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/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.sfm.overhead;

import boofcv.alg.interpolate.InterpolatePixelS;
import boofcv.core.image.FactoryGImageGray;
import boofcv.core.image.GImageGray;
import boofcv.struct.image.ImageGray;
import georegression.struct.point.Point2D_F32;

/**
 * Implementation of {@link CreateSyntheticOverheadView} for {@link ImageGray}.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class CreateSyntheticOverheadViewS> extends CreateSyntheticOverheadView {
	// computes interpolated pixel value
	private final InterpolatePixelS interp;

	// local variables
	private GImageGray output;

	/**
	 * Constructor
	 *
	 * @param interp Interpolation used when sampling camera image
	 */
	public CreateSyntheticOverheadViewS( InterpolatePixelS interp ) {
		this.interp = interp;
	}

	/**
	 * Computes overhead view of input image. All pixels in input image are assumed to be on the ground plane.
	 *
	 * @param input (Input) Camera image.
	 * @param output (Output) Image containing overhead view.
	 */
	@Override
	public void process( T input, T output ) {

		this.output = FactoryGImageGray.wrap(output, this.output);
		interp.setImage(input);

		int indexMap = 0;
		for (int i = 0; i < output.height; i++) {
			int indexOut = output.startIndex + i*output.stride;
			for (int j = 0; j < output.width; j++, indexOut++, indexMap++) {
				Point2D_F32 p = mapPixels[indexMap];
				if (p != null) {
					this.output.set(indexOut, interp.get(p.x, p.y));
				}
			}
		}
	}
}