Visual Servoing Platform
version 3.6.1 under development (2024-04-23)
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#include <visp3/core/vpImageTools.h>
Public Types | |
enum | vpImageInterpolationType { INTERPOLATION_NEAREST , INTERPOLATION_LINEAR , INTERPOLATION_CUBIC , INTERPOLATION_AREA } |
Public Member Functions | |
template<class Type > | |
void | createSubImage (const vpImage< Type > &I, unsigned int roi_top, unsigned int roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop) |
template<class Type > | |
void | createSubImage (const vpImage< Type > &I, const vpRect &roi, vpImage< Type > &crop) |
template<> | |
void | binarise (vpImage< unsigned char > &I, unsigned char threshold1, unsigned char threshold2, unsigned char value1, unsigned char value2, unsigned char value3, bool useLUT) |
template<> | |
void | resizeBicubic (const vpImage< vpRGBa > &I, vpImage< vpRGBa > &Ires, unsigned int i, unsigned int j, float u, float v, float xFrac, float yFrac) |
template<> | |
void | resizeBilinear (const vpImage< vpRGBa > &I, vpImage< vpRGBa > &Ires, unsigned int i, unsigned int j, float u, float v, float xFrac, float yFrac) |
template<> | |
void | resize (const vpImage< unsigned char > &I, vpImage< unsigned char > &Ires, const vpImageInterpolationType &method, unsigned int) |
template<> | |
void | resize (const vpImage< vpRGBa > &I, vpImage< vpRGBa > &Ires, const vpImageInterpolationType &method, unsigned int) |
template<> | |
void | warpLinear (const vpImage< vpRGBa > &src, const vpMatrix &T, vpImage< vpRGBa > &dst, bool affine, bool centerCorner, bool fixedPoint) |
Static Public Member Functions | |
template<class Type > | |
static void | binarise (vpImage< Type > &I, Type threshold1, Type threshold2, Type value1, Type value2, Type value3, bool useLUT=true) |
static void | changeLUT (vpImage< unsigned char > &I, unsigned char A, unsigned char newA, unsigned char B, unsigned char newB) |
template<class Type > | |
static void | crop (const vpImage< Type > &I, double roi_top, double roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
static void | columnMean (const vpImage< double > &I, vpRowVector &result) |
template<class Type > | |
static void | crop (const vpImage< Type > &I, const vpImagePoint &topLeft, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
template<class Type > | |
static void | crop (const vpImage< Type > &I, const vpRect &roi, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
template<class Type > | |
static void | crop (const unsigned char *bitmap, unsigned int width, unsigned int height, const vpRect &roi, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
static void | extract (const vpImage< unsigned char > &src, vpImage< unsigned char > &dst, const vpRectOriented &r) |
static void | extract (const vpImage< unsigned char > &src, vpImage< double > &dst, const vpRectOriented &r) |
template<class Type > | |
static void | flip (const vpImage< Type > &I, vpImage< Type > &newI) |
template<class Type > | |
static void | flip (vpImage< Type > &I) |
static void | imageDifference (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff) |
static void | imageDifference (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, vpImage< vpRGBa > &Idiff) |
static void | imageDifferenceAbsolute (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff) |
static void | imageDifferenceAbsolute (const vpImage< double > &I1, const vpImage< double > &I2, vpImage< double > &Idiff) |
static void | imageDifferenceAbsolute (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, vpImage< vpRGBa > &Idiff) |
static void | imageAdd (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Ires, bool saturate=false) |
static void | imageSubtract (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Ires, bool saturate=false) |
static int | inMask (const vpImage< unsigned char > &I, const vpImage< unsigned char > &mask, vpImage< unsigned char > &I_mask) |
static int | inMask (const vpImage< vpRGBa > &I, const vpImage< unsigned char > &mask, vpImage< vpRGBa > &I_mask) |
static int | inRange (const unsigned char *hue, const unsigned char *saturation, const unsigned char *value, const vpColVector &hsv_range, unsigned char *mask, unsigned int size) |
static int | inRange (const unsigned char *hue, const unsigned char *saturation, const unsigned char *value, const std::vector< int > &hsv_range, unsigned char *mask, unsigned int size) |
static void | initUndistortMap (const vpCameraParameters &cam, unsigned int width, unsigned int height, vpArray2D< int > &mapU, vpArray2D< int > &mapV, vpArray2D< float > &mapDu, vpArray2D< float > &mapDv) |
static double | interpolate (const vpImage< unsigned char > &I, const vpImagePoint &point, const vpImageInterpolationType &method=INTERPOLATION_NEAREST) |
static void | integralImage (const vpImage< unsigned char > &I, vpImage< double > &II, vpImage< double > &IIsq) |
static double | normalizedCorrelation (const vpImage< double > &I1, const vpImage< double > &I2, bool useOptimized=true) |
static void | normalize (vpImage< double > &I) |
static void | remap (const vpImage< unsigned char > &I, const vpArray2D< int > &mapU, const vpArray2D< int > &mapV, const vpArray2D< float > &mapDu, const vpArray2D< float > &mapDv, vpImage< unsigned char > &Iundist) |
static void | remap (const vpImage< vpRGBa > &I, const vpArray2D< int > &mapU, const vpArray2D< int > &mapV, const vpArray2D< float > &mapDu, const vpArray2D< float > &mapDv, vpImage< vpRGBa > &Iundist) |
template<class Type > | |
static void | resize (const vpImage< Type > &I, vpImage< Type > &Ires, unsigned int width, unsigned int height, const vpImageInterpolationType &method=INTERPOLATION_NEAREST, unsigned int nThreads=0) |
template<class Type > | |
static void | resize (const vpImage< Type > &I, vpImage< Type > &Ires, const vpImageInterpolationType &method=INTERPOLATION_NEAREST, unsigned int nThreads=0) |
static void | templateMatching (const vpImage< unsigned char > &I, const vpImage< unsigned char > &I_tpl, vpImage< double > &I_score, unsigned int step_u, unsigned int step_v, bool useOptimized=true) |
template<class Type > | |
static void | undistort (const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI, unsigned int nThreads=2) |
template<class Type > | |
static void | undistort (const vpImage< Type > &I, vpArray2D< int > mapU, vpArray2D< int > mapV, vpArray2D< float > mapDu, vpArray2D< float > mapDv, vpImage< Type > &newI) |
template<class Type > | |
static void | warpImage (const vpImage< Type > &src, const vpMatrix &T, vpImage< Type > &dst, const vpImageInterpolationType &interpolation=INTERPOLATION_NEAREST, bool fixedPointArithmetic=true, bool pixelCenter=false) |
Deprecated functions | |
template<class Type > | |
static vp_deprecated void | createSubImage (const vpImage< Type > &I, unsigned int i_sub, unsigned int j_sub, unsigned int nrow_sub, unsigned int ncol_sub, vpImage< Type > &S) |
template<class Type > | |
static vp_deprecated void | createSubImage (const vpImage< Type > &I, const vpRect &rect, vpImage< Type > &S) |
Various image tools; sub-image extraction, modification of the look up table, binarisation...
Definition at line 74 of file vpImageTools.h.
Definition at line 77 of file vpImageTools.h.
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Binarise an image.
Definition at line 470 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
Referenced by vp::autoThreshold().
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Binarise an image.
Definition at line 502 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::performLut().
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Change the look up table (LUT) of an image. Considering pixel gray level values in the range , this method allows to rescale these values in by linear interpolation:
I | : Image to process. |
A | : Low gray level value of the range to consider. |
A_star | : New gray level value to attribute to pixel who's value was A |
B | : Height gray level value of the range to consider. |
B_star | : New gray level value to attribute to pixel who's value was B |
vpImageException::incorrectInitializationError | If . |
As shown in the example below, this method can be used to binarize an image. For an unsigned char image (in the range 0-255), thresholding this image at level 127 can be done by:
Definition at line 100 of file vpImageTools.cpp.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImageException::incorrectInitializationError, and vpERROR_TRACE.
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Compute the column-wise mean intensities.
I | : The image. |
V | : The result vector. |
Definition at line 576 of file vpImageTools.cpp.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpRowVector::resize().
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void vpImageTools::createSubImage | ( | const vpImage< Type > & | I, |
const vpRect & | roi, | ||
vpImage< Type > & | crop | ||
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Crop an image region of interest.
I | : Input image from which a sub image will be extracted. |
roi | : Region of interest in image I corresponding to the cropped part of the image. |
crop | : Cropped image. |
Definition at line 282 of file vpImageTools.h.
References crop().
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void vpImageTools::createSubImage | ( | const vpImage< Type > & | I, |
unsigned int | roi_top, | ||
unsigned int | roi_left, | ||
unsigned int | roi_height, | ||
unsigned int | roi_width, | ||
vpImage< Type > & | crop | ||
) |
Crop a region of interest (ROI) in an image.
I | : Input image from which a sub image will be extracted. |
roi_top | : ROI vertical position of the upper/left corner in the input image. |
roi_left | : ROI horizontal position of the upper/left corner in the input image. |
roi_height | : Cropped image height corresponding to the ROI height. |
roi_width | : Cropped image width corresponding to the ROI height. |
crop | : Cropped image. |
Definition at line 261 of file vpImageTools.h.
References crop().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
bitmap | : Pointer to the input image from which a sub image will be extracted. |
width,height | : Size of the input image. |
roi | : Region of interest corresponding to the cropped part of the image. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 417 of file vpImageTools.h.
References crop(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), and vpRect::getWidth().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
I | : Input image from which a sub image will be extracted. |
topLeft | : ROI position of the upper/left corner in the input image. |
roi_height | : Cropped image height corresponding to the ROI height. |
roi_width | : Cropped image width corresponding to the ROI height. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 369 of file vpImageTools.h.
References crop(), vpImagePoint::get_i(), and vpImagePoint::get_j().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
I | : Input image from which a sub image will be extracted. |
roi | : Region of interest in image I corresponding to the cropped part of the image. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 392 of file vpImageTools.h.
References crop(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), and vpRect::getWidth().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
I | : Input image from which a sub image will be extracted. |
roi_top | : ROI vertical position of the upper/left corner in the input image. |
roi_left | : ROI horizontal position of the upper/left corner in the input image. |
roi_height | : Cropped image height corresponding to the ROI height. |
roi_width | : Cropped image width corresponding to the ROI height. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 312 of file vpImageTools.h.
References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
Referenced by vpV4l2Grabber::acquire(), createSubImage(), crop(), vpDisplayGTK::displayImageROI(), vpMeNurbs::seekExtremitiesCanny(), and templateMatching().
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Extract a rectangular region from an image.
src | : The source image. |
dst | : The resulting image. |
r | : The rectangle area. |
Definition at line 682 of file vpImageTools.cpp.
References vpImagePoint::get_i(), vpImagePoint::get_j(), vpRectOriented::getHeight(), vpRectOriented::getOrientation(), vpRectOriented::getTopLeft(), vpRectOriented::getWidth(), interpolate(), INTERPOLATION_LINEAR, vpImage< Type >::resize(), and vpMath::round().
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Extract a rectangular region from an image.
src | : The source image. |
dst | : The resulting image. |
r | : The rectangle area. |
Definition at line 655 of file vpImageTools.cpp.
References vpImagePoint::get_i(), vpImagePoint::get_j(), vpRectOriented::getHeight(), vpRectOriented::getOrientation(), vpRectOriented::getTopLeft(), vpRectOriented::getWidth(), interpolate(), INTERPOLATION_LINEAR, vpImage< Type >::resize(), and vpMath::round().
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Flip vertically the input image and give the result in the output image.
I | : Input image to flip. |
newI | : Output image which is the flipped input image. |
Definition at line 839 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
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Flip vertically the input image.
I | : Input image which is flipped and modified in output. |
The following example shows how to use this function:
Definition at line 880 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
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Compute the image addition: .
I1 | : The first image. |
I2 | : The second image. |
Ires | : |
saturate | : If true, saturate the result to [0 ; 255] using vpMath::saturate, otherwise overflow may occur. |
Definition at line 308 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
Referenced by vp::fillHoles().
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Compute the signed difference between the two images I1 and I2 for visualization purpose: Idiff = I1-I2
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference. |
Definition at line 143 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
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Compute the signed difference between the two images I1 and I2 RGB components for visualization purpose: Idiff = I1-I2. The fourth component named A is not compared. It is set to 0 in the resulting difference image.
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference between RGB components. |
Definition at line 177 of file vpImageTools.cpp.
References vpRGBa::A, vpRGBa::B, vpImage< Type >::bitmap, vpException::dimensionError, vpRGBa::G, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), vpMath::maximum(), vpMath::minimum(), vpRGBa::R, and vpImage< Type >::resize().
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Compute the difference between the two images I1 and I2.
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference. |
Definition at line 242 of file vpImageTools.cpp.
References vpMath::abs(), vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
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Compute the difference between the two images I1 and I2
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference. |
Definition at line 217 of file vpImageTools.cpp.
References vpMath::abs(), vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
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Compute the difference between the two images I1 and I2 RGB components. The fourth component named A is not compared. It is set to 0 in the resulting difference image.
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference between RGB components. |
Definition at line 271 of file vpImageTools.cpp.
References vpRGBa::A, vpMath::abs(), vpRGBa::B, vpImage< Type >::bitmap, vpException::dimensionError, vpRGBa::G, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpRGBa::R, and vpImage< Type >::resize().
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Compute the image addition: .
I1 | : The first image. |
I2 | : The second image. |
Ires | : |
saturate | : If true, saturate the result to [0 ; 255] using vpMath::saturate, otherwise overflow may occur. |
Definition at line 350 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
Referenced by vp::fillHoles().
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Compute the undistortion transformation map.
cam | : Camera intrinsic parameters with distortion coefficients. |
width | : Image width. |
height | : Image height. |
mapU | : 2D array that contains at each coordinate the u-coordinate in the distorted image. |
mapV | : 2D array that contains at each coordinate the v-coordinate in the distorted image. |
mapDu | : 2D array that contains at each coordinate the for the interpolation. |
mapDv | : 2D array that contains at each coordinate the for the interpolation. |
Definition at line 392 of file vpImageTools.cpp.
References vpCameraParameters::get_kud(), vpCameraParameters::get_projModel(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpCameraParameters::getKannalaBrandtDistortionCoefficients(), vpCameraParameters::ProjWithKannalaBrandtDistortion, vpArray2D< Type >::resize(), and vpMath::sqr().
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Keep the part of an image that is in the mask.
[in] | I | : Input image. |
[in] | mask | : Mask where pixels to consider have values that differ from 0. |
[out] | I_mask | : Resulting image where pixels that are in the mask are kept. |
Definition at line 1056 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), vpImageException::incorrectInitializationError, and vpImage< Type >::resize().
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Keep the part of an image that is in the mask.
[in] | I | : Input image. |
[in] | mask | : Mask where pixels to consider have values that differ from 0. |
[out] | I_mask | : Resulting image where pixels that are in the mask are kept. |
Definition at line 1023 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), vpImageException::incorrectInitializationError, and vpImage< Type >::resize().
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Create binary mask by checking if HSV (hue, saturation, value) channels lie between low and high HSV thresholds.
[in] | hue | : Pointer to an array of hue values. Its dimension is equal to the size parameter. |
[in] | saturation | : Pointer to an array of saturation values. Its dimension is equal to the size parameter. |
[in] | value | : Pointer to an array of values. Its dimension is equal to the size parameter. |
[in] | hsv_range | : 6-dim vector that contains the low/high range values for each HSV channel respectively. Each element of this vector should be in [0,255] range. Note that there is also tutorial-hsv-tuner.cpp that may help to determine low/high HSV values. |
[out] | mask | : Pointer to a resulting mask of dimension size . When HSV value is in the boundaries, the mask element is set to 255, otherwise to 0. The mask should be allocated prior calling this function. Its dimension is equal to the size parameter. |
[in] | size | : Size of hue , saturation , value and mask arrays. |
Definition at line 1150 of file vpImageTools.cpp.
References vpImageException::notInitializedError.
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Create binary mask by checking if HSV (hue, saturation, value) channels lie between low and high HSV thresholds.
[in] | hue | : Pointer to an array of hue values. Its dimension is equal to the size parameter. |
[in] | saturation | : Pointer to an array of saturation values. Its dimension is equal to the size parameter. |
[in] | value | : Pointer to an array of values. Its dimension is equal to the size parameter. |
[in] | hsv_range | : 6-dim vector that contains the low/high range values for each HSV channel respectively. Each element of this vector should be in [0,255] range. Note that there is also tutorial-hsv-tuner.cpp that may help to determine low/high HSV values. |
[out] | mask | : Pointer to a resulting mask of dimension size . When HSV value is in the boundaries, the mask element is set to 255, otherwise to 0. The mask should be allocated prior calling this function. Its dimension is equal to the size parameter. |
[in] | size | : Size of hue , saturation , value and mask arrays. |
Definition at line 1097 of file vpImageTools.cpp.
References vpImageException::notInitializedError, and vpArray2D< Type >::size().
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Compute the integral images:
.
I | : Input image. |
II | : Integral image II. |
IIsq | : Integral image IIsq. |
Definition at line 513 of file vpImageTools.cpp.
References vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), vpImage< Type >::resize(), and vpMath::sqr().
Referenced by templateMatching().
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Get the interpolated value at a given location.
I | : The image to perform intepolation in. |
point | : The image point. |
method | : The interpolation method (only interpolation with vpImageTools::INTERPOLATION_NEAREST and vpImageTools::INTERPOLATION_LINEAR are implemented). |
Definition at line 614 of file vpImageTools.cpp.
References vpImagePoint::get_i(), vpImagePoint::get_j(), INTERPOLATION_CUBIC, INTERPOLATION_LINEAR, INTERPOLATION_NEAREST, vpException::notImplementedError, and vpMath::round().
Referenced by extract().
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Normalize the image intensities.
I | : The image to normalize. |
Definition at line 595 of file vpImageTools.cpp.
References vpImage< Type >::getHeight(), vpImage< Type >::getSum(), and vpImage< Type >::getWidth().
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Compute a correlation between 2 images.
I1 | : The first image. |
I2 | : The second image. |
useOptimized | : Use SSE if true and available. |
Definition at line 540 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getMeanValue(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpMath::sqr().
Referenced by templateMatching().
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Apply the transformation map to the image.
I | : Input grayscale image. |
mapU | : Map that contains at each destination coordinate the u-coordinate in the source image. |
mapV | : Map that contains at each destination coordinate the v-coordinate in the source image. |
mapDu | : Map that contains at each destination coordinate the for the interpolation. |
mapDv | : Map that contains at each destination coordinate the for the interpolation. |
Iundist | : Output transformed grayscale image. |
Definition at line 868 of file vpImageTools.cpp.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
Referenced by undistort().
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Apply the transformation map to the image.
I | : Input color image. |
mapU | : Map that contains at each destination coordinate the u-coordinate in the source image. |
mapV | : Map that contains at each destination coordinate the v-coordinate in the source image. |
mapDu | : Map that contains at each destination coordinate the for the interpolation. |
mapDv | : Map that contains at each destination coordinate the for the interpolation. |
Iundist | : Output transformed color image. |
Definition at line 913 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpArray2D< Type >::data, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().
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Resize the image using one interpolation method (by default it uses the nearest neighbor interpolation).
I | : Input image. |
Ires | : Output image resized (you have to init the image Ires at the desired size). |
method | : Interpolation method. |
nThreads | : Number of threads to use if OpenMP is available (zero will let OpenMP uses the optimal number of threads). |
Definition at line 1095 of file vpImageTools.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), INTERPOLATION_AREA, INTERPOLATION_CUBIC, INTERPOLATION_LINEAR, and INTERPOLATION_NEAREST.
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Resize the image using one interpolation method (by default it uses the nearest neighbor interpolation).
I | : Input image. |
Ires | : Output image resized to width, height. |
width | : Resized width. |
height | : Resized height. |
method | : Interpolation method. |
nThreads | : Number of threads to use if OpenMP is available (zero will let OpenMP uses the optimal number of threads). |
Definition at line 1069 of file vpImageTools.h.
References vpImage< Type >::resize().
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Definition at line 1147 of file vpImageTools.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), INTERPOLATION_AREA, INTERPOLATION_CUBIC, INTERPOLATION_LINEAR, and INTERPOLATION_NEAREST.
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Definition at line 1197 of file vpImageTools.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), INTERPOLATION_AREA, INTERPOLATION_CUBIC, INTERPOLATION_LINEAR, and INTERPOLATION_NEAREST.
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Definition at line 943 of file vpImageTools.h.
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Definition at line 1017 of file vpImageTools.h.
References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
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Match a template image into another image using zero-mean normalized cross-correlation:
I | : Input image. |
I_tpl | : Template image. |
I_score | : Output template matching score. |
step_u | : Step in u-direction to speed-up the computation. |
step_v | : Step in v-direction to speed-up the computation. |
useOptimized | : Use optimized version (SSE, OpenMP, integral images, ...) if true and available. |
Definition at line 717 of file vpImageTools.cpp.
References vpImage< Type >::bitmap, vpImageConvert::convert(), crop(), vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), integralImage(), normalizedCorrelation(), and vpImage< Type >::resize().
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Undistort an image
I | : Input image to undistort. |
cam | : Parameters of the camera causing distortion. |
undistI | : Undistorted output image. The size of this image will be the same than the input image I. If the distortion parameter is null, meaning that cam.get_kud() == 0 , undistI is just a copy of I. |
nThreads | : Number of threads to use if pthreads library is available. |
Since this function is time consuming, if you want to undistort multiple images, you should rather call initUndistortMap() once and then remap() to undistort the images. This will be less time consuming.
Definition at line 654 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpCameraParameters::get_kud(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImage< Type >::resize(), and vpMath::sqr().
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Undistort an image.
I | : Input image to undistort. |
mapU | : Map that contains at each destination coordinate the u-coordinate in the source image. |
mapV | : Map that contains at each destination coordinate the v-coordinate in the source image. |
mapDu | : Map that contains at each destination coordinate the for the interpolation. |
mapDv | : Map that contains at each destination coordinate the for the interpolation. |
newI | : Undistorted output image. The size of this image will be the same as the input image I. |
Definition at line 827 of file vpImageTools.h.
References remap().
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Apply a warping (affine or perspective) transformation to an image.
src | : Input image. |
T | : Transformation / warping matrix, a 2x3 matrix for an affine transformation or a 3x3 matrix for a perspective transformation (homography). |
dst | : Output image, if empty it will be of the same size than src and zero-initialized. |
interpolation | : Interpolation method (only INTERPOLATION_NEAREST and INTERPOLATION_LINEAR are accepted, if INTERPOLATION_CUBIC is passed, INTERPOLATION_NEAREST will be used instead). |
fixedPointArithmetic | : If true and if pixelCenter is false, fixed-point arithmetic is used if possible. Otherwise (e.g. the input image is too big) it fallbacks to the default implementation. |
pixelCenter | : If true, pixel coordinates are at (0.5, 0.5), otherwise at (0,0). Fixed-point arithmetic cannot be used with pixelCenter option. |
Definition at line 1262 of file vpImageTools.h.
References vpArray2D< Type >::getCols(), vpImage< Type >::getHeight(), vpArray2D< Type >::getRows(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), INTERPOLATION_CUBIC, INTERPOLATION_NEAREST, vpMatrix::inverseByLU(), vpMath::nul(), and vpImage< Type >::resize().
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Definition at line 1623 of file vpImageTools.h.
References vpRGBa::B, vpRGBa::G, vpImage< Type >::getHeight(), vpArray2D< Type >::getRows(), vpImage< Type >::getWidth(), and vpRGBa::R.