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Visual Servoing Platform
version 3.3.0
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#include <vpImage.h>
Public Member Functions | |
vpImage () | |
vpImage (const vpImage< Type > &) | |
vpImage (vpImage< Type > &&) | |
vpImage (unsigned int height, unsigned int width) | |
vpImage (unsigned int height, unsigned int width, Type value) | |
vpImage (Type *const array, unsigned int height, unsigned int width, bool copyData=false) | |
virtual | ~vpImage () |
Public Attributes | |
Type * | bitmap |
vpDisplay * | display |
Friends | |
class | vpImageConvert |
Inherited functionalities from vpImage | |
std::ostream & | operator<< (std::ostream &s, const vpImage< Type > &I) |
std::ostream & | operator<< (std::ostream &s, const vpImage< unsigned char > &I) |
std::ostream & | operator<< (std::ostream &s, const vpImage< char > &I) |
std::ostream & | operator<< (std::ostream &s, const vpImage< float > &I) |
std::ostream & | operator<< (std::ostream &s, const vpImage< double > &I) |
void | swap (vpImage< Type > &first, vpImage< Type > &second) |
void | destroy () |
void | doubleSizeImage (vpImage< Type > &res) |
unsigned int | getCols () const |
unsigned int | getHeight () const |
Type | getMaxValue () const |
Type | getMeanValue () const |
Type | getMinValue () const |
void | getMinMaxValue (Type &min, Type &max) const |
void | getMinMaxLoc (vpImagePoint *minLoc, vpImagePoint *maxLoc, Type *minVal=NULL, Type *maxVal=NULL) const |
unsigned int | getNumberOfPixel () const |
unsigned int | getRows () const |
unsigned int | getSize () const |
Type | getValue (unsigned int i, unsigned int j) const |
Type | getValue (double i, double j) const |
Type | getValue (const vpImagePoint &ip) const |
double | getSum () const |
unsigned int | getWidth () const |
void | halfSizeImage (vpImage< Type > &res) const |
void | init (unsigned int height, unsigned int width) |
void | init (unsigned int height, unsigned int width, Type value) |
void | init (Type *const array, unsigned int height, unsigned int width, bool copyData=false) |
void | insert (const vpImage< Type > &src, const vpImagePoint &topLeft) |
Type * | operator[] (unsigned int i) |
Type * | operator[] (int i) |
const Type * | operator[] (unsigned int i) const |
const Type * | operator[] (int i) const |
Type | operator() (unsigned int i, unsigned int j) const |
void | operator() (unsigned int i, unsigned int j, const Type &v) |
Type | operator() (const vpImagePoint &ip) const |
void | operator() (const vpImagePoint &ip, const Type &v) |
vpImage< Type > | operator- (const vpImage< Type > &B) |
vpImage< Type > & | operator= (vpImage< Type > other) |
vpImage< Type > & | operator= (const Type &v) |
bool | operator== (const vpImage< Type > &I) |
bool | operator!= (const vpImage< Type > &I) |
void | performLut (const Type(&lut)[256], unsigned int nbThreads=1) |
void | quarterSizeImage (vpImage< Type > &res) const |
void | resize (unsigned int h, unsigned int w) |
void | resize (unsigned int h, unsigned int w, const Type &val) |
void | sub (const vpImage< Type > &B, vpImage< Type > &C) |
void | sub (const vpImage< Type > &A, const vpImage< Type > &B, vpImage< Type > &C) |
void | subsample (unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const |
Definition of the vpImage class member functions.
This is a template class, therefore the type of each element of the array is not a priori defined.
Each image is build using two structure (an array bitmap which size is [width*height]) and an array of pointer row (which size is [nrow]) the ith element in the row array row[i] is pointer toward the ith "line" of the image (ie, bitmap +i*width )
Such a structure allows a fast acces to each element of the image. if i is the ith rows and j the jth columns the value of this pixel is given by I[i][j] (that is equivalent to row[i][j]).
The following example available in tutorial-image-manipulation.cpp shows how to create gray level and color images and how to access to the pixels.
To provide high-performance access there is no verification to ensure that 0 i < height and 0
j < width. Since the memory allocated in the bitmap array is continuous, that means that if (i, j) is outside the image you will manipulate a pixel that is not as expected. To highlight this remark, we provide hereafter an example where the considered pixel is outside the image:
constructor set the size of the image
Constructor.
Allocate memory for an [h x w] image.
w | : Image width. |
h | : Image height. |
Element of the bitmap are set to zero.
If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.
vpException::memoryAllocationError |
constructor set the size of the image and init all the pixel
Constructor.
Allocate memory for an [height x width] image.
w | : Image width. |
h | : Image height. |
value | : Set all the element of the bitmap to value. |
If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.
vpImage< Type >::vpImage | ( | Type *const | array, |
unsigned int | h, | ||
unsigned int | w, | ||
bool | copyData = false |
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constructor from an image stored as a continuous array in memory
Constructor.
Construct a vpImage from a continuous array in memory.
array | : Image data stored as a continuous array in memory. |
h | : Image height. |
w | : Image width. |
copyData | : If false (by default) only the memory address is copied, otherwise the data are copied. |
void vpImage< Type >::destroy | ( | ) |
Destructor : Memory de-allocation.
Definition at line 943 of file vpImage.h.
Referenced by vpTemplateTracker::initTracking().
Returns a new image that's double size of the current image. Used (eg. in case of keypoints extraction, we might double size of the image in order to have more keypoints). The double size image is computed by nearest-neighbour interpolation:
res | [out] : Image that is double size of the current image. |
The example below shows how to use this method:
See halfSizeImage(vpImage<Type> &) for an example of pyramid construction.
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Get the number of columns in the image.
Definition at line 212 of file vpImage.h.
Referenced by vpMbKltTracker::reinit().
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Get the image height.
Definition at line 221 of file vpImage.h.
Referenced by vpImageTools::binarise(), vpMbTracker::computeProjectionErrorImpl(), vpMeSite::convolution(), vpImageTools::crop(), VispDetector::detectAprilTag:px:py:, vpImageMorphology::dilatation(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbtFaceDepthDense::display(), vpMbtFaceDepthNormal::display(), vpWireFrameSimulator::display_scene(), vpMbtFaceDepthNormal::displayFeature(), vpImageMorphology::erosion(), vpImageFilter::filterX(), vpImageFilter::filterYBottomBorder(), vpImageFilter::filterYBottomBorderB(), vpImageFilter::filterYBottomBorderG(), vpImageFilter::filterYBottomBorderR(), vpSimulatorAfma6::getCameraParameters(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpImageFilter::getGaussPyramidal(), vpImageFilter::getGaussXPyramidal(), vpImageFilter::getGradX(), vpImageFilter::getGradY(), vpDisplayX::getImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initTracking(), vpWireFrameSimulator::navigation(), vpMbKltTracker::reinit(), vpImageTools::resize(), vpMeNurbs::seekExtremitiesCanny(), vpAR::setImage(), vpMbKltTracker::setPose(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpImageTools::undistort(), and vpImage< bool >::vpImage().
Type vpImage< Type >::getMaxValue | ( | ) | const |
Return the maximum value within the bitmap.
Type vpImage< Type >::getMeanValue | ( | ) | const |
void vpImage< Type >::getMinMaxLoc | ( | vpImagePoint * | minLoc, |
vpImagePoint * | maxLoc, | ||
Type * | minVal = NULL , |
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Type * | maxVal = NULL |
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) | const |
Get the position of the minimum and/or the maximum pixel value within the bitmap and the corresponding value. Following code allows retrieving only minimum value and position:
minLoc | : Position of the pixel with minimum value if not NULL. |
maxLoc | : Position of the pixel with maximum value if not NULL. |
minVal | : Minimum pixel value if not NULL. |
maxVal | : Maximum pixel value if not NULL. |
void vpImage< Type >::getMinMaxValue | ( | Type & | min, |
Type & | max | ||
) | const |
Look for the minimum and the maximum value within the bitmap.
Type vpImage< Type >::getMinValue | ( | ) | const |
Return the minimum value within the bitmap.
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Get the image number of pixels which corresponds to the image width multiplied by the image height.
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Get the number of rows in the image.
Definition at line 251 of file vpImage.h.
Referenced by vpMbKltTracker::reinit().
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Get the image size.
Definition at line 260 of file vpImage.h.
Referenced by vpImageMorphology::dilatation(), and vpImageMorphology::erosion().
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Retrieves pixel value from an image containing values of type Type with sub-pixel accuracy.
Gets the value of a sub-pixel with coordinates (i,j) with bilinear interpolation.
See also vpImageTools::interpolate() for a similar result, but with a choice of the interpolation method.
ip | : Sub-pixel coordinates of a point in the image. |
vpImageException::notInTheImage | : If the image point ip is out of the image. |
Type vpImage< Type >::getValue | ( | double | i, |
double | j | ||
) | const |
Retrieves pixel value from an image containing values of type Type with sub-pixel accuracy.
Gets the value of a sub-pixel with coordinates (i,j) with bilinear interpolation.
See also vpImageTools::interpolate() for a similar result, but with a choice of the interpolation method.
i | : Sub-pixel coordinate along the rows. |
j | : Sub-pixel coordinate along the columns. |
vpImageException::notInTheImage | : If (i,j) is out of the image. |
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Retrieves pixel value from an image containing values of type Type
Gets the value of a sub-pixel with coordinates (i,j).
i | : Pixel coordinate along the rows. |
j | : Pixel coordinate along the columns. |
vpImageException::notInTheImage | : If (i,j) is out of the image. |
Definition at line 1457 of file vpImage.h.
Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().
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Get the image width.
Definition at line 279 of file vpImage.h.
Referenced by vpImageTools::binarise(), vpMbTracker::computeProjectionErrorImpl(), vpMeSite::convolution(), vpImageTools::crop(), VispDetector::detectAprilTag:px:py:, vpImageMorphology::dilatation(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbtFaceDepthDense::display(), vpMbtFaceDepthNormal::display(), vpWireFrameSimulator::display_scene(), vpMbtFaceDepthNormal::displayFeature(), vpImageMorphology::erosion(), vpImageFilter::filterX(), vpImageFilter::filterXRightBorder(), vpImageFilter::filterXRightBorderB(), vpImageFilter::filterXRightBorderG(), vpImageFilter::filterXRightBorderR(), vpSimulatorAfma6::getCameraParameters(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpImageFilter::getGaussPyramidal(), vpImageFilter::getGaussXPyramidal(), vpImageFilter::getGradX(), vpImageFilter::getGradY(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbTracker::initClick(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initTracking(), vpWireFrameSimulator::navigation(), vpMbKltTracker::reinit(), vpImageTools::resize(), vpMeNurbs::seekExtremitiesCanny(), vpAR::setImage(), vpMbKltTracker::setPose(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpImageTools::undistort(), and vpImage< bool >::vpImage().
Returns a new image that's half size of the current image. No filtering is used during the sub sampling.
Used for building pyramid of the image.
res | [out] : Subsampled image that is half size of the current image. |
The example below shows how to use this method:
This other example shows how to construct a pyramid of the image:
void vpImage< Type >::init | ( | Type *const | array, |
unsigned int | h, | ||
unsigned int | w, | ||
bool | copyData = false |
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init from an image stored as a continuous array in memory
Image initialization.
Init from image data stored as a continuous array in memory.
array | : Image data stored as a continuous array in memory |
h | : Image height. |
w | : Image width. |
copyData | : If false (by default) only the memory address is copied, otherwise the data are copied. |
vpException::memoryAllocationError |
void vpImage< Type >::init | ( | unsigned int | h, |
unsigned int | w | ||
) |
Set the size of the image.
Image initialization.
Allocate memory for an [h x w] image.
w | : Image width. |
h | : Image height. |
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.
vpException::memoryAllocationError |
Definition at line 700 of file vpImage.h.
Referenced by vpImage< bool >::vpImage().
void vpImage< Type >::init | ( | unsigned int | h, |
unsigned int | w, | ||
Type | value | ||
) |
Set the size of the image.
Image initialisation.
Allocate memory for an [h x w] image.
w | : Image width. |
h | : Image height. |
value | : Set all the element of the bitmap to value. |
vpException::memoryAllocationError |
void vpImage< Type >::insert | ( | const vpImage< Type > & | src, |
const vpImagePoint & | topLeft | ||
) |
Insert an image into another one.
It is possible to insert the image into the calling vpImage. You can set the point in the destination image where the top left corner of the
image will be located.
src | : Image to insert |
topLeft | : Upper/left coordinates in the image where the image src is inserted in the destination image. |
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Operation A - B (A is unchanged).
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void vpImage< Type >::performLut | ( | const Type(&) | lut[256], |
unsigned int | nbThreads = 1 |
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Definition at line 1822 of file vpImage.h.
Referenced by vpImageTools::binarise().
Returns a new image that's a quarter size of the current image. No filtering is used during the sub sampling. Used for building a quarter of the image.
res | [out] : Subsampled image that is quarter size of the current image. |
The example below shows how to use this method:
See halfSizeImage(vpImage<Type> &) for an example of pyramid construction.
void vpImage< Type >::resize | ( | unsigned int | h, |
unsigned int | w | ||
) |
resize the image : Image initialization
Allocate memory for an [height x width] image.
w | : Image width. |
h | : Image height. |
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.
vpException::memoryAllocationError |
Definition at line 914 of file vpImage.h.
Referenced by vpImageFilter::filterX(), vpRealSense2::getColorFrame(), vpImageFilter::getGaussXPyramidal(), vpImageFilter::getGradX(), vpImageFilter::getGradY(), vpRealSense2::getGreyFrame(), vpDisplayGTK::getImage(), vpDisplayX::getImage(), vpImageTools::resize(), vpMbDepthDenseTracker::setPose(), vpImage< bool >::subsample(), vpImageTools::undistort(), vpImage< bool >::vpImage(), and vpRobotWireFrameSimulator::vpRobotWireFrameSimulator().
void vpImage< Type >::resize | ( | unsigned int | h, |
unsigned int | w, | ||
const Type & | val | ||
) |
resize the image : Image initialization
Allocate memory for an [height x width] image and initialize the image.
w | : Image width. |
h | : Image height. |
val | : Pixels value. |
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done only if the new image size is different, else we re-use the same memory space.
vpException::memoryAllocationError |
void vpImage< Type >::sub | ( | const vpImage< Type > & | A, |
const vpImage< Type > & | B, | ||
vpImage< Type > & | C | ||
) |
Operation C = A - B.
The result is placed in the third parameter C and not returned. A new image won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).
vpException::memoryAllocationError | If the images size differ. |
Operation C = *this - B.
The result is placed in the third parameter C and not returned. A new image won't be allocated for every use of the function (Speed gain if used many times with the same result matrix size).
vpException::memoryAllocationError | If the images size differ. |
void vpImage< Type >::subsample | ( | unsigned int | v_scale, |
unsigned int | h_scale, | ||
vpImage< Type > & | sampled | ||
) | const |
Computes a subsampled image. No filtering is used during the sub sampling.
v_scale | [in] : Vertical subsampling factor. |
h_scale | [in] : Horizontal subsampling factor. |
sampled | [out] : Subsampled image. |
The example below shows how to use this method:
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Type* vpImage< Type >::bitmap |
points toward the bitmap
Definition at line 176 of file vpImage.h.
Referenced by vpImageTools::binarise(), vpRealSense2::getColorFrame(), vpRealSense2::getGreyFrame(), vpDisplayX::getImage(), vpImageTools::resize(), vpImageTools::undistort(), and vpImage< bool >::vpImage().
Definition at line 177 of file vpImage.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpMbTracker::initClick(), vpImage< bool >::vpImage(), and QPlot::wait().