src/architecture/reactive/localPotentialField.cpp

#include <opencv2/opencv.hpp>
#include "localPotentialField.h"
#include <stdio.h>

localPotentialField::localPotentialField(int lzwidth, int lzheight):
        width(lzwidth),
        height(lzheight),
        m(lzwidth, lzheight)
{
}

localPotentialField::localPotentialField(const localPotentialField &lpf):
        width(lpf.width),
        height(lpf.height),
        m(lpf.m)
{
}

localPotentialField::localPotentialField(){
}

localPotentialField::~localPotentialField(){
}

localPotentialField& localPotentialField::operator=(const localPotentialField& p){
        m = ((localPotentialField*) &p)->m;
        return *this;
}

localPotentialField localPotentialField::operator*(const float& f){
        localPotentialField np(*this);
        np*=f;
        return np;
}

localPotentialField localPotentialField::operator+(const localPotentialField& p){
        localPotentialField np(*this);
        np += p;
        return np;
}

localPotentialField& localPotentialField::operator+=(const localPotentialField& p){
        m += ((localPotentialField*) &p)->m;
        return *this;
}

localPotentialField& localPotentialField::operator*=(const float& f){
        m *= f;
        return *this;
}

void localPotentialField::reset(){
        m.clear();
}

void localPotentialField::normalize(){
        
        float max=m.get(0,0);
        float min=m.get(0,0);
        int i,j;

        for (i = 0; i< width; i++){
                for(j = 0; j< height; j++){
                        if (max<get(i,j)) max=get(i,j);
                        if (min>get(i,j)) min=get(i,j);
                }
        }

        for (i = 0; i< width; i++)
                for(j = 0; j< height; j++){
                        if(max>min)
                                m.set(i,j,(m.get(i,j)-min)/(max-min));  
                        else
                                m.set(i,j,0);   
                }
}

void localPotentialField::savePotentialAsImage(char* file){

        IplImage* img = cvCreateImage(cvSize(width,height), IPL_DEPTH_8U, 1); 
        
        float max=m.get(0,0);
        float min=m.get(0,0);
        int i,j;

        for (i = 0; i< width; i++){
                for(j = 0; j< height; j++){
                        if (max<get(i,j)) max=get(i,j);
                        if (min>get(i,j)) min=get(i,j);
                }
        }

        for (i = 0; i< width; i++)
                for( j = 0; j< height; j++)
                        ((uchar*)(img->imageData + img->widthStep*(height-1-j)))[i] = (uchar) (255.0f*(m.get(i,j)-min)/(max-min));              

        cvSaveImage(file, img);

        cvReleaseImage(&img);
}