Visual Servoing Platform  version 3.6.1 under development (2024-12-17)
vpImageConvert Class Reference

#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 createDepthHistogram (const vpImage< float > &src_depth, vpImage< vpRGBa > &dest_depth)
 
static void createDepthHistogram (const vpImage< float > &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, unsigned int nThreads=0)
 
static void convert (const vpImage< float > &src, vpImage< unsigned char > &dest)
 
static void convert (const vpImage< vpRGBf > &src, vpImage< vpRGBa > &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, unsigned char bitshift=8)
 
static void convert (const vpImage< unsigned char > &src, vpImage< uint16_t > &dest, unsigned char bitshift=8)
 
template<typename Type >
static void convert (const vpImage< Type > &src, vpImage< Type > &dest)
 
static void convert (const cv::Mat &src, vpImage< vpRGBa > &dest, bool flip=false)
 
static void convert (const cv::Mat &src, vpImage< unsigned char > &dest, bool flip=false, unsigned int nThreads=0)
 
static void convert (const cv::Mat &src, vpImage< float > &dest, bool flip=false)
 
static void convert (const cv::Mat &src, vpImage< double > &dest, bool flip=false)
 
static void convert (const cv::Mat &src, vpImage< vpRGBf > &dest, bool flip=false)
 
static void convert (const cv::Mat &src, vpImage< uint16_t > &dest, bool flip=false)
 
static void convert (const vpImage< vpRGBa > &src, cv::Mat &dest)
 
static void convert (const vpImage< unsigned char > &src, cv::Mat &dest, bool copyData=true)
 
static void convert (const vpImage< float > &src, cv::Mat &dest, bool copyData=true)
 
static void convert (const vpImage< double > &src, cv::Mat &dest, bool copyData=true)
 
static void convert (const vpImage< vpRGBf > &src, cv::Mat &dest)
 
static int depthToPointCloud (const vpImage< uint16_t > &depth_raw, float depth_scale, const vpCameraParameters &cam_depth, pcl::PointCloud< pcl::PointXYZ >::Ptr pointcloud, std::mutex *pointcloud_mutex=nullptr, const vpImage< unsigned char > *mask=nullptr, float Z_min=0.2, float Z_max=2.5)
 
static int depthToPointCloud (const vpImage< vpRGBa > &color, const vpImage< uint16_t > &depth_raw, float depth_scale, const vpCameraParameters &cam_depth, pcl::PointCloud< pcl::PointXYZRGB >::Ptr pointcloud, std::mutex *pointcloud_mutex=nullptr, const vpImage< unsigned char > *mask=nullptr, float Z_min=0.2, float Z_max=2.5)
 
static void split (const vpImage< vpRGBa > &src, vpImage< unsigned char > *pR, vpImage< unsigned char > *pG, vpImage< unsigned char > *pB, vpImage< unsigned char > *pa=nullptr)
 
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 width, unsigned int height, bool flip=false)
 
static void RGBToGrey (unsigned char *rgb, unsigned char *grey, unsigned int size)
 
static void RGBaToGrey (unsigned char *rgba, unsigned char *grey, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
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 GreyToRGBa (unsigned char *grey, unsigned char *rgba, unsigned int width, unsigned int height)
 
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, unsigned int nThreads=0)
 
static void BGRaToGrey (unsigned char *bgra, unsigned char *grey, unsigned int width, unsigned int height, bool flip=false, unsigned int nThreads=0)
 
static void BGRaToRGBa (unsigned char *bgra, unsigned char *rgba, 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 YCbCrToGrey (unsigned char *ycbcr, unsigned char *grey, unsigned int size)
 
static void YCrCbToRGB (unsigned char *ycrcb, unsigned char *rgb, unsigned int size)
 
static void YCrCbToRGBa (unsigned char *ycrcb, unsigned char *rgb, 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, unsigned int size)
 
static void HSVToRGBa (const unsigned char *hue, const unsigned char *saturation, const unsigned char *value, unsigned char *rgba, unsigned int size, bool h_full=true)
 
static void RGBaToHSV (const unsigned char *rgba, double *hue, double *saturation, double *value, unsigned int size)
 
static void RGBaToHSV (const unsigned char *rgba, unsigned char *hue, unsigned char *saturation, unsigned char *value, unsigned int size, bool h_full=true)
 
static void HSVToRGB (const double *hue, const double *saturation, const double *value, unsigned char *rgb, unsigned int size)
 
static void HSVToRGB (const unsigned char *hue, const unsigned char *saturation, const unsigned char *value, unsigned char *rgb, unsigned int size, bool h_full=true)
 
static void RGBToHSV (const unsigned char *rgb, double *hue, double *saturation, double *value, unsigned int size)
 
static void RGBToHSV (const unsigned char *rgb, unsigned char *hue, unsigned char *saturation, unsigned char *value, unsigned int size, bool h_full=true)
 
static void demosaicBGGRToRGBaBilinear (const uint8_t *bggr, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicBGGRToRGBaBilinear (const uint16_t *bggr, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGBRGToRGBaBilinear (const uint8_t *gbrg, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGBRGToRGBaBilinear (const uint16_t *gbrg, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGRBGToRGBaBilinear (const uint8_t *grbg, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGRBGToRGBaBilinear (const uint16_t *grbg, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicRGGBToRGBaBilinear (const uint8_t *rggb, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicRGGBToRGBaBilinear (const uint16_t *rggb, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicBGGRToRGBaMalvar (const uint8_t *bggr, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicBGGRToRGBaMalvar (const uint16_t *bggr, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGBRGToRGBaMalvar (const uint8_t *gbrg, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGBRGToRGBaMalvar (const uint16_t *gbrg, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGRBGToRGBaMalvar (const uint8_t *grbg, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicGRBGToRGBaMalvar (const uint16_t *grbg, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicRGGBToRGBaMalvar (const uint8_t *rggb, uint8_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 
static void demosaicRGGBToRGBaMalvar (const uint16_t *rggb, uint16_t *rgba, unsigned int width, unsigned int height, unsigned int nThreads=0)
 

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/vpConfig.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGCODECS) && defined(HAVE_OPENCV_IMGPROC)
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#endif
int main()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_IMGCODECS)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
cv::Mat A;
#if VISP_HAVE_OPENCV_VERSION >= 0x030200
int flags = cv::IMREAD_GRAYSCALE | cv::IMREAD_IGNORE_ORIENTATION;
#elif VISP_HAVE_OPENCV_VERSION >= 0x030000
int flags = cv::IMREAD_GRAYSCALE;
#else
int flags = CV_LOAD_IMAGE_GRAYSCALE;
#endif
A = cv::imread("monkey.bmp", flags);
#ifdef VISP_HAVE_PNG
vpImageIo::write(I, "monkey.png"); // Gray
#endif
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
error that can be emitted by ViSP classes.
Definition: vpException.h:60
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:291

Definition at line 91 of file vpImageConvert.h.

Member Function Documentation

◆ BGRaToGrey()

void vpImageConvert::BGRaToGrey ( unsigned char *  bgra,
unsigned char *  grey,
unsigned int  width,
unsigned int  height,
bool  flip = false,
unsigned int  nThreads = 0 
)
static

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

Note
If flip is false, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]bgra: Pointer to the bitmap containing the 32-bits BGRa data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]width,height: Image size.
[in]flip: When true, image is flipped vertically.
[in]nThreads: When > 0, the value is used to set the number of OpenMP threads used for the conversion.
Examples
catchColorConversion.cpp.

Definition at line 802 of file vpImageConvert.cpp.

Referenced by convert().

◆ BGRaToRGBa()

void vpImageConvert::BGRaToRGBa ( unsigned char *  bgra,
unsigned char *  rgba,
unsigned int  width,
unsigned int  height,
bool  flip = false 
)
static

Converts a BGRa image to RGBa.

Flips the image vertically if needed. Assumes that rgba is already resized before calling this function.

Note
If flip is false, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]bgra: Pointer to the bitmap containing the 32-bits BGRa data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.
[in]flip: When true, image is flipped vertically.
Examples
catchColorConversion.cpp, and perfColorConversion.cpp.

Definition at line 687 of file vpImageConvert.cpp.

◆ BGRToGrey()

void vpImageConvert::BGRToGrey ( unsigned char *  bgr,
unsigned char *  grey,
unsigned int  width,
unsigned int  height,
bool  flip = false,
unsigned int  nThreads = 0 
)
static

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

Note
If flip is false, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]bgr: Pointer to the bitmap containing the 24-bits BGR data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]width,height: Image size.
[in]flip: When true, image is flipped vertically.
[in]nThreads: When > 0, the value is used to set the number of OpenMP threads used for the conversion.
Examples
catchColorConversion.cpp, and perfColorConversion.cpp.

Definition at line 738 of file vpImageConvert.cpp.

Referenced by vpV4l2Grabber::acquire(), convert(), vpRobotBebop2::getGrayscaleImage(), 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 vertically if needed. Assumes that rgba is already resized.

Note
If flip is false, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]bgr: Pointer to the bitmap containing the 24-bits BGR data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.
[in]flip: When true, image is flipped vertically.
Examples
perfColorConversion.cpp.

Definition at line 637 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

Referenced by vpV4l2Grabber::acquire(), vpRealSense2::getColorFrame(), and vpRobotBebop2::getRGBaImage().

◆ convert() [1/21]

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

Converts cv::Mat CV_32FC1 format to ViSP vpImage<double>.

Parameters
[in]src: OpenCV image in CV_32FC1 format.
[out]dest: ViSP image in double format.
[in]flip: When true during conversion flip image vertically.

Definition at line 334 of file vpImageConvert_opencv.cpp.

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

◆ convert() [2/21]

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

Converts cv::Mat CV_32FC1 / CV_16SC1 format to ViSP vpImage<float>.

Parameters
[in]src: OpenCV image in CV_32FC1 / CV_16SC1 format.
[out]dest: ViSP image in float format.
[in]flip: When true during conversion flip image vertically.

Definition at line 292 of file vpImageConvert_opencv.cpp.

References vpException::badValue, vpImage< Type >::getCols(), vpImage< Type >::getRows(), and vpImage< Type >::resize().

◆ convert() [3/21]

void vpImageConvert::convert ( const cv::Mat &  src,
vpImage< uint16_t > &  dest,
bool  flip = false 
)
static

Converts cv::Mat CV_16UC1 format to ViSP vpImage<uint16_t>.

Parameters
[in]src: OpenCV image in CV_16UC1 format.
[out]dest: ViSP image in uint16_t format.
[in]flip: When true during conversion flip image vertically.

Definition at line 355 of file vpImageConvert_opencv.cpp.

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

◆ convert() [4/21]

void vpImageConvert::convert ( const cv::Mat &  src,
vpImage< unsigned char > &  dest,
bool  flip = false,
unsigned int  nThreads = 0 
)
static

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

A cv::Mat is an OpenCV image class.

Warning
This function is only available if OpenCV was detected during the configuration step.
Parameters
[in]src: Source image in OpenCV format.
[out]dest: Destination image in ViSP format.
[in]flip: Set to true to vertically flip the converted image.
[in]nThreads: number of threads to use if OpenMP is available. If 0 is passed, OpenMP will choose the number of threads.
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
#if defined(VISP_HAVE_OPENCV)
vpImage<unsigned char> Ig; // A grayscale image
cv::Mat Ip;
// Read an image on a disk with openCV library
Ip = cv::imread("image.pgm", cv::IMREAD_GRAYSCALE); // Second parameter for a gray level.
// Convert the grayscale cv::Mat into vpImage<unsigned char>
// ...
#endif
}

Definition at line 213 of file vpImageConvert_opencv.cpp.

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

◆ convert() [5/21]

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

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

A cv::Mat is an OpenCV image class.

If the input image is of type CV_8UC1 or CV_8UC3, the alpha channel is set to vpRGBa::alpha_default, or 0 in certain case (see the warning below).

Warning
This function is only available if OpenCV (version 2.1.0 or greater) was detected during the configuration step.
If ViSP is built with SSSE3 flag and the CPU supports this intrinsics set, alpha channel will be set to 0, otherwise it will be set to vpRGBa::alpha_default (255).
Parameters
[in]src: Source image in OpenCV format.
[out]dest: Destination image in ViSP format.
[in]flip: Set to true to vertically flip the converted image.
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/io/vpImageIo.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
#if defined(VISP_HAVE_OPENCV)
vpImage<vpRGBa> Ic; // A color image
cv::Mat Ip;
// Read an image on a disk with openCV library
Ip = cv::imread("image.pgm", cv::IMREAD_COLOR); // Second parameter for a BGR encoding.
// Convert the grayscale cv::Mat into vpImage<vpRGBa>
// ...
#endif
}

Definition at line 93 of file vpImageConvert_opencv.cpp.

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

◆ convert() [6/21]

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

Converts cv::Mat CV_32FC3 format to ViSP vpImage<vpRGBf>.

Parameters
[in]src: OpenCV image in CV_32FC3 format.
[out]dest: ViSP image in vpRGBf format.
[in]flip: When true during conversion flip image vertically.

Definition at line 390 of file vpImageConvert_opencv.cpp.

References vpRGBf::B, vpException::badValue, vpRGBf::G, vpImage< Type >::getCols(), vpImage< Type >::getRows(), vpRGBf::R, and vpImage< Type >::resize().

◆ convert() [7/21]

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

◆ convert() [8/21]

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
[in]src: Source image
[out]dest: Destination image.

Definition at line 180 of file vpImageConvert.cpp.

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

◆ convert() [9/21]

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

◆ convert() [10/21]

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

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

Parameters
[in]src: Source image
[out]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() [11/21]

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 119 of file vpImageConvert.h.

◆ convert() [12/21]

void vpImageConvert::convert ( const vpImage< uint16_t > &  src,
vpImage< unsigned char > &  dest,
unsigned char  bitshift = 8 
)
static

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

Parameters
[in]src: Source image
[out]dest: Destination image.
[in]bitshift: Right bit shift applied to each source element.

Definition at line 209 of file vpImageConvert.cpp.

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

◆ convert() [13/21]

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

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

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
[in]src: Source image.
[out]dest: Destination image.
[in]copyData: If true, the image is copied and modification in one object will not modified the other.
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_IMGCODECS)
vpImage<unsigned char> Ig; // A grayscale image
cv::Mat Ip;
// Read an image on a disk
vpImageIo::read(Ig, "image.pgm");
// Convert the vpImage<unsigned char> in to grayscale cv::Mat
// Treatments on cv::Mat Ip
//...
// Save the cv::Mat on the disk
cv::imwrite("image-cv.pgm", Ip);
#endif
}
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:147

Definition at line 508 of file vpImageConvert_opencv.cpp.

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

◆ convert() [14/21]

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
[in]src: Source image
[out]dest: Destination image.

Definition at line 240 of file vpImageConvert.cpp.

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

◆ convert() [15/21]

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
[in]src: Source image
[out]dest: Destination image.

Definition at line 164 of file vpImageConvert.cpp.

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

◆ convert() [16/21]

void vpImageConvert::convert ( const vpImage< unsigned char > &  src,
vpImage< uint16_t > &  dest,
unsigned char  bitshift = 8 
)
static

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

Parameters
[in]src: Source image
[out]dest: Destination image.
[in]bitshift: Left bit shift applied to each source element.

Definition at line 225 of file vpImageConvert.cpp.

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

◆ convert() [17/21]

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
[in]src: Source image
[out]dest: Destination image.
See also
GreyToRGBa()
Examples
AROgre.cpp, AROgreBasic.cpp, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, catchColorConversion.cpp, catchGaussianFilter.cpp, grabV4l2MultiCpp11Thread.cpp, perfColorConversion.cpp, perfImageMorphology.cpp, perfImageWarp.cpp, readRealSenseData.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoViper850FourPointsKinect.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testDisplayScaled.cpp, testFloodFill.cpp, testGenericTracker.cpp, testImageFilter.cpp, testImageNormalizedCorrelation.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testRealSense2_SR300.cpp, testUndistortImage.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-blob-tracker-live-firewire.cpp, tutorial-blob-tracker-live-v4l2.cpp, tutorial-bridge-opencv-camera-param.cpp, tutorial-bridge-opencv-image.cpp, tutorial-brightness-adjustment.cpp, tutorial-canny.cpp, tutorial-circle-hough.cpp, tutorial-dnn-object-detection-live.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-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-read.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-save.cpp, tutorial-me-ellipse-tracker.cpp, tutorial-me-line-tracker.cpp, tutorial-megapose-live-single-object-tracking.cpp, tutorial-pose-from-points-live.cpp, tutorial-video-manipulation.cpp, and tutorial-video-recorder.cpp.

Definition at line 73 of file vpImageConvert.cpp.

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

Referenced by vpVideoReader::acquire(), vpKeyPoint::buildReference(), vpImageFilter::canny(), vpMbGenericTracker::computeCurrentProjectionError(), vpImageFilter::computePartialDerivatives(), convert(), vpDetectorFace::detect(), vpKeyPoint::detect(), vpCircleHoughTransform::detect(), vpCannyEdgeDetection::detect(), vpKeyPoint::detectExtractAffine(), vpKeyPoint::extract(), vpVideoReader::getFrame(), vpImageFilter::getGaussPyramidal(), vpDisplay::getImage(), vpImageSimulator::init(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), vpKeyPoint::insertImageMatching(), vpKeyPoint::matchPoint(), vpImageFilter::median(), vpVideoWriter::saveFrame(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbGenericTracker::setPose(), vpImageTools::templateMatching(), vpMbEdgeTracker::track(), and vpMbGenericTracker::track().

◆ convert() [18/21]

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

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

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
[in]src: Source image (vpRGBa format).
[out]dest: Destination image (BGR format).
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
#if defined(VISP_HAVE_OPENCV)
vpImage<vpRGBa> I; // A color image
cv::Mat Icv;
// Read an image on a disk
vpImageIo::read(I, "image.ppm");
// Convert the image into color cv::Mat.
// Treatments on cv::Mat Icv
//...
// Save the cv::Mat on the disk
cv::imwrite("image-cv.ppm", Icv);
#endif
}

Definition at line 460 of file vpImageConvert_opencv.cpp.

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

◆ convert() [19/21]

void vpImageConvert::convert ( const vpImage< vpRGBa > &  src,
vpImage< unsigned char > &  dest,
unsigned int  nThreads = 0 
)
static

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

Parameters
[in]src: Source image
[out]dest: Destination image.
[in]nThreads: Number of threads to use if OpenMP is available. If 0 is passed, OpenMP will choose the number of threads.
See also
RGBaToGrey()

Definition at line 89 of file vpImageConvert.cpp.

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

◆ convert() [20/21]

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

◆ convert() [21/21]

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

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

Parameters
[in]src: Source image
[out]dest: Destination image.

Definition at line 131 of file vpImageConvert.cpp.

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

◆ createDepthHistogram() [1/4]

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

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

Parameters
[in]src_depth: Input float depth image.
[out]dest_depth: Output grayscale depth image.

Definition at line 291 of file vpImageConvert.cpp.

◆ createDepthHistogram() [2/4]

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

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

Parameters
[in]src_depth: Input float depth image.
[out]dest_rgba: Output color depth image.

Definition at line 280 of file vpImageConvert.cpp.

◆ createDepthHistogram() [3/4]

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
[in]src_depth: Input 16-bits depth image.
[out]dest_depth: Output grayscale depth image.

Definition at line 268 of file vpImageConvert.cpp.

◆ createDepthHistogram() [4/4]

◆ demosaicBGGRToRGBaBilinear() [1/2]

void vpImageConvert::demosaicBGGRToRGBaBilinear ( const uint16_t *  bggr,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]bggr: Array of Bayer data arranged into BGGR pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1447 of file vpImageConvert.cpp.

◆ demosaicBGGRToRGBaBilinear() [2/2]

void vpImageConvert::demosaicBGGRToRGBaBilinear ( const uint8_t *  bggr,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]bggr: Array of Bayer data arranged into BGGR pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1429 of file vpImageConvert.cpp.

◆ demosaicBGGRToRGBaMalvar() [1/2]

void vpImageConvert::demosaicBGGRToRGBaMalvar ( const uint16_t *  bggr,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]bggr: Array of Bayer data arranged into BGGR pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1593 of file vpImageConvert.cpp.

◆ demosaicBGGRToRGBaMalvar() [2/2]

void vpImageConvert::demosaicBGGRToRGBaMalvar ( const uint8_t *  bggr,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]bggr: Array of Bayer data arranged into BGGR pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1575 of file vpImageConvert.cpp.

◆ demosaicGBRGToRGBaBilinear() [1/2]

void vpImageConvert::demosaicGBRGToRGBaBilinear ( const uint16_t *  gbrg,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]gbrg: Array of Bayer data arranged into GBRG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1483 of file vpImageConvert.cpp.

◆ demosaicGBRGToRGBaBilinear() [2/2]

void vpImageConvert::demosaicGBRGToRGBaBilinear ( const uint8_t *  gbrg,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]gbrg: Array of Bayer data arranged into GBRG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1465 of file vpImageConvert.cpp.

◆ demosaicGBRGToRGBaMalvar() [1/2]

void vpImageConvert::demosaicGBRGToRGBaMalvar ( const uint16_t *  gbrg,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]gbrg: Array of Bayer data arranged into GBRG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1629 of file vpImageConvert.cpp.

◆ demosaicGBRGToRGBaMalvar() [2/2]

void vpImageConvert::demosaicGBRGToRGBaMalvar ( const uint8_t *  gbrg,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]gbrg: Array of Bayer data arranged into GBRG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1611 of file vpImageConvert.cpp.

◆ demosaicGRBGToRGBaBilinear() [1/2]

void vpImageConvert::demosaicGRBGToRGBaBilinear ( const uint16_t *  grbg,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]grbg: Array of Bayer data arranged into GRBG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1519 of file vpImageConvert.cpp.

◆ demosaicGRBGToRGBaBilinear() [2/2]

void vpImageConvert::demosaicGRBGToRGBaBilinear ( const uint8_t *  grbg,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]grbg: Array of Bayer data arranged into GRBG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1501 of file vpImageConvert.cpp.

◆ demosaicGRBGToRGBaMalvar() [1/2]

void vpImageConvert::demosaicGRBGToRGBaMalvar ( const uint16_t *  grbg,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]grbg: Array of Bayer data arranged into GRBG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1665 of file vpImageConvert.cpp.

◆ demosaicGRBGToRGBaMalvar() [2/2]

void vpImageConvert::demosaicGRBGToRGBaMalvar ( const uint8_t *  grbg,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]grbg: Array of Bayer data arranged into GRBG pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1647 of file vpImageConvert.cpp.

◆ demosaicRGGBToRGBaBilinear() [1/2]

void vpImageConvert::demosaicRGGBToRGBaBilinear ( const uint16_t *  rggb,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]rggb: Array of Bayer data arranged into RGGB pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1555 of file vpImageConvert.cpp.

◆ demosaicRGGBToRGBaBilinear() [2/2]

void vpImageConvert::demosaicRGGBToRGBaBilinear ( const uint8_t *  rggb,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using bilinear demosaicing method.

Parameters
[in]rggb: Array of Bayer data arranged into RGGB pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1537 of file vpImageConvert.cpp.

◆ demosaicRGGBToRGBaMalvar() [1/2]

void vpImageConvert::demosaicRGGBToRGBaMalvar ( const uint16_t *  rggb,
uint16_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint16 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]rggb: Array of Bayer data arranged into RGGB pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.

Definition at line 1701 of file vpImageConvert.cpp.

◆ demosaicRGGBToRGBaMalvar() [2/2]

void vpImageConvert::demosaicRGGBToRGBaMalvar ( const uint8_t *  rggb,
uint8_t *  rgba,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Converts an array of uint8 Bayer data to an array of interleaved R, G, B and A values using Malvar [29] demosaicing method.

Parameters
[in]rggb: Array of Bayer data arranged into RGGB pattern.
[out]rgba: Array of R, G, B and A values converted from Bayer image.
[in]width: Bayer image width.
[in]height: Bayer image height.
[in]nThreads: Number of OpenMP threads to use if available.
Note
rgba array must be preallocated beforehand. Alpha channel is left as-is.
Examples
catchColorConversion.cpp.

Definition at line 1683 of file vpImageConvert.cpp.

◆ depthToPointCloud() [1/2]

BEGIN_VISP_NAMESPACE int vpImageConvert::depthToPointCloud ( const vpImage< uint16_t > &  depth_raw,
float  depth_scale,
const vpCameraParameters cam_depth,
pcl::PointCloud< pcl::PointXYZ >::Ptr  pointcloud,
std::mutex *  pointcloud_mutex = nullptr,
const vpImage< unsigned char > *  depth_mask = nullptr,
float  Z_min = 0.2,
float  Z_max = 2.5 
)
static

Create a point cloud from a depth image.

Parameters
[in]depth_raw: Depth raw image.
[in]depth_scale: Depth scale to apply to data in depth_raw.
[in]cam_depth: Depth camera intrinsics.
[out]pointcloud: Computed 3D point cloud. The 3D points reconstructed from the raw depth image are those that have their corresponding 2D projection in the depth mask and have a Z value within ]Z_min, Z_max[ range. When the depth mask is set to nullptr, we reconstruct all 3D points from the complete depth raw image and retain only those whose Z value lies between ]Z_min, Z_max[ range. You must also ensure that the size of the depth mask and the size of the depth raw image are the same.
[in,out]pointcloud_mutex: Optional mutex to protect from concurrent access to pointcloud. When set to nullptr, you should ensure that there is no thread that wants to access to pointcloud, like for example the one used in vpDisplayPCL.
[in]depth_mask: Optional depth_mask. When set to nullptr, all the pixels in depth_raw are considered. Otherwise, we consider only pixels that have a mask value that differ from 0.
[in]Z_min: Min Z value to retain the 3D point in the point cloud.
[in]Z_max: Max Z value to retain the 3D point in the point cloud.
Returns
The size of the point cloud.
Examples
tutorial-hsv-segmentation-pcl-viewer.cpp, and tutorial-hsv-segmentation-pcl.cpp.

Definition at line 73 of file vpImageConvert_pcl.cpp.

References vpImage< Type >::bitmap, vpPixelMeterConversion::convertPoint(), vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), and vpImageException::notInitializedError.

◆ depthToPointCloud() [2/2]

int vpImageConvert::depthToPointCloud ( const vpImage< vpRGBa > &  color,
const vpImage< uint16_t > &  depth_raw,
float  depth_scale,
const vpCameraParameters cam_depth,
pcl::PointCloud< pcl::PointXYZRGB >::Ptr  pointcloud,
std::mutex *  pointcloud_mutex = nullptr,
const vpImage< unsigned char > *  depth_mask = nullptr,
float  Z_min = 0.2,
float  Z_max = 2.5 
)
static

Create a textured point cloud from an aligned color and depth image.

Parameters
[in]color: Color image.
[in]depth_raw: Depth raw image.
[in]depth_scale: Depth scale to apply to data in depth_raw.
[in]cam_depth: Depth camera intrinsics.
[out]pointcloud: Computed 3D point cloud with RGB information. The 3D points reconstructed from the raw depth image are those that have their corresponding 2D projection in the depth mask and have a Z value within ]Z_min, Z_max[ range. When the depth mask is set to nullptr, we reconstruct all 3D points from the complete depth raw image and retain only those whose Z value lies between ]Z_min, Z_max[ range.
[in,out]pointcloud_mutex: Optional mutex to protect from concurrent access to pointcloud. When set to nullptr, you should ensure that there is no thread that wants to access to pointcloud, like for example the one used in vpDisplayPCL.
[in]depth_mask: Optional depth_mask. When set to nullptr, all the pixels in depth_raw are considered. Otherwise, we consider only pixels that have a mask value that differ from 0 and that a Z value in ]Z_min, Z_max[] range. You should also ensure that mask size and depth_raw size are the same.
[in]Z_min: Min Z value to retain the 3D point in the point cloud.
[in]Z_max: Max Z value to retain the 3D point in the point cloud.
Returns
The size of the point cloud.

Definition at line 185 of file vpImageConvert_pcl.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpImage< Type >::getHeight(), vpImage< Type >::getSize(), vpImage< Type >::getWidth(), vpImageException::notInitializedError, and vpRGBa::R.

◆ GreyToRGB()

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

Convert from grey image to linear RGB image.

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]grey: Pointer to the bitmap containing the 8-bits grey data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]size: Image size corresponding to image width * height.

Definition at line 599 of file vpImageConvert.cpp.

◆ GreyToRGBa() [1/2]

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.

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]grey: Pointer to the bitmap containing the 8-bits grey data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to image width * height.

Definition at line 564 of file vpImageConvert.cpp.

References vpRGBa::alpha_default, and GreyToRGBa().

◆ GreyToRGBa() [2/2]

void vpImageConvert::GreyToRGBa ( unsigned char *  grey,
unsigned char *  rgba,
unsigned int  width,
unsigned int  height 
)
static

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

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]grey: Pointer to the bitmap containing the 8-bits grey data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.

Definition at line 543 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

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

◆ HSVToRGB() [1/2]

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

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

Parameters
[in]hue: Array of hue values in range [0,1]. The dimension of this array corresponds to size parameter.
[in]saturation: Array of saturation values in range [0,1]. The dimension of this array corresponds to size parameter.
[in]value: Array of value values in range [0,1]. The dimension of this array corresponds to size parameter.
[out]rgb: Pointer to the 24-bit RGB image that should be allocated prior to calling this function with a size of width * height * 3 where width * height corresponds to size parameter.
[in]size: The image size or the number of pixels corresponding to the image width * height.
Examples
catchColorConversion.cpp, and testDisplayPolygonLines.cpp.

Definition at line 513 of file vpImageConvert_hsv.cpp.

◆ HSVToRGB() [2/2]

void vpImageConvert::HSVToRGB ( const unsigned char *  hue,
const unsigned char *  saturation,
const unsigned char *  value,
unsigned char *  rgb,
unsigned int  size,
bool  h_full = true 
)
static

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

Parameters
[in]hue: Array of hue values. Range depends on h_full parameter. The dimension of this array corresponds to size parameter.
[in]saturation: Array of saturation values in range [0,255]. The dimension of this array corresponds to size parameter.
[in]value: Array of value values in range [0,255]. The dimension of this array corresponds to size parameter.
[out]rgb: Pointer to the 24-bit RGB image that should be allocated prior to calling this function with a size of width * height * 3 where width * height corresponds to size parameter.
[in]size: The image size or the number of pixels corresponding to the image width * height.
[in]h_full: When true, hue range is in [0, 255]. When false, hue range is in [0, 180].

Definition at line 534 of file vpImageConvert_hsv.cpp.

◆ HSVToRGBa() [1/2]

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

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

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

Parameters
[in]hue: Array of hue values in range [0,1].
[in]saturation: Array of saturation values in range [0,1].
[in]value: Array of value values in range [0,1].
[out]rgba: Pointer to the 32-bit RGBa image that should be allocated prior to calling this function with a size of width * height * 4. Alpha channel is here set to vpRGBa::alpha_default.
[in]size: The image size or the number of pixels corresponding to the image width * height.
Examples
catchColorConversion.cpp, and testConversion.cpp.

Definition at line 429 of file vpImageConvert_hsv.cpp.

Referenced by VISP_NAMESPACE_NAME::equalizeHistogram(), VISP_NAMESPACE_NAME::gammaCorrection(), and VISP_NAMESPACE_NAME::stretchContrastHSV().

◆ HSVToRGBa() [2/2]

void vpImageConvert::HSVToRGBa ( const unsigned char *  hue,
const unsigned char *  saturation,
const unsigned char *  value,
unsigned char *  rgba,
unsigned int  size,
bool  h_full = true 
)
static

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

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

Parameters
[in]hue: Array of hue values. Range depends on h_full parameter.
[in]saturation: Array of saturation values in range [0,255].
[in]value: Array of value values in range [0,255].
[out]rgba: Pointer to the 32-bit RGBa image that should be allocated prior to calling this function with a size of width * height * 4. Alpha channel is here set to vpRGBa::alpha_default.
[in]size: The image size or the number of pixels corresponding to the image width * height.
[in]h_full: When true, hue range is in [0, 255]. When false, hue range is in [0, 180].

Definition at line 450 of file vpImageConvert_hsv.cpp.

◆ 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
[in]R: Red channel.
[in]G: Green channel.
[in]B: Blue channel.
[in]a: Alpha channel.
[out]RGBa: Destination RGBa image. Image is resized internally if needed.
Note
If R, G, B, a are provided, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Examples
catchColorConversion.cpp, grabV4l2MultiCpp11Thread.cpp, perfColorConversion.cpp, testConversion.cpp, and tutorial-hsv-range-tuner.cpp.

Definition at line 1299 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().

Referenced by VISP_NAMESPACE_NAME::gammaCorrection().

◆ 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
[in]grey16: Input image to convert (two bytes per pixel).
[out]grey: Pointer to the 8-bit grey image (one byte per pixel) that should be allocated with a size of width * height.
[in]size: The image size or the number of pixels corresponding to the image width * height.

Definition at line 1375 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
[in]grey16: Pointer to the bitmap containing the input image to convert (two bytes per pixel).
[out]rgba: Pointer to the 32-bit RGBA image that should be allocated with a size of width * height * 4.
[in]size: The image size or the number of pixels corresponding to the image width * height.

Definition at line 1399 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

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

◆ RGBaToGrey() [1/2]

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

Convert a RGBa image to a greyscale one.

See Charles Pontyon's Colour FAQ http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]rgba: Pointer to the 32-bits RGBA bitmap.
[out]grey: Pointer to the bitmap containing the 8-bits grey data that should be allocated with a size of width * height.
[in]size: Image size corresponding to image width * height.

Definition at line 513 of file vpImageConvert.cpp.

◆ RGBaToGrey() [2/2]

void vpImageConvert::RGBaToGrey ( unsigned char *  rgba,
unsigned char *  grey,
unsigned int  width,
unsigned int  height,
unsigned int  nThreads = 0 
)
static

Convert a RGBa image to a grey scale one.

See Charles Pontyon's Colour FAQ http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]rgba: Pointer to the 32-bits RGBA bitmap.
[out]grey: Pointer to the bitmap containing the 8-bits grey data that should be allocated with a size of width * height.
[in]width,height: Image size.
[in]nThreads: When > 0, the value is used to set the number of OpenMP threads used for the conversion.

Definition at line 473 of file vpImageConvert.cpp.

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

◆ RGBaToHSV() [1/2]

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

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

Parameters
[in]rgba: Pointer to the 32-bits RGBa bitmap.
[out]hue: Array of hue values converted from RGB color space in range [0 - 1]. This array of dimension size should be allocated prior to calling this function.
[out]saturation: Array of saturation values converted from RGB color space in range [0 - 1]. This array of dimension size should be allocated prior to calling this function.
[out]value: Array of value values converted from RGB color space in range [0 - 1]. This array of dimension size should be allocated prior to calling this function.
[in]size: The image size or the number of pixels corresponding to the image width * height.
Examples
catchColorConversion.cpp, testConversion.cpp, tutorial-hsv-range-tuner.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 470 of file vpImageConvert_hsv.cpp.

Referenced by VISP_NAMESPACE_NAME::equalizeHistogram(), VISP_NAMESPACE_NAME::gammaCorrection(), and VISP_NAMESPACE_NAME::stretchContrastHSV().

◆ RGBaToHSV() [2/2]

void vpImageConvert::RGBaToHSV ( const unsigned char *  rgba,
unsigned char *  hue,
unsigned char *  saturation,
unsigned char *  value,
unsigned int  size,
bool  h_full = true 
)
static

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

Parameters
[in]rgba: Pointer to the 32-bits RGBA bitmap that has a dimension of size * 4.
[out]hue: Array of hue values converted from RGB color space. Range depends on h_full parameter. This array of dimension size should be allocated prior to calling this function.
[out]saturation: Array of saturation values converted from RGB color space in range [0 - 255]. This array of dimension size should be allocated prior to calling this function.
[out]value: Array of value values converted from RGB color space in range [0 - 255]. This array of dimension size should be allocated prior to calling this function.
[in]size: The image size or the number of pixels corresponding to the image width * height.
[in]h_full: When true, hue range is in [0, 255]. When false, hue range is in [0, 180].
See also
vpImageTools::inRange()

Definition at line 493 of file vpImageConvert_hsv.cpp.

◆ 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.

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]rgba: Pointer to the 32-bits RGBA bitmap.
[out]rgb: Pointer to the bitmap containing the 24-bits RGB data that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to image width * height.
Examples
catchColorConversion.cpp, testConversion.cpp, and tutorial-npz.cpp.

Definition at line 372 of file vpImageConvert.cpp.

◆ RGBToGrey() [1/2]

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

Convert an RGB image to a grey scale one.

See Charles Pontyon's Colour FAQ http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html

Parameters
[in]rgb: Pointer to the 24-bits RGB bitmap.
[out]grey: Pointer to the bitmap containing the 8-bits grey data that should be allocated with a size of width * height.
[in]size: Image size corresponding to image width * height.

Definition at line 402 of file vpImageConvert.cpp.

References 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 a grey scale one. Flips the image vertically if needed. Assumes that grey is already resized.

Note
If flip is false, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]rgb: Pointer to the 24-bits RGB bitmap.
[out]grey: Pointer to the bitmap containing the 8-bits grey data that should be allocated with a size of width * height.
[in]width,height: Image size.
[in]flip: When true, image is flipped vertically.
Examples
catchColorConversion.cpp, and testConversion.cpp.

Definition at line 420 of file vpImageConvert.cpp.

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

◆ RGBToHSV() [1/2]

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

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

Parameters
[in]rgb: Pointer to the 24-bits RGB bitmap. Its size corresponds to size * 3.
[out]hue: Array of hue values in range [0,1] converted from RGB color space. This array should be allocated prior to calling this function. Its size corresponds to size parameter.
[out]saturation: Array of saturation values in range [0,1] converted from RGB color space. This array should be allocated prior to calling this function. Its size corresponds to size parameter.
[out]value: Array of value values in range [0,1] converted from RGB color space. This array should be allocated prior to calling this function. Its size corresponds to size parameter.
[in]size: The image size or the number of pixels corresponding to the image width * height.
Examples
catchColorConversion.cpp.

Definition at line 553 of file vpImageConvert_hsv.cpp.

◆ RGBToHSV() [2/2]

void vpImageConvert::RGBToHSV ( const unsigned char *  rgb,
unsigned char *  hue,
unsigned char *  saturation,
unsigned char *  value,
unsigned int  size,
bool  h_full = true 
)
static

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

Parameters
[in]rgb: Pointer to the 24-bits RGB bitmap. Its size corresponds to size * 3.
[out]hue: Array of hue values converted from RGB color space. Range depends on h_full parameter. This array should be allocated prior to calling this function. Its size corresponds to size parameter.
[out]saturation: Array of saturation values in range [0,255] converted from RGB color space. This array should be allocated prior to calling this function. Its size corresponds to size parameter.
[out]value: Array of value values in range [0,255] converted from RGB color space. This array should be allocated prior to calling this function. Its size corresponds to size parameter.
[in]size: The image size or the number of pixels corresponding to the image width * height.
[in]h_full: When true, hue range is in [0, 255]. When false, hue range is in [0, 180].
See also
vpImageTools::inRange()

Definition at line 575 of file vpImageConvert_hsv.cpp.

◆ 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.

Parameters
[in]rgb: Pointer to the bitmap containing the 24-bits RGB data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to image width * height.
Examples
catchColorConversion.cpp, and tutorial-npz.cpp.

Definition at line 305 of file vpImageConvert.cpp.

Referenced by vp1394CMUGrabber::acquire(), vpV4l2Grabber::acquire(), vp1394TwoGrabber::acquire(), vpOccipitalStructure::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 vertically if needed. Assumes that rgba is already resized.

Note
If flip is false, the SIMD lib is used to accelerate processing on x86 and ARM architecture.
Parameters
[in]rgb: Pointer to the bitmap containing the 24-bits RGB data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.
[in]flip: When true, image is flipped vertically.

Definition at line 325 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 = nullptr 
)
static

Split an image from vpRGBa format to monochrome channels.

Parameters
[in]src: source image.
[out]pR: red channel. Set as nullptr if not needed.
[out]pG: green channel. Set as nullptr if not needed.
[out]pB: blue channel. Set as nullptr if not needed.
[out]pa: alpha channel. Set as nullptr if not needed.

Output channels are resized if needed.

Note
The SIMD lib is used to accelerate processing on x86 and ARM architecture.

Example code using split:

#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
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.
// Split Ic color image
// R and B will be resized in split function if needed
vpImageConvert::split(Ic, &R, nullptr, &B, nullptr);
// Save the the R Channel.
vpImageIo::write(R, "RChannel.pgm");
}
static void split(const vpImage< vpRGBa > &src, vpImage< unsigned char > *pR, vpImage< unsigned char > *pG, vpImage< unsigned char > *pB, vpImage< unsigned char > *pa=nullptr)
Examples
catchColorConversion.cpp, catchGaussianFilter.cpp, grabV4l2MultiCpp11Thread.cpp, perfColorConversion.cpp, and testConversion.cpp.

Definition at line 1189 of file vpImageConvert.cpp.

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

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

◆ YCbCrToGrey()

void vpImageConvert::YCbCrToGrey ( unsigned char *  ycbcr,
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.
Parameters
[in]ycbcr: Pointer to the bitmap containing the YCbCr 4:2:2 data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]size: Image size corresponding to image width * height.

Definition at line 1014 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
Parameters
[in]ycbcr: Pointer to the bitmap containing the YCbCr 4:2:2 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]size: Image size corresponding to image width * height.

Definition at line 895 of file vpImageConvert.cpp.

◆ 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: -
Parameters
[in]ycbcr: Pointer to the bitmap containing the YCbCr 4:2:2 data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to image width * height.

Definition at line 957 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

◆ 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
Parameters
[in]ycrcb: Pointer to the bitmap containing the YCbCr 4:2:2 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]size: Image size corresponding to image width * height.

Definition at line 1048 of file vpImageConvert.cpp.

◆ 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: -
Parameters
[in]ycrcb: Pointer to the bitmap containing the YCrCb 4:2:2 data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to image width * height.

Definition at line 1109 of file vpImageConvert.cpp.

References vpRGBa::alpha_default.

◆ YUV411ToGrey()

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

Convert YUV 4:1:1 (u y1 y2 v y3 y4) into a grey image.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:1:1 data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]size: Image size corresponding to width * height.

Definition at line 383 of file vpImageConvert_yuv.cpp.

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

◆ YUV411ToRGB()

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

Convert YUV 4:1:1 (u y1 y2 v y3 y4) into a RGB 24bits image.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:1:1 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]size: Image size corresponding to width * height.

Definition at line 493 of file vpImageConvert_yuv.cpp.

◆ YUV411ToRGBa()

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

Convert YUV 4:1:1 (u y1 y2 v y3 y4) images into RGBa images. The alpha component of the converted image is set to vpRGBa::alpha_default.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:1:1 data.
[out]rgba: Pointer to the RGBA 32-bits bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to width * height.

Definition at line 229 of file vpImageConvert_yuv.cpp.

References vpRGBa::alpha_default.

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

◆ YUV420ToGrey()

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

Convert YUV 4:2:0 [Y(NxM), U(N/2xM/2), V(N/2xM/2)] image into a grey image.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:2:0 data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]size: Image size corresponding to image width * height.

Definition at line 797 of file vpImageConvert_yuv.cpp.

◆ YUV420ToRGB()

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

Convert YUV 4:2:0 [Y(NxM), U(N/2xM/2), V(N/2xM/2)] image into a RGB image.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:2:0 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]width,height: Image size.

Definition at line 693 of file vpImageConvert_yuv.cpp.

◆ YUV420ToRGBa()

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

Convert YUV 4:2:0 [Y(NxM), U(N/2xM/2), V(N/2xM/2)] image into a RGBa image.

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

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:2:0 data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.

Definition at line 584 of file vpImageConvert_yuv.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 a grey image. Destination grey memory area has to be allocated before.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:2:2 data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]size: Image size corresponding to width * height.
See also
YUYVToGrey()

Definition at line 471 of file vpImageConvert_yuv.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.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:2:2 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]size: Image size corresponding to width * height.
See also
YUYVToRGB()

Definition at line 414 of file vpImageConvert_yuv.cpp.

◆ 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.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:2:2 data.
[out]rgba: Pointer to the RGBA 32-bits bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to width * height.
See also
YUYVToRGBa()

Definition at line 326 of file vpImageConvert_yuv.cpp.

References vpRGBa::alpha_default.

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

◆ YUV444ToGrey()

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

Convert YUV 4:4:4 (u y v) image into a grey image.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:4:4 data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]sizeImage size corresponding to image width * height.

Definition at line 895 of file vpImageConvert_yuv.cpp.

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

◆ YUV444ToRGB()

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

Convert YUV 4:4:4 (u y v) image into RGB image.

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:4:4 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]sizeImage size corresponding to image width * height.

Definition at line 855 of file vpImageConvert_yuv.cpp.

◆ YUV444ToRGBa()

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

Convert YUV 4:4:4 (u y v) image into a RGBa image.

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

Parameters
[in]yuv: Pointer to the bitmap containing the YUV 4:4:4 data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]size: Image size corresponding to image width * height.

Definition at line 814 of file vpImageConvert_yuv.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
yY component of a pixel.
uU component of a pixel.
vV component of a pixel.
rRed component from the YUV coding format. This value is computed using:

\[ r = 0.9999695*y - 0.0009508*(u-128) + 1.1359061*(v-128) \]

gGreen component from the YUV coding format. This value is computed using:

\[g = 0.9999695*y - 0.3959609*(u-128) - 0.5782955*(v-128) \]

bBlue component from the YUV coding format. This value is computed using:

\[b = 0.9999695*y + 2.04112*(u-128) - 0.0016314*(v-128) \]

Examples
testConversion.cpp.

Definition at line 181 of file vpImageConvert.h.

◆ 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 grey memory area has to be allocated before.

Parameters
[in]yuyv: Pointer to the bitmap containing the YUYV 4:2:2 data.
[out]grey: Pointer to the 8-bits grey bitmap that should be allocated with a size of width * height.
[in]size: Image size corresponding to width * height.
See also
YUV422ToGrey()

Definition at line 207 of file vpImageConvert_yuv.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.

Parameters
[in]yuyv: Pointer to the bitmap containing the YUYV 4:2:2 data.
[out]rgb: Pointer to the RGB32 bitmap that should be allocated with a size of width * height * 3.
[in]width,height: Image size.
See also
YUV422ToRGB()

Definition at line 140 of file vpImageConvert_yuv.cpp.

◆ YUYVToRGBa()

BEGIN_VISP_NAMESPACE 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.

Parameters
[in]yuyv: Pointer to the bitmap containing the YUYV 4:2:2 data.
[out]rgba: Pointer to the RGB32 bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.
See also
YUV422ToRGBa()

Definition at line 71 of file vpImageConvert_yuv.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.

Parameters
[in]yuv: Pointer to the bitmap containing the YV 1:2 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]width,height: Image size.

Definition at line 1024 of file vpImageConvert_yuv.cpp.

◆ YV12ToRGBa()

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

Convert YV 1:2 [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.

Parameters
[in]yuv: Pointer to the bitmap containing the YV 1:2 data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.

Definition at line 915 of file vpImageConvert_yuv.cpp.

References vpRGBa::alpha_default.

◆ YVU9ToRGB()

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

Convert YV 1:2 [Y(NxM), V(N/4xM/4), U(N/4xM/4)] image into RGB image.

Parameters
[in]yuv: Pointer to the bitmap containing the YV 1:2 data.
[out]rgb: Pointer to the 24-bits RGB bitmap that should be allocated with a size of width * height * 3.
[in]width,height: Image size.

Definition at line 1347 of file vpImageConvert_yuv.cpp.

◆ YVU9ToRGBa()

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

Convert YVU 9 [Y(NxM), V(N/4xM/4), U(N/4xM/4)] image into a RGBa image.

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

Parameters
[in]yuv: Pointer to the bitmap containing the YVU 9 data.
[out]rgba: Pointer to the 32-bits RGBA bitmap that should be allocated with a size of width * height * 4.
[in]width,height: Image size.

Definition at line 1154 of file vpImageConvert_yuv.cpp.

References vpRGBa::alpha_default.