#include <visp3/core/vpImageConvert.h>

Static Public Member Functions
static void	createDepthHistogram (const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)

static void	createDepthHistogram (const vpImage< uint16_t > &src_depth, vpImage< unsigned char > &dest_depth)

static void	convert (const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)

static void	convert (const vpImage< vpRGBa > &src, vpImage< unsigned char > &dest)

static void	convert (const vpImage< float > &src, vpImage< unsigned char > &dest)

static void	convert (const vpImage< unsigned char > &src, vpImage< float > &dest)

static void	convert (const vpImage< double > &src, vpImage< unsigned char > &dest)

static void	convert (const vpImage< unsigned char > &src, vpImage< double > &dest)

static void	convert (const vpImage< uint16_t > &src, vpImage< unsigned char > &dest)

static void	convert (const vpImage< unsigned char > &src, vpImage< uint16_t > &dest)

template<typename Type >
static void	convert (const vpImage< Type > &src, vpImage< Type > &dest)

static void	convert (const IplImage *src, vpImage< vpRGBa > &dest, bool flip=false)

static void	convert (const IplImage *src, vpImage< unsigned char > &dest, bool flip=false)

static void	convert (const vpImage< vpRGBa > &src, IplImage *&dest)

static void	convert (const vpImage< unsigned char > &src, IplImage *&dest)

static void	convert (const cv::Mat &src, vpImage< vpRGBa > &dest, const bool flip=false)

static void	convert (const cv::Mat &src, vpImage< unsigned char > &dest, const bool flip=false)

static void	convert (const vpImage< vpRGBa > &src, cv::Mat &dest)

static void	convert (const vpImage< unsigned char > &src, cv::Mat &dest, const bool copyData=true)

static void	convert (const vpImage< unsigned char > &src, yarp::sig::ImageOf< yarp::sig::PixelMono > *dest, const bool copyData=true)

static void	convert (const yarp::sig::ImageOf< yarp::sig::PixelMono > *src, vpImage< unsigned char > &dest, const bool copyData=true)

static void	convert (const vpImage< vpRGBa > &src, yarp::sig::ImageOf< yarp::sig::PixelRgba > *dest, const bool copyData=true)

static void	convert (const yarp::sig::ImageOf< yarp::sig::PixelRgba > *src, vpImage< vpRGBa > &dest, const bool copyData=true)

static void	convert (const vpImage< vpRGBa > &src, yarp::sig::ImageOf< yarp::sig::PixelRgb > *dest)

static void	convert (const yarp::sig::ImageOf< yarp::sig::PixelRgb > *src, vpImage< vpRGBa > &dest)

static void	split (const vpImage< vpRGBa > &src, vpImage< unsigned char > pR, vpImage< unsigned char > pG, vpImage< unsigned char > pB, vpImage< unsigned char > pa=NULL)

static void	merge (const vpImage< unsigned char > R, const vpImage< unsigned char > G, const vpImage< unsigned char > B, const vpImage< unsigned char > a, vpImage< vpRGBa > &RGBa)

static void	YUVToRGB (unsigned char y, unsigned char u, unsigned char v, unsigned char &r, unsigned char &g, unsigned char &b)

static void	YUYVToRGBa (unsigned char yuyv, unsigned char rgba, unsigned int width, unsigned int height)

static void	YUYVToRGB (unsigned char yuyv, unsigned char rgb, unsigned int width, unsigned int height)

static void	YUYVToGrey (unsigned char yuyv, unsigned char grey, unsigned int size)

static void	YUV411ToRGBa (unsigned char yuv, unsigned char rgba, unsigned int size)

static void	YUV411ToRGB (unsigned char yuv, unsigned char rgb, unsigned int size)

static void	YUV411ToGrey (unsigned char yuv, unsigned char grey, unsigned int size)

static void	YUV422ToRGBa (unsigned char yuv, unsigned char rgba, unsigned int size)

static void	YUV422ToRGB (unsigned char yuv, unsigned char rgb, unsigned int size)

static void	YUV422ToGrey (unsigned char yuv, unsigned char grey, unsigned int size)

static void	YUV420ToRGBa (unsigned char yuv, unsigned char rgba, unsigned int width, unsigned int height)

static void	YUV420ToRGB (unsigned char yuv, unsigned char rgb, unsigned int width, unsigned int height)

static void	YUV420ToGrey (unsigned char yuv, unsigned char grey, unsigned int size)

static void	YUV444ToRGBa (unsigned char yuv, unsigned char rgba, unsigned int size)

static void	YUV444ToRGB (unsigned char yuv, unsigned char rgb, unsigned int size)

static void	YUV444ToGrey (unsigned char yuv, unsigned char grey, unsigned int size)

static void	YV12ToRGBa (unsigned char yuv, unsigned char rgba, unsigned int width, unsigned int height)

static void	YV12ToRGB (unsigned char yuv, unsigned char rgb, unsigned int width, unsigned int height)

static void	YVU9ToRGBa (unsigned char yuv, unsigned char rgba, unsigned int width, unsigned int height)

static void	YVU9ToRGB (unsigned char yuv, unsigned char rgb, unsigned int width, unsigned int height)

static void	RGBToRGBa (unsigned char rgb, unsigned char rgba, unsigned int size)

static void	RGBaToRGB (unsigned char rgba, unsigned char rgb, unsigned int size)

static void	RGBToGrey (unsigned char rgb, unsigned char grey, unsigned int size)

static void	RGBaToGrey (unsigned char rgba, unsigned char grey, unsigned int size)

static void	RGBToRGBa (unsigned char rgb, unsigned char rgba, unsigned int width, unsigned int height, bool flip=false)

static void	RGBToGrey (unsigned char rgb, unsigned char grey, unsigned int width, unsigned int height, bool flip=false)

static void	GreyToRGBa (unsigned char grey, unsigned char rgba, unsigned int size)

static void	GreyToRGB (unsigned char grey, unsigned char rgb, unsigned int size)

static void	BGRToRGBa (unsigned char bgr, unsigned char rgba, unsigned int width, unsigned int height, bool flip=false)

static void	BGRToGrey (unsigned char bgr, unsigned char grey, unsigned int width, unsigned int height, bool flip=false)

static void	YCbCrToRGB (unsigned char ycbcr, unsigned char rgb, unsigned int size)

static void	YCbCrToRGBa (unsigned char ycbcr, unsigned char rgb, unsigned int size)

static void	YCrCbToRGB (unsigned char ycbcr, unsigned char rgb, unsigned int size)

static void	YCrCbToRGBa (unsigned char ycbcr, unsigned char rgb, unsigned int size)

static void	YCbCrToGrey (unsigned char ycbcr, unsigned char grey, unsigned int size)

static void	MONO16ToGrey (unsigned char grey16, unsigned char grey, unsigned int size)

static void	MONO16ToRGBa (unsigned char grey16, unsigned char rgba, unsigned int size)

static void	HSVToRGBa (const double hue, const double saturation, const double value, unsigned char rgba, const unsigned int size)

static void	HSVToRGBa (const unsigned char hue, const unsigned char saturation, const unsigned char value, unsigned char rgba, const unsigned int size)

static void	RGBaToHSV (const unsigned char rgba, double hue, double saturation, double value, const unsigned int size)

static void	RGBaToHSV (const unsigned char rgba, unsigned char hue, unsigned char saturation, unsigned char value, const unsigned int size)

static void	HSVToRGB (const double hue, const double saturation, const double value, unsigned char rgb, const unsigned int size)

static void	HSVToRGB (const unsigned char hue, const unsigned char saturation, const unsigned char value, unsigned char rgb, const unsigned int size)

static void	RGBToHSV (const unsigned char rgb, double hue, double saturation, double value, const unsigned int size)

static void	RGBToHSV (const unsigned char rgb, unsigned char hue, unsigned char saturation, unsigned char value, const unsigned int size)

Detailed Description

Convert image types.

The following example available in tutorial-image-converter.cpp shows how to convert an OpenCV cv::Mat image into a vpImage:

#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
  try {
    cv::Mat A;
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
    A = cv::imread("monkey.bmp", cv::IMREAD_GRAYSCALE);
#else
    A = cv::imread("monkey.bmp", CV_LOAD_IMAGE_GRAYSCALE);
#endif
    vpImage<unsigned char> I;
    vpImageConvert::convert(A, I);
#ifdef VISP_HAVE_PNG
    vpImageIo::write(I, "monkey.png"); // Gray
#endif
  } catch (vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#endif
}

Definition at line 101 of file vpImageConvert.h.

Member Function Documentation

◆ BGRToGrey()

void vpImageConvert::BGRToGrey	(	unsigned char *	bgr,
		unsigned char *	grey,
		unsigned int	width,
		unsigned int	height,
		bool	flip = `false`
	)

static

Converts a BGR image to greyscale. Flips the image verticaly if needed. Assumes that grey is already resized.

Definition at line 3656 of file vpImageConvert.cpp.

References vpCPUFeatures::checkSSSE3().

Referenced by vpV4l2Grabber::acquire(), convert(), and vpRealSense2::getGreyFrame().

◆ BGRToRGBa()

void vpImageConvert::BGRToRGBa	(	unsigned char *	bgr,
		unsigned char *	rgba,
		unsigned int	width,
		unsigned int	height,
		bool	flip = `false`
	)

static

Converts a BGR image to RGBa. The alpha component is set to vpRGBa::alpha_default.

Flips the image verticaly if needed. Assumes that rgba is already resized.

Definition at line 3626 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Referenced by vpV4l2Grabber::acquire(), and vpRealSense2::getColorFrame().

◆ convert() [1/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		vpImage< vpRGBa > &	dest
	)

static

Convert a vpImage<unsigned char> to a vpImage<vpRGBa>. Tha alpha component is set to vpRGBa::alpha_default.

Parameters

src	: source image
dest	: destination image

Examples:: AROgre.cpp, AROgreBasic.cpp, grabOpenCV.cpp, grabRealSense.cpp, grabV4l2MultiCpp11Thread.cpp, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoViper850FourPointsKinect.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testFloodFill.cpp, testImageFilter.cpp, testImageMorphology.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, trackKltOpencv.cpp, tutorial-apriltag-detector-live.cpp, tutorial-barcode-detector-live.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-bridge-opencv.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, tutorial-grabber-opencv-threaded.cpp, tutorial-grabber-opencv.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-image-converter.cpp, tutorial-image-filter.cpp, tutorial-klt-tracker-live-v4l2.cpp, tutorial-klt-tracker-with-reinit.cpp, tutorial-klt-tracker.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, tutorial-pose-from-points-tracking.cpp, and tutorial-video-recorder.cpp.

Definition at line 79 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), GreyToRGBa(), and vpImage< Type >::resize().

Referenced by vpVideoReader::acquire(), vpKeyPointSurf::buildReference(), vpImageFilter::canny(), vpDetectorFace::detect(), vpKeyPoint::detect(), vpKeyPoint::detectExtractAffine(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpKeyPoint::extract(), vpVideoReader::getFrame(), vpImageFilter::getGaussPyramidal(), vpDisplayOpenCV::getImage(), vpDisplay::getImage(), vpImageSimulator::init(), vpMbEdgeTracker::initPyramid(), vpKeyPointSurf::matchPoint(), vpMbKltTracker::preTracking(), vpImageIo::read(), vpImageIo::readJPEG(), vpImageIo::readPGM(), vpImageIo::readPNG(), vpImageIo::readPPM(), vpMbKltTracker::reinit(), vpVideoWriter::saveFrame(), vpMeNurbs::seekExtremitiesCanny(), vpFernClassifier::setImage(), vpMbKltTracker::setPose(), vpImageIo::write(), vpImageIo::writePGM(), and vpImageIo::writePPM().

◆ convert() [2/23]

void vpImageConvert::convert	(	const vpImage< vpRGBa > &	src,
		vpImage< unsigned char > &	dest
	)

static

Convert a vpImage<unsigned char> to a vpImage<vpRGBa>

Parameters

src	: source image
dest	: destination image

Definition at line 91 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImage< Type >::resize(), and RGBaToGrey().

◆ convert() [3/23]

void vpImageConvert::convert	(	const vpImage< float > &	src,
		vpImage< unsigned char > &	dest
	)

static

Convert a vpImage<float> to a vpImage<unsigend char> by renormalizing between 0 and 255.

Parameters

src	: source image
dest	: destination image

Definition at line 102 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getMinMaxValue(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ convert() [4/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		vpImage< float > &	dest
	)

static

Convert a vpImage<unsigned char> to a vpImage<float> by basic casting.

Parameters

src	: source image
dest	: destination image

Definition at line 126 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ convert() [5/23]

void vpImageConvert::convert	(	const vpImage< double > &	src,
		vpImage< unsigned char > &	dest
	)

static

Convert a vpImage<double> to a vpImage<unsigned char> by renormalizing between 0 and 255.

Parameters

src	: source image
dest	: destination image

Definition at line 137 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getMinMaxValue(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ convert() [6/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		vpImage< double > &	dest
	)

static

Convert a vpImage<unsigned char> to a vpImage<double> by basic casting.

Parameters

src	: source image
dest	: destination image

Definition at line 187 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ convert() [7/23]

void vpImageConvert::convert	(	const vpImage< uint16_t > &	src,
		vpImage< unsigned char > &	dest
	)

static

Convert a vpImage<uint16_t> to a vpImage<unsigned char>.

Parameters

src	: source image
dest	: destination image

Definition at line 161 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ convert() [8/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		vpImage< uint16_t > &	dest
	)

static

Convert a vpImage<unsigned char> to a vpImage<uint16_t>.

Parameters

src	: source image
dest	: destination image

Definition at line 174 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ convert() [9/23]

template<typename Type >

static void vpImageConvert::convert	(	const vpImage< Type > &	src,
		vpImage< Type > &	dest
	)

inlinestatic

Make a copy of an image.

Parameters

src	: source image.
dest	: destination image.

Definition at line 124 of file vpImageConvert.h.

◆ convert() [10/23]

void vpImageConvert::convert	(	const IplImage *	src,
		vpImage< vpRGBa > &	dest,
		bool	flip = `false`
	)

static

Deprecated:: Rather then using OpenCV IplImage you should use cv::Mat images. IplImage structure will be removed with OpenCV transcient from C to C++ api.

Convert an IplImage to a vpImage<vpRGBa>.

An IplImage is an OpenCV (Intel's Open source Computer Vision Library) image structure. See http://opencvlibrary.sourceforge.net/ for general OpenCV documentation, or http://opencvlibrary.sourceforge.net/CxCore for the specific IplImage structure documentation.

If the input image has only 1 or 3 channels, the alpha channel is set to vpRGBa::alpha_default.

Warning: This function is only available if OpenCV was detected during the configuration step.

Parameters

src	: Source image in OpenCV format.
dest	: Destination image in ViSP format.
flip	: Set to true to vertically flip the converted image.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x020408)
  vpImage<vpRGBa> Ic; // A color image
  IplImage* Ip;
  // Read an image on a disk with openCV library
  Ip = cvLoadImage("image.ppm", CV_LOAD_IMAGE_COLOR);
  // Convert the grayscale IplImage into vpImage<vpRGBa>
  vpImageConvert::convert(Ip, Ic);
  // ...
  // Release Ip header and data
  cvReleaseImage(&Ip);
#endif
}

Definition at line 307 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, vpImage< Type >::bitmap, and vpImage< Type >::resize().

◆ convert() [11/23]

void vpImageConvert::convert	(	const IplImage *	src,
		vpImage< unsigned char > &	dest,
		bool	flip = `false`
	)

static

Deprecated:: Rather then using OpenCV IplImage you should use cv::Mat images. IplImage structure will be removed with OpenCV transcient from C to C++ api.

Convert an IplImage to a vpImage<unsigned char>.

An IplImage is an OpenCV (Intel's Open source Computer Vision Library) image structure. See http://opencvlibrary.sourceforge.net/ for general OpenCV documentation, or http://opencvlibrary.sourceforge.net/CxCore for the specific IplImage structure documentation.

Warning: This function is only available if OpenCV was detected during the configuration step.

Parameters

src	: Source image in OpenCV format.
dest	: Destination image in ViSP format.
flip	: Set to true to vertically flip the converted image.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x020408)
  vpImage<unsigned char> Ig; // A grayscale image
  IplImage* Ip;
  // Read an image on a disk with openCV library
  Ip = cvLoadImage("image.pgm", CV_LOAD_IMAGE_GRAYSCALE);
  // Convert the grayscale IplImage into vpImage<unsigned char>
  vpImageConvert::convert(Ip, Ig);
  // ...
  // Release Ip header and data
  cvReleaseImage(&Ip);
#endif
}

Definition at line 403 of file vpImageConvert.cpp.

References BGRToGrey(), vpImage< Type >::bitmap, and vpImage< Type >::resize().

◆ convert() [12/23]

void vpImageConvert::convert	(	const vpImage< vpRGBa > &	src,
		IplImage *&	dest
	)

static

Deprecated:: Rather then using OpenCV IplImage you should use cv::Mat images. IplImage structure will be removed with OpenCV transcient from C to C++ api.

Convert a vpImage<vpRGBa> to a IplImage.

An IplImage is an OpenCV (Intel's Open source Computer Vision Library) image structure. See http://opencvlibrary.sourceforge.net/ for general OpenCV documentation, or http://opencvlibrary.sourceforge.net/CxCore for the specific IplImage structure documentation.

Warning: This function is only available if OpenCV was detected during the configuration step.

Parameters

src	: source image
dest	: destination image

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x020408)
  vpImage<vpRGBa> Ic; // A color image
  IplImage* Ip = NULL;
  // Read an image on a disk
  vpImageIo::read(Ic, "image.ppm");
  // Convert the vpImage<vpRGBa> in to color IplImage
  vpImageConvert::convert(Ic, Ip);
  // Treatments on IplImage
  //...
  // Save the IplImage on the disk
  cvSaveImage("Ipl.ppm", Ip);
  //Release Ip header and data
  cvReleaseImage(&Ip);
#endif
}

Definition at line 499 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

◆ convert() [13/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		IplImage *&	dest
	)

static

Deprecated:: Rather then using OpenCV IplImage you should use cv::Mat images. IplImage structure will be removed with OpenCV transcient from C to C++ api.

Convert a vpImage<unsigned char> to a IplImage.

An IplImage is an OpenCV (Intel's Open source Computer Vision Library) image structure. See http://opencvlibrary.sourceforge.net/ for general OpenCV documentation, or http://opencvlibrary.sourceforge.net/CxCore for the specific IplImage structure documentation.

Warning: This function is only available if OpenCV was detected during the configuration step.

Parameters

src	: source image
dest	: destination image

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x020408)
  vpImage<unsigned char> Ig; // A greyscale image
  IplImage* Ip = NULL;
  // Read an image on a disk
  vpImageIo::read(Ig, "image.pgm");
  // Convert the vpImage<unsigned char> in to greyscale IplImage
  vpImageConvert::convert(Ig, Ip);
  // Treatments on IplImage Ip
  //...
  // Save the IplImage on the disk
  cvSaveImage("Ipl.pgm", Ip);
  //Release Ip header and data
  cvReleaseImage(&Ip);
#endif
}

Definition at line 582 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

◆ convert() [14/23]

void vpImageConvert::convert	(	const cv::Mat &	src,
		vpImage< vpRGBa > &	dest,
		const bool	flip = `false`
	)

static

Convert a cv::Mat to a vpImage<vpRGBa>.

A cv::Mat is an OpenCV image class. See http://opencv.willowgarage.com for the general OpenCV documentation, or http://opencv.willowgarage.com/documentation/cpp/core_basic_structures.html for the specific Mat structure documentation.

Similarily to the convert(const IplImage* src, vpImage<vpRGBa> & dest, bool flip) method, only cv::Mat with a depth equal to 8 and a channel between 1 and 3 are converted.

If the input image is of type CV_8UC1 or CV_8UC3, the alpha channel is set to vpRGBa::alpha_default.

Warning: This function is only available if OpenCV (version 2.1.0 or greater) was detected during the configuration step.

Parameters

src	: Source image in OpenCV format.
dest	: Destination image in ViSP format.
flip	: Set to true to vertically flip the converted image.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
  vpImage<vpRGBa> Ic; // A color image
  cv::Mat Ip;
  // Read an image on a disk with openCV library
  Ip = cv::imread("image.pgm", 1);// second parameter > 0 for a RGB encoding.
  // Convert the grayscale cv::Mat into vpImage<vpRGBa>
  vpImageConvert::convert(Ip, Ic);
  // ...
#endif
}

Definition at line 657 of file vpImageConvert.cpp.

References vpRGBa::A, vpRGBa::alpha_default, vpRGBa::B, vpRGBa::G, vpImage< Type >::getCols(), vpImage< Type >::getRows(), vpRGBa::R, and vpImage< Type >::resize().

◆ convert() [15/23]

void vpImageConvert::convert	(	const cv::Mat &	src,
		vpImage< unsigned char > &	dest,
		const bool	flip = `false`
	)

static

Convert a cv::Mat to a vpImage<unsigned char>.

A cv::Mat is an OpenCV image class. See http://opencv.willowgarage.com for the general OpenCV documentation, or http://opencv.willowgarage.com/documentation/cpp/core_basic_structures.html for the specific Mat structure documentation.

Similarily to the convert(const IplImage* src, vpImage<vpRGBa> & dest, bool flip) method, only Mat with a depth equal to 8 and a channel between 1 and 3 are converted.

Warning: This function is only available if OpenCV was detected during the configuration step.

Parameters

src	: Source image in OpenCV format.
dest	: Destination image in ViSP format.
flip	: Set to true to vertically flip the converted image.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
  vpImage<unsigned char> Ig; // A grayscale image
  cv::Mat Ip;
  // Read an image on a disk with openCV library
  Ip = cv::imread("image.pgm", 0);// second parameter = 0 for a gray level.
  // Convert the grayscale cv::Mat into vpImage<unsigned char>
  vpImageConvert::convert(Ip, Ig);
  // ...
#endif
}

Definition at line 749 of file vpImageConvert.cpp.

References BGRToGrey(), vpImage< Type >::bitmap, vpImage< Type >::getCols(), vpImage< Type >::getRows(), and vpImage< Type >::resize().

◆ convert() [16/23]

void vpImageConvert::convert	(	const vpImage< vpRGBa > &	src,
		cv::Mat &	dest
	)

static

Convert a vpImage<unsigned char> to a cv::Mat.

A cv::Mat is an OpenCV image class. See http://opencv.willowgarage.com for the general OpenCV documentation, or http://opencv.willowgarage.com/documentation/cpp/core_basic_structures.html for the specific Mat structure documentation.

Warning: This function is only available if OpenCV version 2.1.0 or greater was detected during the configuration step.

Parameters

src	: source image (vpRGBa format)
dest	: destination image (BGR format)

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
  vpImage<unsigned char> Ig; // A greyscale image
  cv::Mat Ip;
  // Read an image on a disk
  vpImageIo::read(Ig, "image.pgm");
  // Convert the vpImage<unsigned char> in to color cv::Mat.
  vpImageConvert::convert(Ig, Ip);
  // Treatments on cv::Mat Ip
  //...
  // Save the cv::Mat on the disk
  cv::imwrite("image.pgm", Ip);
#endif
}

Definition at line 827 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getCols(), and vpImage< Type >::getRows().

◆ convert() [17/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		cv::Mat &	dest,
		const bool	copyData = `true`
	)

static

Convert a vpImage<unsigned char> to a cv::Mat.

A cv::Mat is an OpenCV image class. See http://opencv.willowgarage.com for the general OpenCV documentation, or http://opencv.willowgarage.com/documentation/cpp/core_basic_structures.html for the specific Mat structure documentation.

Warning: This function is only available if OpenCV version 2.1.0 or greater was detected during the configuration step.

Parameters

src	: source image
dest	: destination image
copyData	: if true, the image is copied and modification in one object will not modified the other.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
  vpImage<unsigned char> Ig; // A greyscale image
  cv::Mat Ip;
  // Read an image on a disk
  vpImageIo::read(Ig, "image.pgm");
  // Convert the vpImage<unsigned char> in to greyscale cv::Mat
  vpImageConvert::convert(Ig, Ip);
  // Treatments on cv::Mat Ip
  //...
  // Save the cv::Mat on the disk
  cv::imwrite("image-cv.pgm", Ip);
#endif
}

Definition at line 880 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getCols(), and vpImage< Type >::getRows().

◆ convert() [18/23]

void vpImageConvert::convert	(	const vpImage< unsigned char > &	src,
		yarp::sig::ImageOf< yarp::sig::PixelMono > *	dest,
		const bool	copyData = `true`
	)

static

Convert a vpImage<unsigned char> to a yarp::sig::ImageOf<yarp::sig::PixelMono>

A yarp::sig::Image is a YARP image class. See http://eris.liralab.it/yarpdoc/df/d15/classyarp_1_1sig_1_1Image.html for the YARP image class documentation.

Parameters

src	: Source image in ViSP format.
dest	: Destination image in YARP format.
copyData	: Set to true to copy all the image content. If false we only update the image pointer.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_YARP)
  vpImage<unsigned char> I; // A mocochrome image
  // Read an image on a disk
  vpImageIo::read(I, "image.pgm");
  yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
  // Convert the vpImage<unsigned char> to a yarp::sig::ImageOf<yarp::sig::PixelMono>
  vpImageConvert::convert(I, Iyarp);
  // ...
#endif
}

Definition at line 929 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpImage< Type >::getRows(), and vpImage< Type >::getWidth().

◆ convert() [19/23]

void vpImageConvert::convert	(	const yarp::sig::ImageOf< yarp::sig::PixelMono > *	src,
		vpImage< unsigned char > &	dest,
		const bool	copyData = `true`
	)

static

Convert a yarp::sig::ImageOf<yarp::sig::PixelMono> to a vpImage<unsigned char>

A yarp::sig::Image is a YARP image class. See http://eris.liralab.it/yarpdoc/df/d15/classyarp_1_1sig_1_1Image.html for the YARP image class documentation.

Parameters

src	: Source image in YARP format.
dest	: Destination image in ViSP format.
copyData	: Set to true to copy all the image content. If false we only update the image pointer.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_YARP)
  #include <yarp/sig/ImageFile.h>
#endif
int main()
{
#if defined(VISP_HAVE_YARP)
  yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
  // Read an image on a disk
  yarp::sig::file::read(*Iyarp, "image.pgm");
  // Convert the yarp::sig::ImageOf<yarp::sig::PixelMono> to a vpImage<unsigned char>
  vpImage<unsigned char> I;
  vpImageConvert::convert(Iyarp, I);
  // ...
#endif
}

Definition at line 978 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, and vpImage< Type >::resize().

◆ convert() [20/23]

void vpImageConvert::convert	(	const vpImage< vpRGBa > &	src,
		yarp::sig::ImageOf< yarp::sig::PixelRgba > *	dest,
		const bool	copyData = `true`
	)

static

Convert a vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgba>

A yarp::sig::Image is a YARP image class. See http://eris.liralab.it/yarpdoc/df/d15/classyarp_1_1sig_1_1Image.html for the YARP image class documentation.

Parameters

src	: Source image in ViSP format.
dest	: Destination image in YARP format.
copyData	: Set to true to copy all the image content. If false we only update the image pointer.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_YARP)
  vpImage<vpRGBa> I; // A color image
  // Read an image on a disk
  vpImageIo::read(I,"image.jpg");
  yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
  // Convert the vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgba>
  vpImageConvert::convert(I,Iyarp);
  // ...
#endif
}

Definition at line 1023 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpImage< Type >::getRows(), and vpImage< Type >::getWidth().

◆ convert() [21/23]

void vpImageConvert::convert	(	const yarp::sig::ImageOf< yarp::sig::PixelRgba > *	src,
		vpImage< vpRGBa > &	dest,
		const bool	copyData = `true`
	)

static

Convert a yarp::sig::ImageOf<yarp::sig::PixelRgba> to a vpImage<vpRGBa>

A yarp::sig::Image is a YARP image class. See http://eris.liralab.it/yarpdoc/df/d15/classyarp_1_1sig_1_1Image.html for the YARP image class documentation.

Parameters

src	: Source image in YARP format.
dest	: Destination image in ViSP format.
copyData	: Set to true to copy all the image content. If false we only update the image pointer.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_YARP)
  #include <yarp/sig/ImageFile.h>
#endif
int main()
{
#if defined(VISP_HAVE_YARP)
  yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
  // Read an image on a disk
  yarp::sig::file::read(*Iyarp,"image.pgm");
  // Convert the yarp::sig::ImageOf<yarp::sig::PixelRgba> to a vpImage<vpRGBa>
  vpImage<vpRGBa> I;
  vpImageConvert::convert(Iyarp,I);
  // ...
#endif
}

Definition at line 1072 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, and vpImage< Type >::resize().

◆ convert() [22/23]

void vpImageConvert::convert	(	const vpImage< vpRGBa > &	src,
		yarp::sig::ImageOf< yarp::sig::PixelRgb > *	dest
	)

static

Convert a vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgb>

A yarp::sig::Image is a YARP image class. See http://eris.liralab.it/yarpdoc/df/d15/classyarp_1_1sig_1_1Image.html for the YARP image class documentation.

Parameters

src	: Source image in ViSP format.
dest	: Destination image in YARP format.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/io/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_YARP)
  vpImage<vpRGBa> I; // A color image
  // Read an image on a disk
  vpImageIo::read(I,"image.jpg");
  yarp::sig::ImageOf< yarp::sig::PixelRgb > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgb >();
  // Convert the vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgb>
  vpImageConvert::convert(I,Iyarp);
  // ...
#endif
}

Definition at line 1115 of file vpImageConvert.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getRows(), and vpImage< Type >::getWidth().

◆ convert() [23/23]

void vpImageConvert::convert	(	const yarp::sig::ImageOf< yarp::sig::PixelRgb > *	src,
		vpImage< vpRGBa > &	dest
	)

static

Convert a yarp::sig::ImageOf<yarp::sig::PixelRgb> to a vpImage<vpRGBa>

A yarp::sig::Image is a YARP image class. See http://eris.liralab.it/yarpdoc/df/d15/classyarp_1_1sig_1_1Image.html for the YARP image class documentation.

The alpha component of the resulting image is set to vpRGBa::alpha_default.

Parameters

src	: Source image in YARP format.
dest	: Destination image in ViSP format.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_YARP)
  #include <yarp/sig/ImageFile.h>
#endif
int main()
{
#if defined(VISP_HAVE_YARP)
  yarp::sig::ImageOf< yarp::sig::PixelRgb > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgb >();
  // Read an image on a disk
  yarp::sig::file::read(*Iyarp,"image.pgm");
  // Convert the yarp::sig::ImageOf<yarp::sig::PixelRgb> to a vpImage<vpRGBa>
  vpImage<vpRGBa> I;
  vpImageConvert::convert(Iyarp,I);
  // ...
#endif
}

Definition at line 1166 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, and vpImage< Type >::resize().

◆ createDepthHistogram() [1/2]

void vpImageConvert::createDepthHistogram	(	const vpImage< uint16_t > &	src_depth,
		vpImage< vpRGBa > &	dest_rgba
	)

static

Convert the input 16-bits depth image to a color depth image. The input depth value is assigned a color value proportional to its frequency. Tha alpha component of the resulting image is set to vpRGBa::alpha_default.

Parameters

src_depth	: input 16-bits depth image.
dest_rgba	: output color depth image.

Examples:: grabRealSense.cpp, grabRealSense2.cpp, mbtGenericTrackingDepth.cpp, testRealSense2_SR300.cpp, testRealSense_R200.cpp, and testRealSense_SR300.cpp.

Definition at line 201 of file vpImageConvert.cpp.

References vpRGBa::A, vpRGBa::alpha_default, vpRGBa::B, vpImage< Type >::bitmap, vpRGBa::G, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), vpRGBa::R, and vpImage< Type >::resize().

◆ createDepthHistogram() [2/2]

void vpImageConvert::createDepthHistogram	(	const vpImage< uint16_t > &	src_depth,
		vpImage< unsigned char > &	dest_depth
	)

static

Convert the input 16-bits depth image to a 8-bits depth image. The input depth value is assigned a value proportional to its frequency.

Parameters

src_depth	: input 16-bits depth image.
dest_depth	: output grayscale depth image.

Definition at line 236 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

◆ GreyToRGB()

void vpImageConvert::GreyToRGB	(	unsigned char *	grey,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert from grey image to linear RGB image.

Definition at line 3602 of file vpImageConvert.cpp.

◆ GreyToRGBa()

void vpImageConvert::GreyToRGBa	(	unsigned char *	grey,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert from grey image to linear RGBa image. The alpha component is set to vpRGBa::alpha_default.

Definition at line 3580 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Referenced by vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), convert(), and vp1394TwoGrabber::dequeue().

◆ HSVToRGB() [1/2]

void vpImageConvert::HSVToRGB	(	const double *	hue,
		const double *	saturation,
		const double *	value,
		unsigned char *	rgb,
		const unsigned int	size
	)

static

Converts an array of hue, saturation and value to an array of RGB values.

Parameters

hue	: Array of hue values (range between [0 - 1]).
saturation	: Array of saturation values (range between [0 - 1]).
value	: Array of value values (range between [0 - 1]).
rgb	: RGB array values converted from RGB color space.
size	: The total image size or the number of pixels.

Examples:: testDisplayPolygonLines.cpp.

Definition at line 4705 of file vpImageConvert.cpp.

Referenced by HSVToRGB().

◆ HSVToRGB() [2/2]

void vpImageConvert::HSVToRGB	(	const unsigned char *	hue,
		const unsigned char *	saturation,
		const unsigned char *	value,
		unsigned char *	rgb,
		const unsigned int	size
	)

static

Converts an array of hue, saturation and value to an array of RGB values.

Parameters

hue	: Array of hue values (range between [0 - 255]).
saturation	: Array of saturation values (range between [0 - 255]).
value	: Array of value values (range between [0 - 255]).
rgb	: RGB array values converted from HSV color space.
size	: The total image size or the number of pixels.

Definition at line 4720 of file vpImageConvert.cpp.

References HSVToRGB().

◆ HSVToRGBa() [1/2]

void vpImageConvert::HSVToRGBa	(	const double *	hue,
		const double *	saturation,
		const double *	value,
		unsigned char *	rgba,
		const unsigned int	size
	)

static

Converts an array of hue, saturation and value to an array of RGBa values.

Alpha component of the converted image is set to vpRGBa::alpha_default.

Parameters

hue	: Array of hue values (range between [0 - 1]).
saturation	: Array of saturation values (range between [0 - 1]).
value	: Array of value values (range between [0 - 1]).
rgba	: RGBa array values (with alpha channel set to zero) converted from HSV color space.
size	: The total image size or the number of pixels.

Examples:: testConversion.cpp.

Definition at line 4627 of file vpImageConvert.cpp.

Referenced by vp::equalizeHistogram(), HSVToRGBa(), and vp::stretchContrastHSV().

◆ HSVToRGBa() [2/2]

void vpImageConvert::HSVToRGBa	(	const unsigned char *	hue,
		const unsigned char *	saturation,
		const unsigned char *	value,
		unsigned char *	rgba,
		const unsigned int	size
	)

static

Converts an array of hue, saturation and value to an array of RGBa values.

Alpha component of the converted image is set to vpRGBa::alpha_default.

Parameters

hue	: Array of hue values (range between [0 - 255]).
saturation	: Array of saturation values (range between [0 - 255]).
value	: Array of value values (range between [0 - 255]).
rgba	: RGBa array values (with alpha channel set to zero) converted from HSV color space.
size	: The total image size or the number of pixels.

Definition at line 4645 of file vpImageConvert.cpp.

References HSVToRGBa().

◆ merge()

void vpImageConvert::merge	(	const vpImage< unsigned char > *	R,
		const vpImage< unsigned char > *	G,
		const vpImage< unsigned char > *	B,
		const vpImage< unsigned char > *	a,
		vpImage< vpRGBa > &	RGBa
	)

static

Merge 4 channels into an RGBa image.

Parameters

R	: Red channel.
G	: Green channel.
B	: Blue channel.
a	: Alpha channel.
RGBa	: Destination RGBa image.

Examples:: grabV4l2MultiCpp11Thread.cpp, and testConversion.cpp.

Definition at line 4385 of file vpImageConvert.cpp.

References vpRGBa::A, vpRGBa::B, vpImage< Type >::bitmap, vpException::dimensionError, vpRGBa::G, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpRGBa::R, and vpImage< Type >::resize().

◆ MONO16ToGrey()

void vpImageConvert::MONO16ToGrey	(	unsigned char *	grey16,
		unsigned char *	grey,
		unsigned int	size
	)

static

Converts a MONO16 grey scale image (each pixel is coded by two bytes) into a grey image where each pixels are coded on one byte.

Parameters

grey16	: Input image to convert (two bytes per pixel).
grey	: Output image (one byte per pixel)
size	: The image size or the number of pixels.

Definition at line 4449 of file vpImageConvert.cpp.

Referenced by vp1394CMUGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ MONO16ToRGBa()

void vpImageConvert::MONO16ToRGBa	(	unsigned char *	grey16,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Converts a MONO16 grey scale image (each pixel is coded by two bytes) into a grey image where each pixels are coded on one byte.

Alpha component is set to vpRGBa::alpha_default.

Parameters

grey16	: Input image to convert (two bytes per pixel).
rgba	: Output image.
size	: The image size or the number of pixels.

Definition at line 4472 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, vpMath::equal(), and vpMath::round().

Referenced by vp1394CMUGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ RGBaToGrey()

void vpImageConvert::RGBaToGrey	(	unsigned char *	rgba,
		unsigned char *	grey,
		unsigned int	size
	)

static

Weights convert from linear RGBa to CIE luminance assuming a modern monitor. See Charles Pontyon's Colour FAQ http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html

Definition at line 3488 of file vpImageConvert.cpp.

References vpCPUFeatures::checkSSSE3().

Referenced by vpV4l2Grabber::acquire(), convert(), and vpRealSense2::getGreyFrame().

◆ RGBaToHSV() [1/2]

void vpImageConvert::RGBaToHSV	(	const unsigned char *	rgba,
		double *	hue,
		double *	saturation,
		double *	value,
		const unsigned int	size
	)

static

Converts an array of RGBa to an array of hue, saturation, value values. The alpha channel is not used.

Parameters

rgba	: RGBa array values.
hue	: Array of hue values converted from RGB color space (range between [0 - 1]).
saturation	: Array of saturation values converted from RGB color space (range between [0 - 1]).
value	: Array of value values converted from RGB color space (range between [0 - 1]).
size	: The total image size or the number of pixels.

Examples:: testConversion.cpp.

Definition at line 4666 of file vpImageConvert.cpp.

Referenced by vp::equalizeHistogram(), RGBaToHSV(), and vp::stretchContrastHSV().

◆ RGBaToHSV() [2/2]

void vpImageConvert::RGBaToHSV	(	const unsigned char *	rgba,
		unsigned char *	hue,
		unsigned char *	saturation,
		unsigned char *	value,
		const unsigned int	size
	)

static

Converts an array of RGBa to an array of hue, saturation, value values. The alpha channel is not used.

Parameters

rgba	: RGBa array values.
hue	: Array of hue values converted from RGB color space (range between [0 - 255]).
saturation	: Array of saturation values converted from RGB color space (range between [0 - 255]).
value	: Array of value values converted from RGB color space (range between [0 - 255]).
size	: The total image size or the number of pixels.

Definition at line 4683 of file vpImageConvert.cpp.

References RGBaToHSV().

◆ RGBaToRGB()

void vpImageConvert::RGBaToRGB	(	unsigned char *	rgba,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert RGB image into RGBa image.

The alpha component of the converted image is set to vpRGBa::alpha_default.

Examples:: testConversion.cpp.

Definition at line 3373 of file vpImageConvert.cpp.

◆ RGBToGrey() [1/2]

void vpImageConvert::RGBToGrey	(	unsigned char *	rgb,
		unsigned char *	grey,
		unsigned int	size
	)

static

Weights convert from linear RGB to CIE luminance assuming a modern monitor. See Charles Pontyon's Colour FAQ http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html

Examples:: testConversion.cpp.

Definition at line 3392 of file vpImageConvert.cpp.

References vpCPUFeatures::checkSSSE3().

Referenced by vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::dequeue(), vpRealSense2::getGreyFrame(), vpSimulator::getInternalImage(), and RGBToGrey().

◆ RGBToGrey() [2/2]

void vpImageConvert::RGBToGrey	(	unsigned char *	rgb,
		unsigned char *	grey,
		unsigned int	width,
		unsigned int	height,
		bool	flip = `false`
	)

static

Converts a RGB image to greyscale. Flips the image verticaly if needed. Assumes that grey is already resized.

Definition at line 3880 of file vpImageConvert.cpp.

References vpCPUFeatures::checkSSSE3(), and RGBToGrey().

◆ RGBToHSV() [1/2]

void vpImageConvert::RGBToHSV	(	const unsigned char *	rgb,
		double *	hue,
		double *	saturation,
		double *	value,
		const unsigned int	size
	)

static

Converts an array of RGB to an array of hue, saturation, value values.

Parameters

rgb	: RGB array values.
hue	: Array of hue values converted from RGB color space (range between [0 - 1]).
saturation	: Array of saturation values converted from RGB color space (range between [0 - 1]).
value	: Array of value values converted from RGB color space (range between [0 - 1]).
size	: The total image size or the number of pixels.

Definition at line 4740 of file vpImageConvert.cpp.

Referenced by RGBToHSV().

◆ RGBToHSV() [2/2]

void vpImageConvert::RGBToHSV	(	const unsigned char *	rgb,
		unsigned char *	hue,
		unsigned char *	saturation,
		unsigned char *	value,
		const unsigned int	size
	)

static

Converts an array of RGB to an array of hue, saturation, value values.

Parameters

rgb	: RGB array values.
hue	: Array of hue values converted from RGB color space (range between [0 - 255]).
saturation	: Array of saturation values converted from RGB color space (range between [0 - 255]).
value	: Array of value values converted from RGB color space (range between [0 - 255]).
size	: The total image size or the number of pixels.

Definition at line 4756 of file vpImageConvert.cpp.

References RGBToHSV().

◆ RGBToRGBa() [1/2]

void vpImageConvert::RGBToRGBa	(	unsigned char *	rgb,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert RGB into RGBa.

Alpha component is set to vpRGBa::alpha_default.

Definition at line 3352 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Referenced by vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vp1394TwoGrabber::dequeue(), vpRealSense2::getColorFrame(), and vpSimulator::getInternalImage().

◆ RGBToRGBa() [2/2]

void vpImageConvert::RGBToRGBa	(	unsigned char *	rgb,
		unsigned char *	rgba,
		unsigned int	width,
		unsigned int	height,
		bool	flip = `false`
	)

static

Converts a RGB image to RGBa. Alpha component is set to vpRGBa::alpha_default.

Flips the image verticaly if needed. Assumes that rgba is already resized.

Definition at line 3849 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

◆ split()

void vpImageConvert::split	(	const vpImage< vpRGBa > &	src,
		vpImage< unsigned char > *	pR,
		vpImage< unsigned char > *	pG,
		vpImage< unsigned char > *	pB,
		vpImage< unsigned char > *	pa = `NULL`
	)

static

Split an image from vpRGBa format to monochrome channels.

Parameters

src	: source image.
pR	: red channel. Set as NULL if not needed.
pG	: green channel. Set as NULL if not needed.
pB	: blue channel. Set as NULL if not needed.
pa	: alpha channel. Set as NULL if not needed.

Example code using split :

#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
int main()
{
  vpImage<vpRGBa> Ic; // A color image
  // Load a color image from the disk
  vpImageIo::read(Ic,"image.ppm");
  // Only R and B Channels are desired.
  vpImage<unsigned char> R, B;
  // Split Ic color image
  // R and B will be resized in split function if needed
  vpImageConvert::split(Ic, &R, NULL, &B, NULL);
  // Save the the R Channel.
  vpImageIo::write(R, "RChannel.pgm");
}

Examples:: grabV4l2MultiCpp11Thread.cpp, and testConversion.cpp.

Definition at line 4316 of file vpImageConvert.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getNumberOfPixel(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

Referenced by vp::clahe(), vp::equalizeHistogram(), vp::stretchContrast(), and vp::unsharpMask().

◆ YCbCrToGrey()

void vpImageConvert::YCbCrToGrey	(	unsigned char *	yuv,
		unsigned char *	grey,
		unsigned int	size
	)

static

Convert an image from YCrCb 4:2:2 (Y0 Cr01 Y1 Cb01 Y2 Cr23 Y3 ...) to grey format. Destination grey image memory area has to be allocated before.

In YCrCb (4:2:2) format each pixel is coded using 16 bytes. Byte 0: YO (Luma for Pixel 0) Byte 1: Chroma Red Cr (Red Chroma for Pixel 0 and 1) Byte 2: Y1 (Luma for Pixel 1) Byte 3: Chroma blue Cb (Blue Chroma for Pixel 0 and 1) Byte 4: Y2 (Luma for Pixel 2)
In grey format, each pixel is coded using 8 bytes.

Definition at line 4162 of file vpImageConvert.cpp.

◆ YCbCrToRGB()

void vpImageConvert::YCbCrToRGB	(	unsigned char *	ycbcr,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert an image from YCbCr 4:2:2 (Y0 Cb01 Y1 Cr01 Y2 Cb23 Y3 ...) to RGB format. Destination rgb memory area has to be allocated before.

In YCbCr (4:2:2) format each pixel is coded using 16 bytes. Byte 0: YO (Luma for Pixel 0) Byte 1: Chroma Blue Cb (Blue Chroma for Pixel 0 and 1) Byte 2: Y1 (Luma for Pixel 1) Byte 3: Chroma Red Cr (Red Chroma for Pixel 0 and 1) Byte 4: Y2 (Luma for Pixel 2)
In RGB format, each pixel is coded using 24 bytes. Byte 0: Red Byte 1: Green Byte 2: Blue

Definition at line 4054 of file vpImageConvert.cpp.

References vpDEBUG_TRACE.

◆ YCbCrToRGBa()

void vpImageConvert::YCbCrToRGBa	(	unsigned char *	ycbcr,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert an image from YCbCr 4:2:2 (Y0 Cb01 Y1 Cr01 Y2 Cb23 Y3...) to RGBa format. Destination rgba memory area has to be allocated before.

The alpha component of the converted image is set to vpRGBa::alpha_default.

In YCbCr (4:2:2) format each pixel is coded using 16 bytes. Byte 0: YO (Luma for Pixel 0) Byte 1: Chroma Blue Cb (Blue Chroma for Pixel 0 and 1) Byte 2: Y1 (Luma for Pixel 1) Byte 3: Chroma Red Cr (Red Chroma for Pixel 0 and 1) Byte 4: Y2 (Luma for Pixel 2)
In RGBa format, each pixel is coded using 24 bytes. Byte 0: Red Byte 1: Green Byte 2: Blue Byte 3: -

Definition at line 4111 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, and vpDEBUG_TRACE.

◆ YCrCbToRGB()

void vpImageConvert::YCrCbToRGB	(	unsigned char *	ycrcb,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert an image from YCrCb 4:2:2 (Y0 Cr01 Y1 Cb01 Y2 Cr23 Y3 ...) to RGB format. Destination rgb memory area has to be allocated before.

In YCrCb (4:2:2) format each pixel is coded using 16 bytes. Byte 0: YO (Luma for Pixel 0) Byte 1: Chroma Red Cr (Red Chroma for Pixel 0 and 1) Byte 2: Y1 (Luma for Pixel 1) Byte 3: Chroma blue Cb (Blue Chroma for Pixel 0 and 1) Byte 4: Y2 (Luma for Pixel 2)
In RGB format, each pixel is coded using 24 bytes. Byte 0: Red Byte 1: Green Byte 2: Blue

Definition at line 4191 of file vpImageConvert.cpp.

References vpDEBUG_TRACE.

◆ YCrCbToRGBa()

void vpImageConvert::YCrCbToRGBa	(	unsigned char *	ycrcb,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert an image from YCrCb 4:2:2 (Y0 Cr01 Y1 Cb01 Y2 Cr23 Y3 ...) to RGBa format. Destination rgba memory area has to be allocated before.

The alpha component of the resulting image is set to vpRGBa::alpha_default.

In YCrCb (4:2:2) format each pixel is coded using 16 bytes. Byte 0: YO (Luma for Pixel 0) Byte 1: Chroma Red Cr (Red Chroma for Pixel 0 and 1) Byte 2: Y1 (Luma for Pixel 1) Byte 3: Chroma blue Cb (Blue Chroma for Pixel 0 and 1) Byte 4: Y2 (Luma for Pixel 2)
In RGBa format, each pixel is coded using 24 bytes. Byte 0: Red Byte 1: Green Byte 2: Blue Byte 3: -

Definition at line 4246 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, and vpDEBUG_TRACE.

◆ YUV411ToGrey()

void vpImageConvert::YUV411ToGrey	(	unsigned char *	yuv,
		unsigned char *	grey,
		unsigned int	size
	)

static

Convert YUV411 into Grey yuv411 : u y1 y2 v y3 y4

Definition at line 1575 of file vpImageConvert.cpp.

Referenced by vp1394CMUGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ YUV411ToRGB()

void vpImageConvert::YUV411ToRGB	(	unsigned char *	yuv,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert YUV411 into RGB yuv411 : u y1 y2 v y3 y4

Definition at line 1706 of file vpImageConvert.cpp.

References YUVToRGB().

◆ YUV411ToRGBa()

void vpImageConvert::YUV411ToRGBa	(	unsigned char *	yuv,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert YUV411 (u y1 y2 v y3 y4) images into RGBa images. The alpha component of the converted image is set to vpRGBa::alpha_default.

Definition at line 1320 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, and YUVToRGB().

Referenced by vp1394CMUGrabber::acquire(), vp1394TwoGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ YUV420ToGrey()

void vpImageConvert::YUV420ToGrey	(	unsigned char *	yuv,
		unsigned char *	grey,
		unsigned int	size
	)

static

Convert YUV420 [Y(NxM), U(N/2xM/2), V(N/2xM/2)] image into grey image.

Definition at line 2121 of file vpImageConvert.cpp.

◆ YUV420ToRGB()

void vpImageConvert::YUV420ToRGB	(	unsigned char *	yuv,
		unsigned char *	rgb,
		unsigned int	width,
		unsigned int	height
	)

static

Convert YUV420 [Y(NxM), U(N/2xM/2), V(N/2xM/2)] image into RGB image.

Definition at line 1992 of file vpImageConvert.cpp.

◆ YUV420ToRGBa()

void vpImageConvert::YUV420ToRGBa	(	unsigned char *	yuv,
		unsigned char *	rgba,
		unsigned int	width,
		unsigned int	height
	)

static

Convert YUV420 [Y(NxM), U(N/2xM/2), V(N/2xM/2)] image into RGBa image.

The alpha component of the converted image is set to vpRGBa::alpha_default.

Definition at line 1860 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

◆ YUV422ToGrey()

void vpImageConvert::YUV422ToGrey	(	unsigned char *	yuv,
		unsigned char *	grey,
		unsigned int	size
	)

static

Convert YUV 4:2:2 (u01 y0 v01 y1 u23 y2 v23 y3 ...) images into Grey. Destination grey memory area has to be allocated before.

See also: YUYVToGrey()

Definition at line 1689 of file vpImageConvert.cpp.

Referenced by vp1394CMUGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ YUV422ToRGB()

void vpImageConvert::YUV422ToRGB	(	unsigned char *	yuv,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert YUV 4:2:2 (u01 y0 v01 y1 u23 y2 v23 y3 ...) images into RGB images. Destination rgb memory area has to be allocated before.

See also: YUYVToRGB()

Definition at line 1598 of file vpImageConvert.cpp.

References YUVToRGB().

◆ YUV422ToRGBa()

void vpImageConvert::YUV422ToRGBa	(	unsigned char *	yuv,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert YUV 4:2:2 (u01 y0 v01 y1 u23 y2 v23 y3 ...) images into RGBa images. Destination rgba memory area has to be allocated before.

The alpha component of the converted image is set to vpRGBa::alpha_default.

See also: YUYVToRGBa()

Definition at line 1481 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, and YUVToRGB().

Referenced by vp1394CMUGrabber::acquire(), vp1394TwoGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ YUV444ToGrey()

void vpImageConvert::YUV444ToGrey	(	unsigned char *	yuv,
		unsigned char *	grey,
		unsigned int	size
	)

static

Convert YUV444 (u y v) image into grey image.

Definition at line 2220 of file vpImageConvert.cpp.

Referenced by vp1394CMUGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ YUV444ToRGB()

void vpImageConvert::YUV444ToRGB	(	unsigned char *	yuv,
		unsigned char *	rgb,
		unsigned int	size
	)

static

Convert YUV444 (u y v) image into RGB image.

Definition at line 2177 of file vpImageConvert.cpp.

◆ YUV444ToRGBa()

void vpImageConvert::YUV444ToRGBa	(	unsigned char *	yuv,
		unsigned char *	rgba,
		unsigned int	size
	)

static

Convert YUV444 (u y v) image into RGBa image.

The alpha component of the converted image is set to vpRGBa::alpha_default.

Definition at line 2134 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Referenced by vp1394CMUGrabber::acquire(), vp1394TwoGrabber::acquire(), and vp1394TwoGrabber::dequeue().

◆ YUVToRGB()

static void vpImageConvert::YUVToRGB	(	unsigned char	y,
		unsigned char	u,
		unsigned char	v,
		unsigned char &	r,
		unsigned char &	g,
		unsigned char &	b
	)

inlinestatic

Converts a yuv pixel value in rgb format.

Parameters

y	Y component of a pixel.
u	U component of a pixel.
v	V component of a pixel.
r	Red component from the YUV coding format. This value is computed using: $r = 0.9999695y - 0.0009508(u-128) + 1.1359061*(v-128)$
g	Green component from the YUV coding format. This value is computed using: $g = 0.9999695y - 0.3959609(u-128) - 0.5782955*(v-128)$
b	Blue component from the YUV coding format. This value is computed using: $b = 0.9999695y + 2.04112(u-128) - 0.0016314*(v-128)$

Examples:: testConversion.cpp.

Definition at line 177 of file vpImageConvert.h.

Referenced by YUV411ToRGB(), YUV411ToRGBa(), YUV422ToRGB(), and YUV422ToRGBa().

◆ YUYVToGrey()

void vpImageConvert::YUYVToGrey	(	unsigned char *	yuyv,
		unsigned char *	grey,
		unsigned int	size
	)

static

Convert an image from YUYV 4:2:2 (y0 u01 y1 v01 y2 u23 y3 v23 ...) to grey. Destination rgb memory area has to be allocated before.

See also: YUV422ToGrey()

Definition at line 1303 of file vpImageConvert.cpp.

Referenced by vpV4l2Grabber::acquire().

◆ YUYVToRGB()

void vpImageConvert::YUYVToRGB	(	unsigned char *	yuyv,
		unsigned char *	rgb,
		unsigned int	width,
		unsigned int	height
	)

static

Convert an image from YUYV 4:2:2 (y0 u01 y1 v01 y2 u23 y3 v23 ...) to RGB24. Destination rgb memory area has to be allocated before.

See also: YUV422ToRGB()

Definition at line 1251 of file vpImageConvert.cpp.

◆ YUYVToRGBa()

void vpImageConvert::YUYVToRGBa	(	unsigned char *	yuyv,
		unsigned char *	rgba,
		unsigned int	width,
		unsigned int	height
	)

static

Convert an image from YUYV 4:2:2 (y0 u01 y1 v01 y2 u23 y3 v23 ...) to RGB32. Destination rgba memory area has to be allocated before.

The alpha component of the converted image is set to vpRGBa::alpha_default.

See also: YUV422ToRGBa()

Definition at line 1196 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Referenced by vpV4l2Grabber::acquire().

◆ YV12ToRGB()

void vpImageConvert::YV12ToRGB	(	unsigned char *	yuv,
		unsigned char *	rgb,
		unsigned int	height,
		unsigned int	width
	)

static

Convert YV12 [Y(NxM), V(N/2xM/2), U(N/2xM/2)] image into RGB image.

Definition at line 2368 of file vpImageConvert.cpp.

◆ YV12ToRGBa()

void vpImageConvert::YV12ToRGBa	(	unsigned char *	yuv,
		unsigned char *	rgba,
		unsigned int	width,
		unsigned int	height
	)

static

Convert YV12 [Y(NxM), V(N/2xM/2), U(N/2xM/2)] image into RGBa image.

The alpha component of the converted image is set to vpRGBa::alpha_default.

Definition at line 2236 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

◆ YVU9ToRGB()

void vpImageConvert::YVU9ToRGB	(	unsigned char *	yuv,
		unsigned char *	rgb,
		unsigned int	height,
		unsigned int	width
	)

static

Convert YV12 [Y(NxM), V(N/4xM/4), U(N/4xM/4)] image into RGB image.

Definition at line 2932 of file vpImageConvert.cpp.

◆ YVU9ToRGBa()

void vpImageConvert::YVU9ToRGBa	(	unsigned char *	yuv,
		unsigned char *	rgba,
		unsigned int	width,
		unsigned int	height
	)

static

Convert YVU9 [Y(NxM), V(N/4xM/4), U(N/4xM/4)] image into RGBa image.

The alpha component of the converted image is set to vpRGBa::alpha_default.

Definition at line 2499 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ BGRToGrey()

◆ BGRToRGBa()

◆ convert() [1/23]

◆ convert() [2/23]

◆ convert() [3/23]

◆ convert() [4/23]

◆ convert() [5/23]

◆ convert() [6/23]

◆ convert() [7/23]

◆ convert() [8/23]

◆ convert() [9/23]

◆ convert() [10/23]

◆ convert() [11/23]

◆ convert() [12/23]

◆ convert() [13/23]

◆ convert() [14/23]

◆ convert() [15/23]

◆ convert() [16/23]

◆ convert() [17/23]

◆ convert() [18/23]

◆ convert() [19/23]

◆ convert() [20/23]

◆ convert() [21/23]

◆ convert() [22/23]

◆ convert() [23/23]

◆ createDepthHistogram() [1/2]

◆ createDepthHistogram() [2/2]

◆ GreyToRGB()

◆ GreyToRGBa()

◆ HSVToRGB() [1/2]

◆ HSVToRGB() [2/2]

◆ HSVToRGBa() [1/2]

◆ HSVToRGBa() [2/2]

◆ merge()

◆ MONO16ToGrey()

◆ MONO16ToRGBa()

◆ RGBaToGrey()

◆ RGBaToHSV() [1/2]

◆ RGBaToHSV() [2/2]

◆ RGBaToRGB()

◆ RGBToGrey() [1/2]

◆ RGBToGrey() [2/2]

◆ RGBToHSV() [1/2]

◆ RGBToHSV() [2/2]

◆ RGBToRGBa() [1/2]

◆ RGBToRGBa() [2/2]

◆ split()

◆ YCbCrToGrey()

◆ YCbCrToRGB()

◆ YCbCrToRGBa()

◆ YCrCbToRGB()

◆ YCrCbToRGBa()

◆ YUV411ToGrey()

◆ YUV411ToRGB()

◆ YUV411ToRGBa()

◆ YUV420ToGrey()

◆ YUV420ToRGB()

◆ YUV420ToRGBa()

◆ YUV422ToGrey()

◆ YUV422ToRGB()

◆ YUV422ToRGBa()

◆ YUV444ToGrey()

◆ YUV444ToRGB()

◆ YUV444ToRGBa()

◆ YUVToRGB()

◆ YUYVToGrey()

◆ YUYVToRGB()

◆ YUYVToRGBa()

◆ YV12ToRGB()

◆ YV12ToRGBa()

◆ YVU9ToRGB()

◆ YVU9ToRGBa()