/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "vision-precomp.h"	 // Precompiled headers
//
#include <mrpt/vision/CImagePyramid.h>

using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::img;

// Template that generalizes the two user entry-points below:
template <bool FASTLOAD>
bool buildPyramid_templ(
	CImagePyramid& obj, mrpt::img::CImage& img, size_t nOctaves,
	const bool smooth_halves, const bool convert_grayscale)
{
	ASSERT_GT_(nOctaves, 0);

	// TImageSize  img_size = img.getSize();
	obj.images.resize(nOctaves);

	// First octave: Just copy the image:
	if (convert_grayscale && img.isColor())
	{
		// In this case we have to convert to grayscale, so FASTLOAD doesn't
		// really matter:
		img.grayscale(obj.images[0]);
	}
	else
	{
		// No need to convert to grayscale OR image already is grayscale:
		// Fast copy -> "move", destroying source.
		if (FASTLOAD) obj.images[0] = std::move(img);
		else
			obj.images[0] = img;  // Normal copy
	}

	// Rest of octaves, if any:
	bool all_used_sse2 = true;
	for (size_t o = 1; o < nOctaves; o++)
	{
		bool ret = obj.images[o - 1].scaleHalf(
			obj.images[o], smooth_halves ? IMG_INTERP_LINEAR : IMG_INTERP_NN);
		all_used_sse2 = all_used_sse2 && ret;
	}
	return all_used_sse2;
}

bool CImagePyramid::buildPyramid(
	const mrpt::img::CImage& img, size_t nOctaves, const bool smooth_halves,
	const bool convert_grayscale)
{
	return buildPyramid_templ<false>(
		*this, *const_cast<mrpt::img::CImage*>(&img), nOctaves, smooth_halves,
		convert_grayscale);
}

bool CImagePyramid::buildPyramidFast(
	mrpt::img::CImage& img, size_t nOctaves, const bool smooth_halves,
	const bool convert_grayscale)
{
	return buildPyramid_templ<true>(
		*this, img, nOctaves, smooth_halves, convert_grayscale);
}
