range];
ave += gwin[j+range];
}
result[i] = v / ave;
}
}
template <class RESULTVECTOR, class SRCVECTOR, class ELEMENT, class T>
void applyGaussianFilter(RESULTVECTOR& result, const SRCVECTOR& src, T sigma, int range, ELEMENT zero)
{
std::vector<T> gwin;
setGaussWindow(sigma, range, gwin);
applyGaussianFilter(result, src, gwin, zero);
}
}
#endif
|