#include <visp3/core/vpImageTools.h>

Public Types
enum	vpImageInterpolationType { INTERPOLATION_NEAREST, INTERPOLATION_LINEAR, INTERPOLATION_CUBIC }

Public Member Functions
template<class Type >
void	createSubImage (const vpImage< Type > &I, unsigned int roi_top, unsigned int roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop)

template<class Type >
void	createSubImage (const vpImage< Type > &I, const vpRect &roi, vpImage< Type > &crop)

template<>
void	binarise (vpImage< unsigned char > &I, unsigned char threshold1, unsigned char threshold2, unsigned char value1, unsigned char value2, unsigned char value3, const bool useLUT)

template<>
void	resizeBicubic (const vpImage< vpRGBa > &I, vpImage< vpRGBa > &Ires, const unsigned int i, const unsigned int j, const float u, const float v, const float xFrac, const float yFrac)

template<>
void	resizeBilinear (const vpImage< vpRGBa > &I, vpImage< vpRGBa > &Ires, const unsigned int i, const unsigned int j, const float u, const float v, const float xFrac, const float yFrac)

Static Public Member Functions
template<class Type >
static void	binarise (vpImage< Type > &I, Type threshold1, Type threshold2, Type value1, Type value2, Type value3, const bool useLUT=true)

static void	changeLUT (vpImage< unsigned char > &I, unsigned char A, unsigned char newA, unsigned char B, unsigned char newB)

template<class Type >
static void	crop (const vpImage< Type > &I, double roi_top, double roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1)

template<class Type >
static void	crop (const vpImage< Type > &I, const vpImagePoint &topLeft, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1)

template<class Type >
static void	crop (const vpImage< Type > &I, const vpRect &roi, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1)

template<class Type >
static void	crop (const unsigned char *bitmap, unsigned int width, unsigned int height, const vpRect &roi, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1)

template<class Type >
static void	flip (const vpImage< Type > &I, vpImage< Type > &newI)

template<class Type >
static void	flip (vpImage< Type > &I)

static void	imageDifference (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff)

static void	imageDifference (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, vpImage< vpRGBa > &Idiff)

static void	imageDifferenceAbsolute (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff)

static void	imageDifferenceAbsolute (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, vpImage< vpRGBa > &Idiff)

static void	imageAdd (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Ires, const bool saturate=false)

static void	imageSubtract (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Ires, const bool saturate=false)

template<class Type >
static void	resize (const vpImage< Type > &I, vpImage< Type > &Ires, const unsigned int width, const unsigned int height, const vpImageInterpolationType &method=INTERPOLATION_NEAREST)

template<class Type >
static void	resize (const vpImage< Type > &I, vpImage< Type > &Ires, const vpImageInterpolationType &method=INTERPOLATION_NEAREST)

template<class Type >
static void	undistort (const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI)

Deprecated functions
template<class Type >
static vp_deprecated void	createSubImage (const vpImage< Type > &I, unsigned int i_sub, unsigned int j_sub, unsigned int nrow_sub, unsigned int ncol_sub, vpImage< Type > &S)

template<class Type >
static vp_deprecated void	createSubImage (const vpImage< Type > &I, const vpRect &rect, vpImage< Type > &S)

Detailed Description

Various image tools; sub-image extraction, modification of the look up table, binarisation...

Definition at line 75 of file vpImageTools.h.

Member Enumeration Documentation

◆ vpImageInterpolationType

enum vpImageTools::vpImageInterpolationType

Enumerator
INTERPOLATION_NEAREST	Nearest neighbor interpolation (fastest).
INTERPOLATION_LINEAR	Bi-linear interpolation.
INTERPOLATION_CUBIC	Bi-cubic interpolation.

Examples:: testImageResize.cpp.

Definition at line 78 of file vpImageTools.h.

Member Function Documentation

◆ binarise() [1/2]

template<class Type >

void vpImageTools::binarise	(	vpImage< Type > &	I,
		Type	threshold1,
		Type	threshold2,
		Type	value1,
		Type	value2,
		Type	value3,
		const bool	useLUT = `true`
	)

inlinestatic

Binarise an image.

Pixels whose values are less than threshold1 are set to value1
Pixels whose values are greater then or equal to threshold1 and less then or equal to threshold2 are set to value2
Pixels whose values are greater than threshold2 are set to value3

Examples:: testConnectedComponents.cpp, testContours.cpp, testFloodFill.cpp, testImageBinarise.cpp, testImageMorphology.cpp, and tutorial-ibvs-4pts-ogre-tracking.cpp.

Definition at line 395 of file vpImageTools.h.

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

Referenced by vp::autoThreshold().

◆ binarise() [2/2]

template<>

void vpImageTools::binarise	(	vpImage< unsigned char > &	I,
		unsigned char	threshold1,
		unsigned char	threshold2,
		unsigned char	value1,
		unsigned char	value2,
		unsigned char	value3,
		const bool	useLUT
	)

inline

Binarise an image.

Pixels whose values are less than threshold1 are set to value1
Pixels whose values are greater then or equal to threshold1 and less then or equal to threshold2 are set to value2
Pixels whose values are greater than threshold2 are set to value3

Definition at line 429 of file vpImageTools.h.

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

◆ changeLUT()

void vpImageTools::changeLUT	(	vpImage< unsigned char > &	I,
		unsigned char	A,
		unsigned char	A_star,
		unsigned char	B,
		unsigned char	B_star
	)

static

Change the look up table (LUT) of an image. Considering pixel gray level values $ l $ in the range $[A, B]$ , this method allows to rescale these values in $[A^*, B^*]$ by linear interpolation:

$\left\{ \begin{array}{ll} l \in ]-\infty, A] \mbox{, } & l = A^* \\ l \in [B, \infty[ \mbox{, } & l = B^* \\ l \in ]A, B[ \mbox{, } & l = A^* + (l-A) * \frac{B^*-A^*}{B-A} \end{array} \right.$

Parameters

I	: Image to process.
A	: Low gray level value of the range to consider.
A_star	: New gray level value to attribute to pixel who's value was A
B	: Height gray level value of the range to consider.
B_star	: New gray level value to attribute to pixel who's value was B

Returns: The modified image.

Exceptions

vpImageException::incorrectInitializationError If $B \leq A$ .

As shown in the example below, this method can be used to binarize an image. For an unsigned char image (in the range 0-255), thresholding this image at level 127 can be done by:

#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/io/vpImageIo.h>
int main()
{
  vpImage<unsigned char> I;
#ifdef _WIN32
  std::string filename("C:/temp/ViSP-images/Klimt/Klimt.ppm");
#else
  std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.ppm");
#endif
  // Read an image from the disk
  vpImageIo::read(I, filename);
  // Binarize image I:
  // - gray level values less than or equal to 127 are set to 0,
  // - gray level values greater than 128 are set to 255
  vpImageTools::changeLUT(I, 127, 0, 128, 255);
  vpImageIo::write(I, "Klimt.pgm"); // Write the image in a PGM P5 image file format
}

Definition at line 103 of file vpImageTools.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImageException::incorrectInitializationError, and vpERROR_TRACE.

◆ createSubImage() [1/4]

template<class Type >

static vp_deprecated void vpImageTools::createSubImage	(	const vpImage< Type > &	I,
		unsigned int	i_sub,
		unsigned int	j_sub,
		unsigned int	nrow_sub,
		unsigned int	ncol_sub,
		vpImage< Type > &	S
	)

static

◆ createSubImage() [2/4]

template<class Type >

static vp_deprecated void vpImageTools::createSubImage	(	const vpImage< Type > &	I,
		const vpRect &	rect,
		vpImage< Type > &	S
	)

static

◆ createSubImage() [3/4]

template<class Type >

void vpImageTools::createSubImage	(	const vpImage< Type > &	I,
		unsigned int	roi_top,
		unsigned int	roi_left,
		unsigned int	roi_height,
		unsigned int	roi_width,
		vpImage< Type > &	crop
	)

Crop a region of interest (ROI) in an image.

Deprecated:: This fonction is deprecated. You should rather use crop(const vpImage<Type> &, unsigned int, unsigned int, unsigned int, unsigned int, vpImage<Type> &).

Parameters

I	: Input image from which a sub image will be extracted.
roi_top	: ROI vertical position of the upper/left corner in the input image.
roi_left	: ROI horizontal position of the upper/left corner in the input image.
roi_height	: Cropped image height corresponding to the ROI height.
roi_width	: Cropped image width corresponding to the ROI height.
crop	: Cropped image.

See also: crop(const vpImage<Type> &, unsigned int, unsigned int, unsigned int, unsigned int, vpImage<Type> &)

Definition at line 189 of file vpImageTools.h.

References crop().

◆ createSubImage() [4/4]

template<class Type >

void vpImageTools::createSubImage	(	const vpImage< Type > &	I,
		const vpRect &	roi,
		vpImage< Type > &	crop
	)

Crop an image region of interest.

Deprecated:: This fonction is deprecated. You should rather use crop(const vpImage<Type> &, const vpRect &, vpImage<Type> &).

Parameters

I	: Input image from which a sub image will be extracted.
roi	: Region of interest in image I corresponding to the cropped part of the image.
crop	: Cropped image.

See also: crop(const vpImage<Type> &, const vpRect &, vpImage<Type> &)

Definition at line 210 of file vpImageTools.h.

References crop().

◆ crop() [1/4]

template<class Type >

void vpImageTools::crop	(	const vpImage< Type > &	I,
		double	roi_top,
		double	roi_left,
		unsigned int	roi_height,
		unsigned int	roi_width,
		vpImage< Type > &	crop,
		unsigned int	v_scale = `1`,
		unsigned int	h_scale = `1`
	)

static

Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.

Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.

Parameters

I	: Input image from which a sub image will be extracted.
roi_top	: ROI vertical position of the upper/left corner in the input image.
roi_left	: ROI horizontal position of the upper/left corner in the input image.
roi_height	: Cropped image height corresponding to the ROI height.
roi_width	: Cropped image width corresponding to the ROI height.
crop	: Cropped image.
v_scale	[in] : Vertical subsampling factor applied to the ROI.
h_scale	[in] : Horizontal subsampling factor applied to the ROI.

See also: crop(const vpImage<Type> &, const vpRect &, vpImage<Type> &)

Examples:: testCrop.cpp, testCropAdvanced.cpp, and testImageAddSub.cpp.

Definition at line 237 of file vpImageTools.h.

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

Referenced by vpV4l2Grabber::acquire(), vpKeyPointSurf::buildReference(), vpFernClassifier::buildReference(), createSubImage(), crop(), vpDisplayGTK::displayImageROI(), vpPlanarObjectDetector::matchPoint(), vpKeyPointSurf::matchPoint(), vpFernClassifier::matchPoint(), and vpMeNurbs::seekExtremitiesCanny().

◆ crop() [2/4]

template<class Type >

void vpImageTools::crop	(	const vpImage< Type > &	I,
		const vpImagePoint &	topLeft,
		unsigned int	roi_height,
		unsigned int	roi_width,
		vpImage< Type > &	crop,
		unsigned int	v_scale = `1`,
		unsigned int	h_scale = `1`
	)

static

Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.

Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.

Parameters

I	: Input image from which a sub image will be extracted.
topLeft	: ROI position of the upper/left corner in the input image.
roi_height	: Cropped image height corresponding to the ROI height.
roi_width	: Cropped image width corresponding to the ROI height.
crop	: Cropped image.
v_scale	[in] : Vertical subsampling factor applied to the ROI.
h_scale	[in] : Horizontal subsampling factor applied to the ROI.

See also: crop(const vpImage<Type> &, const vpRect &, vpImage<Type> &)

Definition at line 293 of file vpImageTools.h.

References crop(), vpImagePoint::get_i(), and vpImagePoint::get_j().

◆ crop() [3/4]

template<class Type >

void vpImageTools::crop	(	const vpImage< Type > &	I,
		const vpRect &	roi,
		vpImage< Type > &	crop,
		unsigned int	v_scale = `1`,
		unsigned int	h_scale = `1`
	)

static

Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.

Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.

Parameters

I	: Input image from which a sub image will be extracted.
roi	: Region of interest in image I corresponding to the cropped part of the image.
crop	: Cropped image.
v_scale	[in] : Vertical subsampling factor applied to the ROI.
h_scale	[in] : Horizontal subsampling factor applied to the ROI.

Definition at line 317 of file vpImageTools.h.

References crop(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), and vpRect::getWidth().

◆ crop() [4/4]

template<class Type >

void vpImageTools::crop	(	const unsigned char *	bitmap,
		unsigned int	width,
		unsigned int	height,
		const vpRect &	roi,
		vpImage< Type > &	crop,
		unsigned int	v_scale = `1`,
		unsigned int	h_scale = `1`
	)

static

Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.

Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.

Parameters

bitmap	: Pointer to the input image from which a sub image will be extracted.
width,height	: Size of the input image.
roi	: Region of interest corresponding to the cropped part of the image.
crop	: Cropped image.
v_scale	[in] : Vertical subsampling factor applied to the ROI.
h_scale	[in] : Horizontal subsampling factor applied to the ROI.

Definition at line 342 of file vpImageTools.h.

References vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), vpRect::getWidth(), and vpImage< Type >::resize().

◆ flip() [1/2]

template<class Type >

void vpImageTools::flip	(	const vpImage< Type > &	I,
		vpImage< Type > &	newI
	)

static

Flip vertically the input image and give the result in the output image.

Parameters

I	: Input image to flip.
newI	: Output image which is the flipped input image.

Definition at line 742 of file vpImageTools.h.

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

◆ flip() [2/2]

template<class Type >

void vpImageTools::flip ( vpImage< Type > & I )

static

Flip vertically the input image.

Parameters

I	: Input image which is flipped and modified in output.

The following example shows how to use this function:

#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/io/vpImageIo.h>
int main()
{
  vpImage<vpRGBa> I;
#ifdef _WIN32
  std::string filename("C:/temp/ViSP-images/Klimt/Klimt.ppm");
#else
  std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.ppm");
#endif
  // Read an image from the disk
  vpImageIo::read(I, filename);
  // Flip the image
  vpImageTools::flip(I);
  // Write the image in a PGM P5 image file format
  vpImageIo::write(I, "Klimt-flip.ppm");
}

Definition at line 786 of file vpImageTools.h.

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

◆ imageAdd()

void vpImageTools::imageAdd	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		vpImage< unsigned char > &	Ires,
		const bool	saturate = `false`
	)

static

Compute the image addition: $ Ires = I1 + I2 $ .

Parameters

I1	: The first image.
I2	: The second image.
Ires	:
saturate	: If true, saturate the result to [0 ; 255] using vpMath::saturate, otherwise overflow may occur.

Examples:: testImageAddSub.cpp.

Definition at line 267 of file vpImageTools.cpp.

References vpImage< Type >::bitmap, vpCPUFeatures::checkSSE2(), vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

Referenced by vp::fillHoles().

◆ imageDifference() [1/2]

void vpImageTools::imageDifference	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		vpImage< unsigned char > &	Idiff
	)

static

Compute the signed difference between the two images I1 and I2 for visualization issue : Idiff = I1-I2

pixels with a null difference are set to 128.
A negative difference implies a pixel value < 128
A positive difference implies a pixel value > 128

Parameters

I1	: The first image.
I2	: The second image.
Idiff	: The result of the difference.

Examples:: photometricVisualServoing.cpp.

Definition at line 140 of file vpImageTools.cpp.

References vpImage< Type >::bitmap, vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), vpMath::minimum(), and vpImage< Type >::resize().

◆ imageDifference() [2/2]

void vpImageTools::imageDifference	(	const vpImage< vpRGBa > &	I1,
		const vpImage< vpRGBa > &	I2,
		vpImage< vpRGBa > &	Idiff
	)

static

Compute the signed difference between the two images I1 and I2 RGB components for visualization issue : Idiff = I1-I2. The fourth component named A is not compared. It is set to 0 in the resulting difference image.

pixels with a null difference are set to R=128, G=128, B=128.
A negative difference implies a pixel R, G, B value < 128
A positive difference implies a pixel R, G, B value > 128

Parameters

I1	: The first image.
I2	: The second image.
Idiff	: The result of the difference between RGB components.

Definition at line 170 of file vpImageTools.cpp.

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

◆ imageDifferenceAbsolute() [1/2]

void vpImageTools::imageDifferenceAbsolute	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		vpImage< unsigned char > &	Idiff
	)

static

Compute the difference between the two images I1 and I2

Warning: : This is NOT for visualization If you want to visualize difference images during servo, please use vpImageTools::imageDifference(..,..,..) function.

Parameters

I1	: The first image.
I2	: The second image.
Idiff	: The result of the difference.

Definition at line 205 of file vpImageTools.cpp.

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

◆ imageDifferenceAbsolute() [2/2]

void vpImageTools::imageDifferenceAbsolute	(	const vpImage< vpRGBa > &	I1,
		const vpImage< vpRGBa > &	I2,
		vpImage< vpRGBa > &	Idiff
	)

static

Compute the difference between the two images I1 and I2 RGB components. The fourth component named A is not compared. It is set to 0 in the resulting difference image.

Warning: : This is NOT for visualization. If you want to visualize difference images during servo, please use vpImageTools::imageDifference(..,..,..) function.

Parameters

I1	: The first image.
I2	: The second image.
Idiff	: The result of the difference between RGB components.

Definition at line 235 of file vpImageTools.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().

◆ imageSubtract()

void vpImageTools::imageSubtract	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		vpImage< unsigned char > &	Ires,
		const bool	saturate = `false`
	)

static

Compute the image addition: $ Ires = I1 - I2 $ .

Parameters

I1	: The first image.
I2	: The second image.
Ires	:
saturate	: If true, saturate the result to [0 ; 255] using vpMath::saturate, otherwise overflow may occur.

Examples:: testImageAddSub.cpp.

Definition at line 309 of file vpImageTools.cpp.

References vpImage< Type >::bitmap, vpCPUFeatures::checkSSE2(), vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImage< Type >::resize().

Referenced by vp::fillHoles().

◆ resize() [1/2]

template<class Type >

void vpImageTools::resize	(	const vpImage< Type > &	I,
		vpImage< Type > &	Ires,
		const unsigned int	width,
		const unsigned int	height,
		const vpImageInterpolationType &	method = `INTERPOLATION_NEAREST`
	)

static

Resize the image using one interpolation method (by default it uses the nearest neighbor interpolation).

Parameters

I	: Input image.
Ires	: Output image resized to width, height.
width	: Resized width.
height	: Resized height.
method	: Interpolation method.

Examples:: testImageResize.cpp.

Definition at line 975 of file vpImageTools.h.

References vpImage< Type >::resize().

◆ resize() [2/2]

template<class Type >

void vpImageTools::resize	(	const vpImage< Type > &	I,
		vpImage< Type > &	Ires,
		const vpImageInterpolationType &	method = `INTERPOLATION_NEAREST`
	)

static

Resize the image using one interpolation method (by default it uses the nearest neighbor interpolation).

Parameters

I	: Input image.
Ires	: Output image resized (you have to init the image Ires at the desired size).
method	: Interpolation method.

Definition at line 992 of file vpImageTools.h.

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

◆ resizeBicubic()

template<>

void vpImageTools::resizeBicubic	(	const vpImage< vpRGBa > &	I,
		vpImage< vpRGBa > &	Ires,
		const unsigned int	i,
		const unsigned int	j,
		const float	u,
		const float	v,
		const float	xFrac,
		const float	yFrac
	)

inline

Definition at line 864 of file vpImageTools.h.

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

◆ resizeBilinear()

template<>

void vpImageTools::resizeBilinear	(	const vpImage< vpRGBa > &	I,
		vpImage< vpRGBa > &	Ires,
		const unsigned int	i,
		const unsigned int	j,
		const float	u,
		const float	v,
		const float	xFrac,
		const float	yFrac
	)

inline

Definition at line 932 of file vpImageTools.h.

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

◆ undistort()

template<class Type >

void vpImageTools::undistort	(	const vpImage< Type > &	I,
		const vpCameraParameters &	cam,
		vpImage< Type > &	undistI
	)

static

Undistort an image

Parameters

I	: Input image to undistort.
cam	: Parameters of the camera causing distortion.
undistI	: Undistorted output image. The size of this image will be the same than the input image I. If the distortion parameter is null (see cam.get_kd_mp()), undistI is just a copy of I.

Warning

This function works only with Types authorizing "+,-, multiplication by a scalar" operators.

This function is time consuming :

On "Rhea"(Intel Core 2 Extreme X6800 2.93GHz, 2Go RAM) or "Charon"(Intel Xeon 3 GHz, 2Go RAM) : ~8 ms for a 640x480 image.

Examples:: testUndistortImage.cpp, and tutorial-undistort.cpp.

Definition at line 579 of file vpImageTools.h.

References vpImage< Type >::bitmap, vpCameraParameters::get_kud(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImage< Type >::resize(), and vpMath::sqr().

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ vpImageInterpolationType

Member Function Documentation

◆ binarise() [1/2]

◆ binarise() [2/2]

◆ changeLUT()

◆ createSubImage() [1/4]

◆ createSubImage() [2/4]

◆ createSubImage() [3/4]

◆ createSubImage() [4/4]

◆ crop() [1/4]

◆ crop() [2/4]

◆ crop() [3/4]

◆ crop() [4/4]

◆ flip() [1/2]

◆ flip() [2/2]

◆ imageAdd()

◆ imageDifference() [1/2]

◆ imageDifference() [2/2]

◆ imageDifferenceAbsolute() [1/2]

◆ imageDifferenceAbsolute() [2/2]

◆ imageSubtract()

◆ resize() [1/2]

◆ resize() [2/2]

◆ resizeBicubic()

◆ resizeBilinear()

◆ undistort()