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Visual Servoing Platform
version 3.3.0
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#include <vpImageTools.h>
Public Types | |
enum | vpImageInterpolationType { INTERPOLATION_NEAREST, INTERPOLATION_LINEAR, INTERPOLATION_CUBIC } |
Static Public Member Functions | |
template<class Type > | |
static void | binarise (vpImage< Type > &I, Type threshold1, Type threshold2, Type value1, Type value2, Type value3, bool useLUT=true) |
static void | changeLUT (vpImage< unsigned char > &I, unsigned char A, unsigned char newA, unsigned char B, unsigned char newB) |
template<class Type > | |
static void | crop (const vpImage< Type > &I, double roi_top, double roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
static void | columnMean (const vpImage< double > &I, vpRowVector &result) |
template<class Type > | |
static void | crop (const vpImage< Type > &I, const vpImagePoint &topLeft, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
template<class Type > | |
static void | crop (const vpImage< Type > &I, const vpRect &roi, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
template<class Type > | |
static void | crop (const unsigned char *bitmap, unsigned int width, unsigned int height, const vpRect &roi, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1) |
static void | extract (const vpImage< unsigned char > &Src, vpImage< unsigned char > &Dst, const vpRectOriented &r) |
static void | extract (const vpImage< unsigned char > &Src, vpImage< double > &Dst, const vpRectOriented &r) |
template<class Type > | |
static void | flip (const vpImage< Type > &I, vpImage< Type > &newI) |
template<class Type > | |
static void | flip (vpImage< Type > &I) |
static void | imageDifference (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff) |
static void | imageDifference (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, vpImage< vpRGBa > &Idiff) |
static void | imageDifferenceAbsolute (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff) |
static void | imageDifferenceAbsolute (const vpImage< double > &I1, const vpImage< double > &I2, vpImage< double > &Idiff) |
static void | imageDifferenceAbsolute (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, vpImage< vpRGBa > &Idiff) |
static void | imageAdd (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Ires, bool saturate=false) |
static void | imageSubtract (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Ires, bool saturate=false) |
static void | initUndistortMap (const vpCameraParameters &cam, unsigned int width, unsigned int height, vpArray2D< int > &mapU, vpArray2D< int > &mapV, vpArray2D< float > &mapDu, vpArray2D< float > &mapDv) |
static double | interpolate (const vpImage< unsigned char > &I, const vpImagePoint &point, const vpImageInterpolationType &method=INTERPOLATION_NEAREST) |
static void | integralImage (const vpImage< unsigned char > &I, vpImage< double > &II, vpImage< double > &IIsq) |
static double | normalizedCorrelation (const vpImage< double > &I1, const vpImage< double > &I2, bool useOptimized=true) |
static void | normalize (vpImage< double > &I) |
static void | remap (const vpImage< unsigned char > &I, const vpArray2D< int > &mapU, const vpArray2D< int > &mapV, const vpArray2D< float > &mapDu, const vpArray2D< float > &mapDv, vpImage< unsigned char > &Iundist) |
static void | remap (const vpImage< vpRGBa > &I, const vpArray2D< int > &mapU, const vpArray2D< int > &mapV, const vpArray2D< float > &mapDu, const vpArray2D< float > &mapDv, vpImage< vpRGBa > &Iundist) |
template<class Type > | |
static void | resize (const vpImage< Type > &I, vpImage< Type > &Ires, unsigned int width, unsigned int height, const vpImageInterpolationType &method=INTERPOLATION_NEAREST, unsigned int nThreads=0) |
template<class Type > | |
static void | resize (const vpImage< Type > &I, vpImage< Type > &Ires, const vpImageInterpolationType &method=INTERPOLATION_NEAREST, unsigned int nThreads=0) |
static void | templateMatching (const vpImage< unsigned char > &I, const vpImage< unsigned char > &I_tpl, vpImage< double > &I_score, unsigned int step_u, unsigned int step_v, bool useOptimized=true) |
template<class Type > | |
static void | undistort (const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI, unsigned int nThreads=2) |
template<class Type > | |
static void | warpImage (const vpImage< Type > &src, const vpMatrix &T, vpImage< Type > &dst, const vpImageInterpolationType &interpolation=INTERPOLATION_NEAREST, bool fixedPointArithmetic=true, bool pixelCenter=false) |
template<class Type > | |
void | createSubImage (const vpImage< Type > &I, unsigned int roi_top, unsigned int roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop) |
template<class Type > | |
void | createSubImage (const vpImage< Type > &I, const vpRect &roi, vpImage< Type > &crop) |
template<> | |
void | binarise (vpImage< unsigned char > &I, unsigned char threshold1, unsigned char threshold2, unsigned char value1, unsigned char value2, unsigned char value3, bool useLUT) |
template<> | |
void | resize (const vpImage< unsigned char > &I, vpImage< unsigned char > &Ires, const vpImageInterpolationType &method, unsigned int) |
template<> | |
void | resize (const vpImage< vpRGBa > &I, vpImage< vpRGBa > &Ires, const vpImageInterpolationType &method, unsigned int) |
Deprecated functions | |
template<class Type > | |
static vp_deprecated void | createSubImage (const vpImage< Type > &I, unsigned int i_sub, unsigned int j_sub, unsigned int nrow_sub, unsigned int ncol_sub, vpImage< Type > &S) |
template<class Type > | |
static vp_deprecated void | createSubImage (const vpImage< Type > &I, const vpRect &rect, vpImage< Type > &S) |
Various image tools; sub-image extraction, modification of the look up table, binarisation...
Definition at line 78 of file vpImageTools.h.
Enumerator | |
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INTERPOLATION_NEAREST | Nearest neighbor interpolation (fastest). |
INTERPOLATION_LINEAR | Bi-linear interpolation. |
INTERPOLATION_CUBIC | Bi-cubic interpolation. |
Definition at line 81 of file vpImageTools.h.
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Binarise an image.
Definition at line 451 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
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inlinestatic |
Binarise an image.
Definition at line 483 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImage< Type >::performLut().
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Change the look up table (LUT) of an image. Considering pixel gray level values in the range
, this method allows to rescale these values in
by linear interpolation:
I | : Image to process. |
A | : Low gray level value of the range to consider. |
A_star | : New gray level value ![]() |
B | : Height gray level value of the range to consider. |
B_star | : New gray level value ![]() |
vpImageException::incorrectInitializationError | If ![]() |
As shown in the example below, this method can be used to binarize an image. For an unsigned char image (in the range 0-255), thresholding this image at level 127 can be done by:
Definition at line 112 of file vpImageTools.cpp.
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Compute the column-wise mean intensities.
I | : The image. |
V | : The result vector. |
Definition at line 630 of file vpImageTools.cpp.
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Crop an image region of interest.
I | : Input image from which a sub image will be extracted. |
roi | : Region of interest in image I corresponding to the cropped part of the image. |
crop | : Cropped image. |
Definition at line 265 of file vpImageTools.h.
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Crop a region of interest (ROI) in an image.
I | : Input image from which a sub image will be extracted. |
roi_top | : ROI vertical position of the upper/left corner in the input image. |
roi_left | : ROI horizontal position of the upper/left corner in the input image. |
roi_height | : Cropped image height corresponding to the ROI height. |
roi_width | : Cropped image width corresponding to the ROI height. |
crop | : Cropped image. |
Definition at line 244 of file vpImageTools.h.
References crop().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
bitmap | : Pointer to the input image from which a sub image will be extracted. |
width,height | : Size of the input image. |
roi | : Region of interest corresponding to the cropped part of the image. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 400 of file vpImageTools.h.
References crop(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), and vpRect::getWidth().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
I | : Input image from which a sub image will be extracted. |
topLeft | : ROI position of the upper/left corner in the input image. |
roi_height | : Cropped image height corresponding to the ROI height. |
roi_width | : Cropped image width corresponding to the ROI height. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 351 of file vpImageTools.h.
References crop(), vpImagePoint::get_i(), and vpImagePoint::get_j().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
I | : Input image from which a sub image will be extracted. |
roi | : Region of interest in image I corresponding to the cropped part of the image. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 375 of file vpImageTools.h.
References crop(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getTop(), and vpRect::getWidth().
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Crop a region of interest (ROI) in an image. The ROI coordinates and dimension are defined in the original image.
Setting v_scale and h_scale to values different from 1 allows also to subsample the cropped image.
I | : Input image from which a sub image will be extracted. |
roi_top | : ROI vertical position of the upper/left corner in the input image. |
roi_left | : ROI horizontal position of the upper/left corner in the input image. |
roi_height | : Cropped image height corresponding to the ROI height. |
roi_width | : Cropped image width corresponding to the ROI height. |
crop | : Cropped image. |
v_scale | [in] : Vertical subsampling factor applied to the ROI. |
h_scale | [in] : Horizontal subsampling factor applied to the ROI. |
Definition at line 295 of file vpImageTools.h.
References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
Referenced by createSubImage(), crop(), and vpMeNurbs::seekExtremitiesCanny().
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Extract a rectangular region from an image.
Src | : The source image. |
Dst | : The resulting image. |
r | : The rectangle area. |
Definition at line 723 of file vpImageTools.cpp.
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Extract a rectangular region from an image.
Src | : The source image. |
Dst | : The resulting image. |
r | : The rectangle area. |
Definition at line 700 of file vpImageTools.cpp.
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Flip vertically the input image and give the result in the output image.
I | : Input image to flip. |
newI | : Output image which is the flipped input image. |
Definition at line 805 of file vpImageTools.h.
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Flip vertically the input image.
I | : Input image which is flipped and modified in output. |
The following example shows how to use this function:
Definition at line 849 of file vpImageTools.h.
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Compute the image addition: .
I1 | : The first image. |
I2 | : The second image. |
Ires | : ![]() |
saturate | : If true, saturate the result to [0 ; 255] using vpMath::saturate, otherwise overflow may occur. |
Definition at line 377 of file vpImageTools.cpp.
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Compute the signed difference between the two images I1 and I2 for visualization issue : Idiff = I1-I2
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference. |
Definition at line 149 of file vpImageTools.cpp.
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Compute the signed difference between the two images I1 and I2 RGB components for visualization issue : Idiff = I1-I2. The fourth component named A is not compared. It is set to 0 in the resulting difference image.
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference between RGB components. |
Definition at line 219 of file vpImageTools.cpp.
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Compute the difference between the two images I1 and I2.
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference. |
Definition at line 317 of file vpImageTools.cpp.
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Compute the difference between the two images I1 and I2
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference. |
Definition at line 293 of file vpImageTools.cpp.
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Compute the difference between the two images I1 and I2 RGB components. The fourth component named A is not compared. It is set to 0 in the resulting difference image.
I1 | : The first image. |
I2 | : The second image. |
Idiff | : The result of the difference between RGB components. |
Definition at line 345 of file vpImageTools.cpp.
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Compute the image addition: .
I1 | : The first image. |
I2 | : The second image. |
Ires | : ![]() |
saturate | : If true, saturate the result to [0 ; 255] using vpMath::saturate, otherwise overflow may occur. |
Definition at line 419 of file vpImageTools.cpp.
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Compute the undistortion transformation map.
cam | : Camera intrinsic parameters with distortion coefficients. |
width | : Image width. |
height | : Image height. |
mapU | : 2D array that contains at each coordinate the u-coordinate in the distorted image. |
mapV | : 2D array that contains at each coordinate the v-coordinate in the distorted image. |
mapDu | : 2D array that contains at each coordinate the ![]() |
mapDv | : 2D array that contains at each coordinate the ![]() |
Definition at line 465 of file vpImageTools.cpp.
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Compute the integral images:
.
I | : Input image. |
II | : Integral image II. |
IIsq | : Integral image IIsq. |
Definition at line 535 of file vpImageTools.cpp.
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Get the interpolated value at a given location.
I | : The image to perform intepolation in. |
point | : The image point. |
method | : The interpolation method (only interpolation with vpImageTools::INTERPOLATION_NEAREST and vpImageTools::INTERPOLATION_LINEAR are implemented). |
Definition at line 661 of file vpImageTools.cpp.
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Normalize the image intensities.
I | : The image to normalize. |
Definition at line 646 of file vpImageTools.cpp.
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Compute a correlation between 2 images.
I1 | : The first image. |
I2 | : The second image. |
useOptimized | : Use SSE if true and available. |
Definition at line 560 of file vpImageTools.cpp.
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Apply the transformation map to the image.
I | : Input grayscale image. |
mapU | : Map that contains at each destination coordinate the u-coordinate in the source image. |
mapV | : Map that contains at each destination coordinate the v-coordinate in the source image. |
mapDu | : Map that contains at each destination coordinate the ![]() |
mapDv | : Map that contains at each destination coordinate the ![]() |
Iundist | : Output transformed grayscale image. |
Definition at line 938 of file vpImageTools.cpp.
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Apply the transformation map to the image.
I | : Input color image. |
mapU | : Map that contains at each destination coordinate the u-coordinate in the source image. |
mapV | : Map that contains at each destination coordinate the v-coordinate in the source image. |
mapDu | : Map that contains at each destination coordinate the ![]() |
mapDv | : Map that contains at each destination coordinate the ![]() |
Iundist | : Output transformed color image. |
Definition at line 981 of file vpImageTools.cpp.
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Resize the image using one interpolation method (by default it uses the nearest neighbor interpolation).
I | : Input image. |
Ires | : Output image resized (you have to init the image Ires at the desired size). |
method | : Interpolation method. |
nThreads | : Number of threads to use if OpenMP is available. |
Definition at line 1069 of file vpImageTools.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), INTERPOLATION_CUBIC, INTERPOLATION_LINEAR, and INTERPOLATION_NEAREST.
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Resize the image using one interpolation method (by default it uses the nearest neighbor interpolation).
I | : Input image. |
Ires | : Output image resized to width, height. |
width | : Resized width. |
height | : Resized height. |
method | : Interpolation method. |
nThreads | : Number of threads to use if OpenMP is available. |
Definition at line 1047 of file vpImageTools.h.
References vpImage< Type >::resize().
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Definition at line 1115 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), INTERPOLATION_CUBIC, INTERPOLATION_LINEAR, and INTERPOLATION_NEAREST.
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inlinestatic |
Definition at line 1203 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), INTERPOLATION_CUBIC, and INTERPOLATION_NEAREST.
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Match a template image into another image using zero-mean normalized cross-correlation:
I | : Input image. |
I_tpl | : Template image. |
I_score | : Output template matching score. |
step_u | : Step in u-direction to speed-up the computation. |
step_v | : Step in v-direction to speed-up the computation. |
useOptimized | : Use optimized version (SSE, OpenMP, integral images, ...) if true and available. |
Definition at line 753 of file vpImageTools.cpp.
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Undistort an image
I | : Input image to undistort. |
cam | : Parameters of the camera causing distortion. |
undistI | : Undistorted output image. The size of this image will be the same than the input image I. If the distortion parameter ![]() |
nThreads | : Number of threads to use if pthreads library is available. |
vpImageTools::initUndistortMap()
once and then vpImageTools::remap()
to undistort the images. This will be less time consuming.Definition at line 640 of file vpImageTools.h.
References vpImage< Type >::bitmap, vpCameraParameters::get_kud(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImage< Type >::resize(), and vpMath::sqr().
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Apply a warping (affine or perspective) transformation to an image.
src | : Input image. |
T | : Transformation / warping matrix, a 2x3 matrix for an affine transformation or a 3x3 matrix for a perspective transformation (homography). |
dst | : Output image, if empty it will be of the same size than src and zero-initialized. |
interpolation | : Interpolation method (only INTERPOLATION_NEAREST and INTERPOLATION_LINEAR are accepted, if INTERPOLATION_CUBIC is passed, INTERPOLATION_NEAREST will be used instead). |
fixedPointArithmetic | : If true and if pixelCenter is false, fixed-point arithmetic is used if possible. Otherwise (e.g. the input image is too big) it fallbacks to the default implementation. |
pixelCenter | : If true, pixel coordinates are at (0.5, 0.5), otherwise at (0,0). Fixed-point arithmetic cannot be used with pixelCenter option. |
Definition at line 1325 of file vpImageTools.h.
References vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), INTERPOLATION_CUBIC, INTERPOLATION_NEAREST, vpMatrix::inverseByLU(), and vpMath::nul().