Visual Servoing Platform  version 3.1.0
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vpImage< Type > Class Template Reference
core: Core module » Image manipulation

#include <visp3/core/vpImage.h>

Public Member Functions

 vpImage ()
 
 vpImage (const vpImage< Type > &)
 
 vpImage (vpImage< Type > &&)
 
 vpImage (unsigned int height, unsigned int width)
 
 vpImage (unsigned int height, unsigned int width, Type value)
 
 vpImage (Type *const array, const unsigned int height, const unsigned int width, const bool copyData=false)
 
virtual ~vpImage ()
 

Public Attributes

Type * bitmap
 
vpDisplay * display
 

Friends

class vpImageConvert
 

Inherited functionalities from vpImage

std::ostream & operator<< (std::ostream &s, const vpImage< Type > &I)
 
std::ostream & operator<< (std::ostream &s, const vpImage< unsigned char > &I)
 
std::ostream & operator<< (std::ostream &s, const vpImage< char > &I)
 
std::ostream & operator<< (std::ostream &s, const vpImage< float > &I)
 
std::ostream & operator<< (std::ostream &s, const vpImage< double > &I)
 
void swap (vpImage< Type > &first, vpImage< Type > &second)
 
void destroy ()
 
void doubleSizeImage (vpImage< Type > &res)
 
unsigned int getCols () const
 
unsigned int getHeight () const
 
Type getMaxValue () const
 
Type getMinValue () const
 
void getMinMaxValue (Type &min, Type &max) const
 
unsigned int getNumberOfPixel () const
 
unsigned int getRows () const
 
unsigned int getSize () const
 
Type getValue (double i, double j) const
 
Type getValue (vpImagePoint &ip) const
 
unsigned int getWidth () const
 
void halfSizeImage (vpImage< Type > &res) const
 
void init (unsigned int height, unsigned int width)
 
void init (unsigned int height, unsigned int width, Type value)
 
void init (Type *const array, const unsigned int height, const unsigned int width, const bool copyData=false)
 
void insert (const vpImage< Type > &src, const vpImagePoint &topLeft)
 
Type * operator[] (const unsigned int i)
 
Type * operator[] (const int i)
 
const Type * operator[] (unsigned int i) const
 
const Type * operator[] (int i) const
 
Type operator() (const unsigned int i, const unsigned int j) const
 
void operator() (const unsigned int i, const unsigned int j, const Type &v)
 
Type operator() (const vpImagePoint &ip) const
 
void operator() (const vpImagePoint &ip, const Type &v)
 
vpImage< Type > operator- (const vpImage< Type > &B)
 
vpImage< Type > & operator= (vpImage< Type > other)
 
vpImage< Type > & operator= (const Type &v)
 
bool operator== (const vpImage< Type > &I)
 
bool operator!= (const vpImage< Type > &I)
 
void performLut (const Type(&lut)[256], const unsigned int nbThreads=1)
 
void quarterSizeImage (vpImage< Type > &res) const
 
void resize (const unsigned int h, const unsigned int w)
 
void resize (const unsigned int h, const unsigned int w, const Type &val)
 
void sub (const vpImage< Type > &B, vpImage< Type > &C)
 
void sub (const vpImage< Type > &A, const vpImage< Type > &B, vpImage< Type > &C)
 
void subsample (unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const
 

Detailed Description

template<class Type>
class vpImage< Type >

Definition of the vpImage class member functions.

This is a template class, therefore the type of each element of the array is not a priori defined.

Data structure

Each image is build using two structure (an array bitmap which size is [width*height]) and an array of pointer row (which size is [nrow]) the ith element in the row array row[i] is pointer toward the ith "line" of the image (ie, bitmap +i*width )

image-data-structure.gif

Such a structure allows a fast acces to each element of the image. if i is the ith rows and j the jth columns the value of this pixel is given by I[i][j] (that is equivalent to row[i][j]).

Example

The following example available in tutorial-image-manipulation.cpp shows how to create gray level and color images and how to access to the pixels.

#include <visp3/core/vpImage.h>
int main()
{
try {
vpImage<unsigned char> gray_image(240, 320);
vpImage<vpRGBa> color_image(240, 320);
gray_image = 128;
vpRGBa color(255, 0, 0);
color_image = color;
unsigned int igray_max = gray_image.getHeight() - 1;
unsigned int jgray_max = gray_image.getWidth() - 1;
std::cout << "Gray image, last pixel intensity: " << (int)gray_image[igray_max][jgray_max] << std::endl;
unsigned int icolor_max = color_image.getHeight() - 1;
unsigned int jcolor_max = color_image.getWidth() - 1;
std::cout << "Color image, last pixel RGB components: " << (int)color_image[icolor_max][jcolor_max].R << " "
<< (int)color_image[icolor_max][jcolor_max].G << " " << (int)color_image[icolor_max][jcolor_max].B
<< std::endl;
} catch (vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}

Important remark

To provide high-performance access there is no verification to ensure that 0 $\le$ i < height and 0 $\le$ j < width. Since the memory allocated in the bitmap array is continuous, that means that if (i, j) is outside the image you will manipulate a pixel that is not as expected. To highlight this remark, we provide hereafter an example where the considered pixel is outside the image:

unsigned int width = 320;
unsigned int height = 240;
vpImage<unsigned char> I(height, width); // Create an 320x240 image
// Set pixel coordinates that is outside the image
unsigned int i = 100;
unsigned int j = 400;
unsigned char value;
value = I[i][j]; // Here we will get the pixel value at position (101, 80)
Examples:
grabRealSense.cpp, grabRealSense2.cpp, mbtGenericTrackingDepth.cpp, testConnectedComponents.cpp, testImagePrint.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, and tutorial-connected-components.cpp.

Definition at line 116 of file vpImage.h.

Constructor & Destructor Documentation

◆ vpImage() [1/6]

template<class Type >
vpImage< Type >::vpImage ( )

constructor

Constructor.

No memory allocation is done

set all the element of the bitmap to value

See also
vpImage::resize(height, width) for memory allocation

Definition at line 832 of file vpImage.h.

◆ vpImage() [2/6]

template<class Type>
vpImage< Type >::vpImage ( const vpImage< Type > &  I)

copy constructor

Copy constructor

Definition at line 916 of file vpImage.h.

◆ vpImage() [3/6]

template<class Type>
vpImage< Type >::vpImage ( vpImage< Type > &&  I)

move constructor

Move constructor

Definition at line 927 of file vpImage.h.

◆ vpImage() [4/6]

template<class Type>
vpImage< Type >::vpImage ( unsigned int  h,
unsigned int  w 
)

constructor set the size of the image

Constructor.

Allocate memory for an [h x w] image.

Parameters
w: Image width.
h: Image height.

Element of the bitmap are set to zero.

If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.

Exceptions
vpException::memoryAllocationError
See also
vpImage::init(height, width)

Definition at line 771 of file vpImage.h.

◆ vpImage() [5/6]

template<class Type>
vpImage< Type >::vpImage ( unsigned int  h,
unsigned int  w,
Type  value 
)

constructor set the size of the image and init all the pixel

Constructor.

Allocate memory for an [height x width] image.

Parameters
w: Image width.
h: Image height.
value: Set all the element of the bitmap to value.

If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.

Returns
MEMORY_FAULT if memory allocation is impossible, else OK
See also
vpImage::init(height, width, value)

Definition at line 795 of file vpImage.h.

◆ vpImage() [6/6]

template<class Type>
vpImage< Type >::vpImage ( Type *const  array,
const unsigned int  h,
const unsigned int  w,
const bool  copyData = false 
)

constructor from an image stored as a continuous array in memory

Constructor.

Construct a vpImage from a continuous array in memory.

Parameters
array: Image data stored as a continuous array in memory.
h: Image height.
w: Image width.
copyData: If false (by default) only the memory address is copied, otherwise the data are copied.
Returns
MEMORY_FAULT if memory allocation is impossible, else OK
See also
vpImage::init(array, height, width)

Definition at line 817 of file vpImage.h.

◆ ~vpImage()

template<class Type >
vpImage< Type >::~vpImage ( )
virtual

destructor

Destructor : Memory de-allocation.

Warning
does not deallocate memory for display and video

Definition at line 910 of file vpImage.h.

Member Function Documentation

◆ destroy()

template<class Type >
void vpImage< Type >::destroy ( )

Destructor : Memory de-allocation.

Warning
does not deallocate memory for display and video

Definition at line 885 of file vpImage.h.

Referenced by vpImageFilter::filter(), vpImageFilter::gaussianBlur(), vpTemplateTracker::initTracking(), and vpImage< unsigned char >::~vpImage().

◆ doubleSizeImage()

template<class Type>
void vpImage< Type >::doubleSizeImage ( vpImage< Type > &  res)

Returns a new image that's double size of the current image. Used (eg. in case of keypoints extraction, we might double size of the image in order to have more keypoints). The double size image is computed by nearest-neighbour interpolation:

A B C
E F G
H I J
where
A C H J are pixels from original image
B E G I are interpolated pixels
Warning
Operator = must be defined for Type.
Parameters
res[out] : Image that is double size of the current image.

The example below shows how to use this method:

vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I2; // double size image
I.doubleSizeImage(I2);
vpImageIo::write(I2, "myDoubleSizeImage.pgm");

See halfSizeImage(vpImage<Type> &) for an example of pyramid construction.

Definition at line 1284 of file vpImage.h.

◆ getCols()

template<class Type>
unsigned int vpImage< Type >::getCols ( ) const
inline

Get the number of columns in the image.

Returns
The image number of column, or image width.
See also
getWidth()

Definition at line 169 of file vpImage.h.

Referenced by vpImageConvert::convert(), vpMomentObject::fromImage(), and vpMbKltTracker::reinit().

◆ getHeight()

template<class Type>
unsigned int vpImage< Type >::getHeight ( ) const
inline

Get the image height.

Returns
The image height.
See also
getWidth()

Definition at line 178 of file vpImage.h.

Referenced by vpVirtualGrabber::acquire(), vpDiskGrabber::acquire(), vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vpImageTools::binarise(), vpPlanarObjectDetector::buildReference(), vpKeyPointSurf::buildReference(), vpFernClassifier::buildReference(), vpHistogram::calculate(), vpImageTools::changeLUT(), vp::clahe(), vpMbtDistanceLine::closeToImageBorder(), vpMeLine::computeRhoTheta(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vp::connectedComponents(), vpImageConvert::convert(), vpMeSite::convolution(), vpImageConvert::createDepthHistogram(), vpKeyPoint::createImageMatching(), vpImageTools::crop(), vp1394TwoGrabber::dequeue(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpImageMorphology::dilatation(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbtDistanceLine::display(), vpMeNurbs::display(), vpMeLine::display(), vpHistogram::display(), vpMbKltTracker::display(), vpWireFrameSimulator::display_scene(), vpMbtFaceDepthNormal::displayFeature(), vpFeatureDisplay::displayLine(), vpKeyPoint::displayMatching(), vp::equalizeHistogram(), vpImageMorphology::erosion(), vp::fillHoles(), vpTemplateTrackerZone::fillTriangle(), vpImageFilter::filter(), vpImageFilter::filterX(), vpImageFilter::filterY(), vpImageFilter::filterYBottomBorder(), vp::findContours(), vpImageTools::flip(), vp::floodFill(), vpServolens::getCameraParameters(), vpViper650::getCameraParameters(), vpViper850::getCameraParameters(), vpAfma6::getCameraParameters(), vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpKinect::getDepthMap(), vpRobotWireFrameSimulator::getExternalCameraParameters(), vpWireFrameSimulator::getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpVideoReader::getFrame(), vpDot2::getFreemanChain(), vpImageFilter::getGaussPyramidal(), vpImageFilter::getGaussXPyramidal(), vpImageFilter::getGaussYPyramidal(), vpImageFilter::getGradX(), vpImageFilter::getGradY(), vpDisplayX::getImage(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpPolygon3D::getNbCornerInsideImage(), vpTemplateTrackerMI::getNormalizedCost(), vpAROgre::getRenderingOutput(), vpTemplateTrackerSSD::getSSD(), vpImageTools::imageAdd(), vpImageTools::imageDifference(), vpImageTools::imageDifferenceAbsolute(), vpImageTools::imageSubtract(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpDisplayWin32::init(), vpAROgre::init(), vpDisplayGTK::init(), vpDisplayX::init(), vpImageSimulator::init(), vpDisplayOpenCV::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpTemplateTrackerZone::initFromPoints(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpMbtDistanceLine::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpTemplateTracker::initTracking(), vpImage< unsigned char >::insert(), vpKeyPoint::insertImageMatching(), vpMbtPolygon::isVisible(), vpMeNurbs::localReSample(), vpPlanarObjectDetector::matchPoint(), vpKeyPointSurf::matchPoint(), vpFernClassifier::matchPoint(), vpImageConvert::merge(), vpWireFrameSimulator::navigation(), vpDiskGrabber::open(), vpVideoWriter::open(), vpDot::operator==(), vpImage< unsigned char >::operator==(), vpImage< unsigned char >::performLut(), vpMbEdgeKltTracker::postTracking(), vpMeEllipse::printParameters(), vpImageIo::readJPEG(), vpImageIo::readPFM(), vpImageIo::readPGM(), vpImageIo::readPNG(), vpImageIo::readPPM(), vp::reconstruct(), vpMbKltTracker::reinit(), vpImageTools::resize(), vpImageTools::resizeBicubic(), vpImageTools::resizeBilinear(), vp::retinex(), vpPolygon3D::roiInsideImage(), vpMeLine::sample(), vpMeNurbs::sample(), vpDot2::searchDotsInArea(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpImageFilter::sepFilter(), vpAR::setImage(), vpFernClassifier::setImage(), vpDot2::setMaxSizeSearchDistancePrecision(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpImageConvert::split(), vp::stretchContrast(), vp::stretchContrastHSV(), vpImage< unsigned char >::sub(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpImageTools::undistort(), vpMbtDistanceLine::updateMovingEdge(), vpDisplayGDI::vpDisplayGDI(), vpDisplayGTK::vpDisplayGTK(), vpDisplayOpenCV::vpDisplayOpenCV(), vpDisplayX::vpDisplayX(), vpImage< unsigned char >::vpImage(), vpKinect::warpRGBFrame(), vpImageIo::writeJPEG(), vpImageIo::writePFM(), vpImageIo::writePGM(), vpImageIo::writePNG(), vpImageIo::writePPM(), and vpMeEllipse::~vpMeEllipse().

◆ getMaxValue()

template<class Type >
Type vpImage< Type >::getMaxValue ( ) const

Return the maximum value within the bitmap.

See also
getMinValue()

Definition at line 944 of file vpImage.h.

Referenced by vpImage< unsigned char >::getHeight().

◆ getMinMaxValue()

template<class Type>
void vpImage< Type >::getMinMaxValue ( Type &  min,
Type &  max 
) const

Look for the minimum and the maximum value within the bitmap.

See also
getMaxValue()
getMinValue()

Definition at line 974 of file vpImage.h.

Referenced by vpImageConvert::convert(), vpImage< unsigned char >::getHeight(), and vp::stretchContrast().

◆ getMinValue()

template<class Type >
Type vpImage< Type >::getMinValue ( ) const

Return the minimum value within the bitmap.

See also
getMaxValue()

Definition at line 959 of file vpImage.h.

Referenced by vpImage< unsigned char >::getHeight().

◆ getNumberOfPixel()

template<class Type>
unsigned int vpImage< Type >::getNumberOfPixel ( ) const
inline

Get the image number of pixels which corresponds to the image width multiplied by the image height.

Returns
The image number of pixels or image size.
See also
getWidth(), getHeight()

Definition at line 197 of file vpImage.h.

Referenced by vpImageConvert::split().

◆ getRows()

template<class Type>
unsigned int vpImage< Type >::getRows ( ) const
inline

Get the number of rows in the image.

Returns
The image number of rows, or image height.
See also
getHeight()

Definition at line 207 of file vpImage.h.

Referenced by vpImageConvert::convert(), vpMomentObject::fromImage(), and vpMbKltTracker::reinit().

◆ getSize()

template<class Type>
unsigned int vpImage< Type >::getSize ( ) const
inline

Get the image size.

Returns
The image size = width * height.
See also
getWidth(), getHeight()

Definition at line 215 of file vpImage.h.

Referenced by vpFlyCaptureGrabber::acquire(), vp1394CMUGrabber::acquire(), vp::autoThreshold(), vpHistogram::calculate(), vp::connectedComponents(), vpImageConvert::convert(), vpImageConvert::createDepthHistogram(), vpImageMorphology::dilatation(), vp::drawContours(), vpImageMorphology::erosion(), vp::fillHoles(), vp::findContours(), vp::floodFill(), vpImageTools::imageAdd(), vpImageTools::imageSubtract(), vpImage< unsigned char >::performLut(), vpImageIo::readPPM(), vp::reconstruct(), and vp::unsharpMask().

◆ getValue() [1/2]

template<class Type >
Type vpImage< Type >::getValue ( double  i,
double  j 
) const

Retrieves pixel value from an image containing values of type Type with sub-pixel accuracy.

Gets the value of a sub-pixel with coordinates (i,j) with bilinear interpolation. If location is out of bounds, then return the value of the closest pixel.

Parameters
i: Sub-pixel coordinate along the rows.
j: Sub-pixel coordinate along the columns.
Returns
Interpolated sub-pixel value from the four neighbours.
Exceptions
vpImageException::notInTheImage: If (i,j) is out of the image.

Definition at line 1338 of file vpImage.h.

Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpImage< unsigned char >::getSize(), vpTemplateTrackerSSD::getSSD(), vpImage< unsigned char >::getValue(), vpImageSimulator::init(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ getValue() [2/2]

template<class Type >
Type vpImage< Type >::getValue ( vpImagePoint &  ip) const
inline

Retrieves pixel value from an image containing values of type Type with sub-pixel accuracy.

Gets the value of a sub-pixel with coordinates (i,j) with bilinear interpolation. If location is out of bounds, then return the value of the closest pixel.

Parameters
ip: Sub-pixel coordinates of a point in the image.
Returns
Interpolated sub-pixel value from the four neighbours.
Exceptions
vpImageException::notInTheImage: If the image point ip is out of the image.

Definition at line 1476 of file vpImage.h.

◆ getWidth()

template<class Type>
unsigned int vpImage< Type >::getWidth ( ) const
inline

Get the image width.

Returns
The image width.
See also
getHeight()

Definition at line 229 of file vpImage.h.

Referenced by vpVirtualGrabber::acquire(), vpDiskGrabber::acquire(), vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vpImageTools::binarise(), vpPlanarObjectDetector::buildReference(), vpKeyPointSurf::buildReference(), vpFernClassifier::buildReference(), vpHistogram::calculate(), vpImageTools::changeLUT(), vp::clahe(), vpMbtDistanceLine::closeToImageBorder(), vpMeLine::computeRhoTheta(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vp::connectedComponents(), vpImageConvert::convert(), vpMeSite::convolution(), vpImageConvert::createDepthHistogram(), vpKeyPoint::createImageMatching(), vpImageTools::crop(), vp1394TwoGrabber::dequeue(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpImageMorphology::dilatation(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbtDistanceLine::display(), vpMeNurbs::display(), vpMeLine::display(), vpHistogram::display(), vpMbKltTracker::display(), vpWireFrameSimulator::display_scene(), vpMbtFaceDepthNormal::displayFeature(), vpDisplayX::displayImageROI(), vpFeatureDisplay::displayLine(), vpKeyPoint::displayMatching(), vp::equalizeHistogram(), vpImageMorphology::erosion(), vp::fillHoles(), vpTemplateTrackerZone::fillTriangle(), vpImageFilter::filter(), vpImageFilter::filterX(), vpImageFilter::filterXRightBorder(), vpImageFilter::filterY(), vp::findContours(), vpImageTools::flip(), vp::floodFill(), vpServolens::getCameraParameters(), vpViper650::getCameraParameters(), vpViper850::getCameraParameters(), vpAfma6::getCameraParameters(), vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpRobotWireFrameSimulator::getExternalCameraParameters(), vpWireFrameSimulator::getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpVideoReader::getFrame(), vpDot2::getFreemanChain(), vpImageFilter::getGaussPyramidal(), vpImageFilter::getGaussXPyramidal(), vpImageFilter::getGaussYPyramidal(), vpImageFilter::getGradX(), vpImageFilter::getGradY(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpPolygon3D::getNbCornerInsideImage(), vpTemplateTrackerMI::getNormalizedCost(), vpAROgre::getRenderingOutput(), vpTemplateTrackerSSD::getSSD(), vpImageTools::imageAdd(), vpImageTools::imageDifference(), vpImageTools::imageDifferenceAbsolute(), vpImageTools::imageSubtract(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpDisplayWin32::init(), vpAROgre::init(), vpDisplayGTK::init(), vpDisplayX::init(), vpImageSimulator::init(), vpDisplayOpenCV::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbTracker::initClick(), vpTemplateTrackerZone::initFromPoints(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpMbtDistanceLine::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpTemplateTracker::initTracking(), vpImage< unsigned char >::insert(), vpKeyPoint::insertImageMatching(), vpMbtPolygon::isVisible(), vpMeNurbs::localReSample(), vpPlanarObjectDetector::matchPoint(), vpKeyPointSurf::matchPoint(), vpFernClassifier::matchPoint(), vpImageConvert::merge(), vpWireFrameSimulator::navigation(), vpDiskGrabber::open(), vpVideoWriter::open(), vpDot::operator==(), vpImage< unsigned char >::operator==(), vpImage< unsigned char >::performLut(), vpMbEdgeKltTracker::postTracking(), vpMeEllipse::printParameters(), vpImageIo::readJPEG(), vpImageIo::readPFM(), vpImageIo::readPGM(), vpImageIo::readPNG(), vpImageIo::readPPM(), vp::reconstruct(), vpMbKltTracker::reinit(), vpImageTools::resize(), vpImageTools::resizeBicubic(), vpImageTools::resizeBilinear(), vp::retinex(), vpPolygon3D::roiInsideImage(), vpMeLine::sample(), vpMeNurbs::sample(), vpDot2::searchDotsInArea(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpImageFilter::sepFilter(), vpAR::setImage(), vpFernClassifier::setImage(), vpDot2::setMaxSizeSearchDistancePrecision(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpImageConvert::split(), vp::stretchContrast(), vp::stretchContrastHSV(), vpImage< unsigned char >::sub(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpImageTools::undistort(), vpMbtDistanceLine::updateMovingEdge(), vpDisplayGDI::vpDisplayGDI(), vpDisplayGTK::vpDisplayGTK(), vpDisplayOpenCV::vpDisplayOpenCV(), vpDisplayX::vpDisplayX(), vpImage< unsigned char >::vpImage(), vpKinect::warpRGBFrame(), vpImageIo::writeJPEG(), vpImageIo::writePFM(), vpImageIo::writePGM(), vpImageIo::writePNG(), vpImageIo::writePPM(), and vpMeEllipse::~vpMeEllipse().

◆ halfSizeImage()

template<class Type>
void vpImage< Type >::halfSizeImage ( vpImage< Type > &  res) const

Returns a new image that's half size of the current image. No filtering is used during the sub sampling.

Used for building pyramid of the image.

Warning
Operator = must be defined for Type.
Parameters
res[out] : Subsampled image that is half size of the current image.

The example below shows how to use this method:

vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I2; // half size image
I.halfSizeImage(I2);
vpImageIo::write(I2, "myHalfSizeImage.pgm");

This other example shows how to construct a pyramid of the image:

vpImage<unsigned char> I[4]; // pyramid with 4 levels
vpImageIo::read(I[1], "myImage.pgm"); // Original image at level 1
// compute the other levels
I5[1].doubleSizeImage(I5[0]); // double size image at level 0
I5[1].halfSizeImage(I5[2]); // half size image at level 2
I5[1].quarterSizeImage(I5[3]); // quarter size image at level 3
See also
subsample()

Definition at line 1179 of file vpImage.h.

Referenced by vpImage< unsigned char >::getWidth().

◆ init() [1/3]

template<class Type >
void vpImage< Type >::init ( unsigned int  h,
unsigned int  w 
)

Set the size of the image.

Image initialization.

Allocate memory for an [h x w] image.

Parameters
w: Image width.
h: Image height.

Element of the bitmap are not initialized

If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.

Exceptions
vpException::memoryAllocationError

Definition at line 649 of file vpImage.h.

Referenced by vpImage< unsigned char >::getWidth(), vpPlot::init(), vpImage< unsigned char >::init(), vpImage< unsigned char >::resize(), and vpImage< unsigned char >::vpImage().

◆ init() [2/3]

template<class Type>
void vpImage< Type >::init ( unsigned int  h,
unsigned int  w,
Type  value 
)

Set the size of the image.

Image initialisation.

Allocate memory for an [h x w] image.

Parameters
w: Image width.
h: Image height.
value: Set all the element of the bitmap to value.
Exceptions
vpException::memoryAllocationError
See also
vpImage::init(h, w)

Definition at line 624 of file vpImage.h.

◆ init() [3/3]

template<class Type>
void vpImage< Type >::init ( Type *const  array,
const unsigned int  h,
const unsigned int  w,
const bool  copyData = false 
)

init from an image stored as a continuous array in memory

Image initialization.

Init from image data stored as a continuous array in memory.

Parameters
array: Image data stored as a continuous array in memory
h: Image height.
w: Image width.
copyData: If false (by default) only the memory address is copied, otherwise the data are copied.
Exceptions
vpException::memoryAllocationError

Definition at line 704 of file vpImage.h.

◆ insert()

template<class Type>
void vpImage< Type >::insert ( const vpImage< Type > &  src,
const vpImagePoint &  topLeft 
)

Insert an image into another one.

It is possible to insert the image $ src $ into the calling vpImage. You can set the point in the destination image where the top left corner of the $ src $ image will belocated.

Parameters
src: Image to insert
topLeft: Upper/left coordinates in the image where the image src is inserted in the destination image.

Definition at line 1102 of file vpImage.h.

Referenced by vpImage< unsigned char >::getWidth(), and vpKeyPoint::insertImageMatching().

◆ operator!=()

template<class Type>
bool vpImage< Type >::operator!= ( const vpImage< Type > &  I)

Compare two images.

Returns
true if the images are different, false if they are the same.

Definition at line 1043 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator()().

◆ operator()() [1/4]

template<class Type>
Type vpImage< Type >::operator() ( const unsigned int  i,
const unsigned int  j 
) const
inline

Get the value of an image point with coordinates (i, j), with i the row position and j the column position.

Returns
Value of the image point (i, j).

Definition at line 260 of file vpImage.h.

◆ operator()() [2/4]

template<class Type>
void vpImage< Type >::operator() ( const unsigned int  i,
const unsigned int  j,
const Type &  v 
)
inline

Set the value v of an image point with coordinates (i, j), with i the row position and j the column position.

Definition at line 266 of file vpImage.h.

◆ operator()() [3/4]

template<class Type>
Type vpImage< Type >::operator() ( const vpImagePoint &  ip) const
inline

Get the value of an image point.

Parameters
ip: An image point with sub-pixel coordinates. Sub-pixel coordinates are roughly transformed to insigned int coordinates by cast.
Returns
Value of the image point ip.
See also
getValue(const vpImagePoint &)

Definition at line 278 of file vpImage.h.

◆ operator()() [4/4]

template<class Type>
void vpImage< Type >::operator() ( const vpImagePoint &  ip,
const Type &  v 
)
inline

Set the value of an image point.

Parameters
ip: An image point with sub-pixel coordinates. Sub-pixel coordinates are roughly transformed to insigned int coordinates by cast.
v: Value to set for the image point.

Definition at line 294 of file vpImage.h.

◆ operator-()

template<class Type>
vpImage< Type > vpImage< Type >::operator- ( const vpImage< Type > &  B)

Operation A - B (A is unchanged).

#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> A(288, 384);
vpImage<unsigned char> B(288, 384);
vpImage<unsigned char> C;
A = 128;
B = 120;
// operator-() : C = A - B
C = A - B;
return 0;
}
See also
sub(const vpImage<Type> &, const vpImage<Type> &, vpImage<Type> &) to avoid matrix allocation for each use.

Definition at line 1084 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator()().

◆ operator=() [1/2]

template<class Type>
vpImage< Type > & vpImage< Type >::operator= ( vpImage< Type >  other)

Copy operator.

Definition at line 988 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator()().

◆ operator=() [2/2]

template<class Type>
vpImage< Type > & vpImage< Type >::operator= ( const Type &  v)

= operator : Set all the element of the bitmap to a given value v. $ A = v <=> A[i][j] = v $

Warning
= must be defined for $ <$ Type $ > $

Definition at line 1007 of file vpImage.h.

◆ operator==()

template<class Type>
bool vpImage< Type >::operator== ( const vpImage< Type > &  I)

Compare two images.

Returns
true if the images are the same, false otherwise.

Definition at line 1020 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator()().

◆ operator[]() [1/4]

template<class Type>
Type* vpImage< Type >::operator[] ( const unsigned int  i)
inline

operator[] allows operation like I[i] = x.

Definition at line 246 of file vpImage.h.

◆ operator[]() [2/4]

template<class Type>
Type* vpImage< Type >::operator[] ( const int  i)
inline

Definition at line 247 of file vpImage.h.

◆ operator[]() [3/4]

template<class Type>
const Type* vpImage< Type >::operator[] ( unsigned int  i) const
inline

operator[] allows operation like x = I[i]

Definition at line 250 of file vpImage.h.

◆ operator[]() [4/4]

template<class Type>
const Type* vpImage< Type >::operator[] ( int  i) const
inline

Definition at line 251 of file vpImage.h.

◆ performLut()

template<class Type>
void vpImage< Type >::performLut ( const Type(&)  lut[256],
const unsigned int  nbThreads = 1 
)
Warning
This generic method is not implemented. You should rather use the instantiated methods for unsigned char and vpRGBa images.
See also
vpImage<unsigned char>::performLut(const unsigned char (&)[256], const unsigned int)
vpImage<vpRGBa char>::performLut(const vpRGBa (&)[256], const unsigned int)

Definition at line 1670 of file vpImage.h.

Referenced by vp::adjust(), vpImageTools::binarise(), vp::equalizeHistogram(), vp::gammaCorrection(), vpImage< unsigned char >::operator()(), vpImage< unsigned char >::performLut(), and vp::stretchContrast().

◆ quarterSizeImage()

template<class Type>
void vpImage< Type >::quarterSizeImage ( vpImage< Type > &  res) const

Returns a new image that's a quarter size of the current image. No filtering is used during the sub sampling. Used for building a quarter of the image.

Warning
Operator = must be defined for Type.
Parameters
res[out] : Subsampled image that is quarter size of the current image.

The example below shows how to use this method:

vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I4; // quarter size image
I.halfSizeImage(I4);
vpImageIo::write(I4, "myQuarterSizeImage.pgm");

See halfSizeImage(vpImage<Type> &) for an example of pyramid construction.

See also
subsample()

Definition at line 1241 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator()().

◆ resize() [1/2]

template<class Type >
void vpImage< Type >::resize ( const unsigned int  h,
const unsigned int  w 
)

resize the image : Image initialization

Allocate memory for an [height x width] image.

Warning
The image is not initialized.
Parameters
w: Image width.
h: Image height.

Element of the bitmap are not initialized

If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.

Exceptions
vpException::memoryAllocationError
See also
init(unsigned int, unsigned int)

Definition at line 856 of file vpImage.h.

Referenced by vpPylonGrabberGigE::acquire(), vpPylonGrabberUsb::acquire(), vpFlyCaptureGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vp::clahe(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vp::connectedComponents(), vpImageConvert::convert(), vpImageConvert::createDepthHistogram(), vpImageTools::crop(), vp1394TwoGrabber::dequeue(), vpImage< unsigned char >::doubleSizeImage(), vpImageFilter::filter(), vpImageFilter::filterX(), vpImageFilter::filterY(), vpImageTools::flip(), vpRealSense2::getColorFrame(), vpImageFilter::getGaussXPyramidal(), vpImageFilter::getGaussYPyramidal(), vpImageFilter::getGradX(), vpImageFilter::getGradY(), vpRealSense2::getGreyFrame(), vpDisplayGTK::getImage(), vpDisplayX::getImage(), vpSimulator::getInternalImage(), vpAROgre::getRenderingOutput(), vpImage< unsigned char >::halfSizeImage(), vpImageTools::imageAdd(), vpImageTools::imageDifference(), vpImageTools::imageDifferenceAbsolute(), vpImageTools::imageSubtract(), vpProjectionDisplay::init(), vpImageConvert::merge(), vpV4l2Grabber::open(), vp1394CMUGrabber::open(), vpImage< unsigned char >::operator()(), vpImage< unsigned char >::quarterSizeImage(), vpImageIo::readJPEG(), vpImageIo::readPFM(), vpImageIo::readPGM(), vpImageIo::readPNG(), vpImageIo::readPPM(), vpImageTools::resize(), vpImageFilter::sepFilter(), vpImageConvert::split(), vpImage< unsigned char >::sub(), vpImage< unsigned char >::subsample(), vpImageTools::undistort(), vpImage< unsigned char >::vpImage(), vpKinect::vpKinect(), vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(), vpKinect::warpRGBFrame(), and vpImageIo::writePGM().

◆ resize() [2/2]

template<class Type>
void vpImage< Type >::resize ( const unsigned int  h,
const unsigned int  w,
const Type &  val 
)

resize the image : Image initialization

Allocate memory for an [height x width] image and initialize the image.

Parameters
w: Image width.
h: Image height.
val: Pixels value.

Element of the bitmap are not initialized

If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.

Exceptions
vpException::memoryAllocationError
See also
init(unsigned int, unsigned int)

Definition at line 877 of file vpImage.h.

◆ sub() [1/2]

template<class Type>
void vpImage< Type >::sub ( const vpImage< Type > &  B,
vpImage< Type > &  C 
)

Operation C = *this - B.

#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> A(288, 384);
vpImage<unsigned char> B(288, 384);
vpImage<unsigned char> C;
A = 128;
B = 120;
A.sub(B, C); // C = A - B
return 0;
}

The result is placed in the third parameter C and not returned. A new image won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

Exceptions
vpException::memoryAllocationErrorIf the images size differ.
See also
operator-()

Definition at line 1609 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator()(), and vpImage< unsigned char >::operator-().

◆ sub() [2/2]

template<class Type>
void vpImage< Type >::sub ( const vpImage< Type > &  A,
const vpImage< Type > &  B,
vpImage< Type > &  C 
)

Operation C = A - B.

The result is placed in the third parameter C and not returned. A new image won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).

Exceptions
vpException::memoryAllocationErrorIf the images size differ.
See also
operator-()

Definition at line 1640 of file vpImage.h.

◆ subsample()

template<class Type>
void vpImage< Type >::subsample ( unsigned int  v_scale,
unsigned int  h_scale,
vpImage< Type > &  sampled 
) const

Computes a subsampled image. No filtering is used during the sub sampling.

Parameters
v_scale[in] : Vertical subsampling factor.
h_scale[in] : Horizontal subsampling factor.
sampled[out] : Subsampled image.

The example below shows how to use this method:

vpImage<unsigned char> I; // original image
vpImageIo::read(I, "myImage.pgm");
vpImage<unsigned char> I2; // half size image
I.subsample(2, 2, I2);
vpImageIo::write(I2, "myHalfSizeImage.pgm");

Definition at line 1207 of file vpImage.h.

Referenced by vpDisplayGTK::displayImage(), and vpImage< unsigned char >::operator()().

Friends And Related Function Documentation

◆ operator<< [1/5]

template<class Type>
std::ostream& operator<< ( std::ostream &  s,
const vpImage< Type > &  I 
)
friend

Definition at line 342 of file vpImage.h.

◆ operator<< [2/5]

template<class Type>
std::ostream& operator<< ( std::ostream &  s,
const vpImage< unsigned char > &  I 
)
friend

Definition at line 365 of file vpImage.h.

◆ operator<< [3/5]

template<class Type>
std::ostream& operator<< ( std::ostream &  s,
const vpImage< char > &  I 
)
friend

Definition at line 391 of file vpImage.h.

◆ operator<< [4/5]

template<class Type>
std::ostream& operator<< ( std::ostream &  s,
const vpImage< float > &  I 
)
friend

Definition at line 417 of file vpImage.h.

◆ operator<< [5/5]

template<class Type>
std::ostream& operator<< ( std::ostream &  s,
const vpImage< double > &  I 
)
friend

Definition at line 444 of file vpImage.h.

◆ swap

template<class Type>
void swap ( vpImage< Type > &  first,
vpImage< Type > &  second 
)
friend

Definition at line 1837 of file vpImage.h.

Referenced by vpImage< unsigned char >::operator=().

◆ vpImageConvert

template<class Type>
friend class vpImageConvert
friend

Definition at line 130 of file vpImage.h.

Member Data Documentation

◆ bitmap

template<class Type>
Type* vpImage< Type >::bitmap

points toward the bitmap

Definition at line 133 of file vpImage.h.

Referenced by vpPylonGrabberGigE::acquire(), vpPylonGrabberUsb::acquire(), vpFlyCaptureGrabber::acquire(), vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vpImageTools::binarise(), vpKeyPointSurf::buildReference(), vpHistogram::calculate(), vp::clahe(), vpImageConvert::convert(), vpImageConvert::createDepthHistogram(), vp1394TwoGrabber::dequeue(), vpImage< unsigned char >::destroy(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), vpImageMorphology::dilatation(), vpDisplayGTK::displayImage(), vpDisplayX::displayImage(), vpDisplayX::displayImageROI(), vp::equalizeHistogram(), vpImageMorphology::erosion(), vp::findContours(), vpImageTools::flip(), vpRealSense2::getColorFrame(), vpRealSense2::getGreyFrame(), vpDisplayX::getImage(), vpImageSimulator::getImage(), vpSimulator::getInternalImage(), vpImage< unsigned char >::getMaxValue(), vpImage< unsigned char >::getMinMaxValue(), vpImage< unsigned char >::getMinValue(), vpAROgre::getRenderingOutput(), vpImageTools::imageAdd(), vpImageTools::imageDifference(), vpImageTools::imageDifferenceAbsolute(), vpImageTools::imageSubtract(), vpImage< unsigned char >::init(), vpMbEdgeTracker::initPyramid(), vpImage< unsigned char >::insert(), vpKeyPointSurf::matchPoint(), vpImageConvert::merge(), vpImage< unsigned char >::operator=(), vpImage< unsigned char >::operator==(), vpImage< unsigned char >::performLut(), vpImageIo::readJPEG(), vpImageIo::readPFM(), vpImageIo::readPGM(), vpImageIo::readPNG(), vpFernClassifier::setImage(), vpImageConvert::split(), vp::stretchContrastHSV(), vpImage< unsigned char >::sub(), vpKltOpencv::suppressFeature(), vpImageTools::undistort(), vp::unsharpMask(), vpAROgre::updateBackgroundTexture(), vpImage< unsigned char >::vpImage(), vpImageIo::writeJPEG(), vpImageIo::writePFM(), vpImageIo::writePGM(), and vpImageIo::writePNG().

◆ display

template<class Type>
vpDisplay* vpImage< Type >::display

Definition at line 134 of file vpImage.h.

Referenced by vpTemplateTracker::display(), vpWireFrameSimulator::getExternalImage(), vpDisplay::getImage(), vpWireFrameSimulator::getInternalImage(), vpDisplayWin32::init(), vpDisplayGTK::init(), vpDisplayX::init(), vpDisplayOpenCV::init(), vpMbTracker::initClick(), vpImage< unsigned char >::operator=(), and vpImage< unsigned char >::vpImage().