ImageDraw¶

class ImageDraw¶

Bases: pybind11_object

Drawing functions for image.

Methods

`__init__`
`drawArrow`	Overloaded function.
`drawCircle`	Overloaded function.
`drawCross`	Overloaded function.
`drawDottedLine`	Overloaded function.
`drawEllipse`	Overloaded function.
`drawFrame`	Overloaded function.
`drawLine`	Overloaded function.
`drawPoint`	Overloaded function.
`drawPolygon`	Overloaded function.
`drawRectangle`	Overloaded function.

Inherited Methods

Operators

`__doc__`
`__init__`
`__module__`

Attributes

`__annotations__`

__init__(*args, **kwargs)¶

static drawArrow(*args, **kwargs)¶

Overloaded function.

drawArrow(I: visp._visp.core.ImageGray, ip1: visp._visp.core.ImagePoint, ip2: visp._visp.core.ImagePoint, color: int, w: int = 4, h: int = 2, thickness: int = 1) -> None

Draw an arrow from image point ip1 to image point ip2 .

Parameters:

I: Image where to draw the arrow.
ip1: Initial and final image points.
ip2: Initial and final image points.
color: Arrow color.
w: Width and height of the arrow.
h: Width and height of the arrow.
thickness: Thickness of the lines used to display the arrow.

drawArrow(I: visp._visp.core.ImageRGBa, ip1: visp._visp.core.ImagePoint, ip2: visp._visp.core.ImagePoint, color: visp._visp.core.Color, w: int = 4, h: int = 2, thickness: int = 1) -> None

Draw an arrow from image point ip1 to image point ip2 .

Parameters:

I: Image where to draw the arrow.
ip1: Initial and final image points.
ip2: Initial and final image points.
color: Arrow color.
w: Width and height of the arrow.
h: Width and height of the arrow.
thickness: Thickness of the lines used to display the arrow.

static drawCircle(*args, **kwargs)¶

Overloaded function.

drawCircle(I: visp._visp.core.ImageGray, circle: visp._visp.core.ImageCircle, color: int, thickness: int = 1) -> None

Draw a circle in an image.

Parameters:

I: Image where to draw the circle.
circle: Circle to draw.
color: Circle color.
thickness: Thickness of the circle.

drawCircle(I: visp._visp.core.ImageGray, center: visp._visp.core.ImagePoint, radius: int, color: int, thickness: int = 1) -> None

Draw a circle in an image.

Parameters:

I: Image where to draw the circle.
center: Circle center position.
radius: Circle radius.
color: Circle color.
thickness: Thickness of the circle.

drawCircle(I: visp._visp.core.ImageRGBa, circle: visp._visp.core.ImageCircle, color: visp._visp.core.Color, thickness: int = 1) -> None

Draw a circle in an image.

Parameters:

I: Image where to draw the circle.
circle: Circle to draw.
color: Circle color.
thickness: Thickness of the circle.

drawCircle(I: visp._visp.core.ImageRGBa, center: visp._visp.core.ImagePoint, radius: int, color: visp._visp.core.Color, thickness: int = 1) -> None

Draw a circle in an image.

Parameters:

I: Image where to draw the circle.
center: Circle center position.
radius: Circle radius.
color: Circle color.
thickness: Thickness of the circle.

static drawCross(*args, **kwargs)¶

Overloaded function.

drawCross(I: visp._visp.core.ImageGray, ip: visp._visp.core.ImagePoint, size: int, color: int, thickness: int = 1) -> None

Draw a cross in an image at position given by ip location.

Parameters:

I: Image where to draw the cross.
ip: Cross location.
size: Size (width and height) of the cross.
color: Cross color.
thickness: Thickness of the lines used to display the cross.

drawCross(I: visp._visp.core.ImageRGBa, ip: visp._visp.core.ImagePoint, size: int, color: visp._visp.core.Color, thickness: int = 1) -> None

Draw a cross in an image at position given by ip location.

Parameters:

I: Image where to draw the cross.
ip: Cross location.
size: Size (width and height) of the cross.
color: Cross color.
thickness: Thickness of the lines used to display the cross.

static drawDottedLine(*args, **kwargs)¶

Overloaded function.

drawDottedLine(I: visp._visp.core.ImageGray, ip1: visp._visp.core.ImagePoint, ip2: visp._visp.core.ImagePoint, color: int, thickness: int = 1) -> None

Draw a dashed line in an image between two image points.

Parameters:

I: Image where to draw the dashed line.
ip1: Initial and final image points.
ip2: Initial and final image points.
color: Line color.
thickness: Dashed line thickness.

drawDottedLine(I: visp._visp.core.ImageRGBa, ip1: visp._visp.core.ImagePoint, ip2: visp._visp.core.ImagePoint, color: visp._visp.core.Color, thickness: int = 1) -> None

Draw a dashed line in an image between two image points.

Parameters:

I: Image where to draw the dashed line.
ip1: Initial and final image points.
ip2: Initial and final image points.
color: Line color.
thickness: Dashed line thickness.

static drawEllipse(*args, **kwargs)¶

Overloaded function.

drawEllipse(I: visp._visp.core.ImageGray, center: visp._visp.core.ImagePoint, coef1: float, coef2: float, coef3: float, use_normalized_centered_moments: bool, color: int, smallalpha: float = 0, highalpha: float = 2*M_PI, thickness: int = 1) -> None

Draw an ellipse in an image from its parameters expressed in pixels.The following example shows how to use for example this function to draw the result of a tracking.

vpMeEllipse ellipse;
...
vpDisplay::display(I);
ellipse.track(I);

vpImageDraw::drawEllipse(I, ellipse.getCenter(),
                         ellipse.get_nij()[0], ellipse.get_nij()[1], ellipse.get_nij()[2],
                         true,
                         ellipse.getSmallestAngle(), ellipse.getHighestAngle(),
                         vpColor::orange, 1);

Parameters:

I

Image where to draw the ellipse.

center

Center \((u_c, v_c)\) of the ellipse.

coef1

Depending on the parameter use_normalized_centered_moments these parameters are:

second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area) expressed in pixels.
the major and minor axis length in pixels and the eccentricity of the ellipse in radians: \(a, b, e\) .

coef2

Depending on the parameter use_normalized_centered_moments these parameters are:

second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area) expressed in pixels.
the major and minor axis length in pixels and the eccentricity of the ellipse in radians: \(a, b, e\) .

coef3

Depending on the parameter use_normalized_centered_moments these parameters are:

second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area) expressed in pixels.
the major and minor axis length in pixels and the eccentricity of the ellipse in radians: \(a, b, e\) .

use_normalized_centered_moments

When false, the parameters coef1, coef2, coef3 are the parameters \(a, b, e\) . When true, the parameters coef1, coef2, coef3 are rather the normalized centered moments \(n_{20}, n_{11}, n_{02}\) expressed in pixels. In that case, we compute the parameters a , b and e from the centered moments.

color

Ellipse color.

smallalpha

Smallest \(alpha\) angle in rad (0 for a complete ellipse).

highalpha

Highest \(alpha\) angle in rad (2 \(\Pi\) for a complete ellipse).

thickness

Ellipse thickness.

drawEllipse(I: visp._visp.core.ImageRGBa, center: visp._visp.core.ImagePoint, coef1: float, coef2: float, coef3: float, use_normalized_centered_moments: bool, color: visp._visp.core.Color, smallalpha: float = 0, highalpha: float = 2*M_PI, thickness: int = 1) -> None

Draw an ellipse in an image from its parameters expressed in pixels.The following example shows how to use for example this function to draw the result of a tracking.

vpMeEllipse ellipse;
...
vpDisplay::display(I);
ellipse.track(I);

vpImageDraw::drawEllipse(I, ellipse.getCenter(),
                         ellipse.get_nij()[0], ellipse.get_nij()[1], ellipse.get_nij()[2],
                         true,
                         ellipse.getSmallestAngle(), ellipse.getHighestAngle(),
                         vpColor::orange, 1);

Parameters:

I

Image where to draw the ellipse.

center

Center \((u_c, v_c)\) of the ellipse.

coef1

Depending on the parameter use_normalized_centered_moments these parameters are:

second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area) expressed in pixels.
the major and minor axis length in pixels and the eccentricity of the ellipse in radians: \(a, b, e\) .

coef2

Depending on the parameter use_normalized_centered_moments these parameters are:

second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area) expressed in pixels.
the major and minor axis length in pixels and the eccentricity of the ellipse in radians: \(a, b, e\) .

coef3

Depending on the parameter use_normalized_centered_moments these parameters are:

second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area) expressed in pixels.
the major and minor axis length in pixels and the eccentricity of the ellipse in radians: \(a, b, e\) .

use_normalized_centered_moments

color

Ellipse color.

smallalpha

Smallest \(alpha\) angle in rad (0 for a complete ellipse).

highalpha

Highest \(alpha\) angle in rad (2 \(\Pi\) for a complete ellipse).

thickness

Ellipse thickness.

static drawFrame(*args, **kwargs)¶

Overloaded function.

drawFrame(I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, size: float, color: int, thickness: int = 1, offset: visp._visp.core.ImagePoint = vpImagePoint(0,0)) -> None

Draw the projection in an image of an object frame represented by 3 arrows in the image. Red, green and blue arrows correspond to frame X, Y and Z axis respectively.

Parameters:

I: Image where to draw the ellipse.
cMo: Homogeneous matrix that gives the transformation between the camera frame and the object frame to project in the image.
cam: Camera intrinsic parameters.
size: Size of the object frame.
color: Color used to display the frame in the image.
thickness: the thickness of the line.
offset: Offset in pixels applied to the frame origin location in the image.

drawFrame(I: visp._visp.core.ImageRGBa, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, size: float, color: visp._visp.core.Color = vpColor::none, thickness: int = 1, offset: visp._visp.core.ImagePoint = vpImagePoint(0,0)) -> None

Draw the projection in an image of an object frame represented by 3 arrows in the image. Red, green and blue arrows correspond to frame X, Y and Z axis respectively.

Parameters:

I: Image where to draw the ellipse.
cMo: Homogeneous matrix that gives the transformation between the camera frame and the object frame to project in the image.
cam: Camera intrinsic parameters.
size: Size of the object frame.
color: Color used to display the frame in the image.
thickness: the thickness of the line.
offset: Offset in pixels applied to the frame origin location in the image.

static drawLine(*args, **kwargs)¶

Overloaded function.

drawLine(I: visp._visp.core.ImageGray, ip1: visp._visp.core.ImagePoint, ip2: visp._visp.core.ImagePoint, color: int, thickness: int = 1) -> None

Draw a line in an image between two image points.

Parameters:

I: Image where to draw the line.
ip1: Initial and final image points.
ip2: Initial and final image points.
color: Line color.
thickness: Dashed line thickness.

drawLine(I: visp._visp.core.ImageRGBa, ip1: visp._visp.core.ImagePoint, ip2: visp._visp.core.ImagePoint, color: visp._visp.core.Color, thickness: int = 1) -> None

Draw a line in an image between two image points.

Parameters:

I: Image where to draw the line.
ip1: Initial and final image points.
ip2: Initial and final image points.
color: Line color.
thickness: Dashed line thickness.

static drawPoint(*args, **kwargs)¶

Overloaded function.

drawPoint(I: visp._visp.core.ImageGray, ip: visp._visp.core.ImagePoint, color: int, thickness: int = 1) -> None

Draw in an image a point at the image point ip location.

Parameters:

I: Image where to draw the point.
ip: Point location.
color: Point color.
thickness: Thickness of the point

drawPoint(I: visp._visp.core.ImageRGBa, ip: visp._visp.core.ImagePoint, color: visp._visp.core.Color, thickness: int = 1) -> None

Draw in an image a point at the image point ip location.

Parameters:

I: Image where to draw the point.
ip: Point location.
color: Point color.
thickness: Thickness of the point

static drawPolygon(*args, **kwargs)¶

Overloaded function.

drawPolygon(I: visp._visp.core.ImageGray, vip: list[visp._visp.core.ImagePoint], color: int, thickness: int = 1, closed: bool = true) -> None

Draw in an image a polygon defined by a vector of image points.

Parameters:

I: Image where to draw the polygon.
vip: Vector of image point that define the vertexes of the polygon.
color: Polygon color.
thickness: Polygon thickness.
closed: When true display a closed polygon with a segment between first and last image point.

drawPolygon(I: visp._visp.core.ImageRGBa, vip: list[visp._visp.core.ImagePoint], color: visp._visp.core.Color, thickness: int = 1, closed: bool = true) -> None

Draw in an image a polygon defined by a vector of image points.

Parameters:

I: Image where to draw the polygon.
vip: Vector of image point that define the vertexes of the polygon.
color: Polygon color.
thickness: Polygon thickness.
closed: When true display a closed polygon with a segment between first and last image point.

static drawRectangle(*args, **kwargs)¶

Overloaded function.

drawRectangle(I: visp._visp.core.ImageGray, rectangle: visp._visp.core.Rect, color: int, fill: bool = false, thickness: int = 1) -> None

Draw in an image a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters:

I: Image where to draw the rectangle.
rectangle: Rectangle characteristics.
color: Rectangle color.
fill: When set to true fill the rectangle.
thickness: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.

drawRectangle(I: visp._visp.core.ImageRGBa, rectangle: visp._visp.core.Rect, color: visp._visp.core.Color, fill: bool = false, thickness: int = 1) -> None

Draw in an image a rectangle with topLeft as the top-left corner and width and height the rectangle size.

Parameters:

I: Image where to draw the rectangle.
rectangle: Rectangle characteristics.
color: Rectangle color.
fill: When set to true fill the rectangle.
thickness: Thickness of the four lines used to display the rectangle. This parameter is only useful when fill is set to false.