Signal processing. More...

Detailed Description

Signal processing.

Namespaces
	draw
	Very basic drawing functions, in case you don't have anything better available.

	file
	Image file operations.

	utils
	Image utilities.

Classes
class	ImageOf
	Typed image class. More...

class	Image
	Base class for storing images. More...

class	FlexImage
	Image class with user control of representation details. More...

struct	PixelRgb
	Packed RGB pixel type. More...

struct	PixelRgba
	Packed RGBA pixel type. More...

struct	PixelBgra
	Packed BGRA pixel type. More...

struct	PixelBgr
	Packed RGB pixel type, with pixels stored in reverse order. More...

struct	PixelHsv
	Packed HSV (hue/saturation/value pixel type. More...

struct	PixelRgbSigned
	Signed, packed RGB pixel type. More...

struct	PixelRgbFloat
	Floating point RGB pixel type. More...

struct	PixelRgbInt
	Integer RGB pixel type. More...

struct	PixelHsvFloat
	Floating point HSV pixel type. More...

class	ImageNetworkHeader
	Byte order in image header for network transmission. More...

struct	IntrinsicParams
	The IntrinsicParams struct to handle the intrinsic parameter of cameras(RGB and RGBD either). More...

class	Matrix
	A class for a Matrix. More...

class	PointCloud
	The PointCloud class. More...

class	PointCloudBase
	The PointCloudBase class. More...

class	PointCloudNetworkHeader
	The yarp::sig::PointCloudNetworkHeader class. More...

struct	DataXY

struct	DataXYZ

struct	DataRGBA

struct	DataNormal

struct	DataNormalNoCurvature

struct	DataCurvature

struct	DataViewpoint

struct	DataXYZRGBA

struct	DataXYZI

struct	DataInterestPointXYZ

struct	DataXYZNormal

struct	DataXYZNormalRGBA

class	Sound
	Class for storing sounds. More...

class	VectorOf
	Provides: More...

class	VectorBase
	A Base class for a VectorOf<T>, provide default implementation for read/write methods. More...

Typedefs
typedef unsigned char	PixelMono
	Monochrome pixel type. More...

typedef yarp::os::NetUint16	PixelMono16
	16-bit monochrome pixel type. More...

typedef yarp::os::NetInt32	PixelInt
	32-bit integer pixel type. More...

typedef char	PixelMonoSigned
	Signed byte pixel type. More...

typedef float	PixelFloat
	Floating point pixel type. More...

using	PointCloudXY = PointCloud< DataXY >

using	PointCloudXYZ = PointCloud< DataXYZ >

using	PointCloudNormal = PointCloud< DataNormal >

using	PointCloudXYZRGBA = PointCloud< DataXYZRGBA >

using	PointCloudXYZI = PointCloud< DataXYZI >

using	PointCloudInterestPointXYZ = PointCloud< DataInterestPointXYZ >

using	PointCloudXYZNormal = PointCloud< DataXYZNormal >

using	PointCloudXYZNormalRGBA = PointCloud< DataXYZNormalRGBA >

typedef float	Range

typedef VectorOf< double >	Vector

Enumerations
enum class	YarpDistortion : std::int32_t { YARP_DISTORTION_NONE , YARP_PLUM_BOB , YARP_FISH_EYE , YARP_UNSUPPORTED , YARP_DISTORTION_COUNT }
	The YarpDistortion enum to define the type of the distortion model of the camera. More...

enum	PointCloudBasicType : std::int32_t { PC_XY_DATA = (1 << 0) , PC_XYZ_DATA = (1 << 1) , PC_RGBA_DATA = (1 << 2) , PC_INTENSITY_DATA = (1 << 3) , PC_INTEREST_DATA = (1 << 4) , PC_NORMAL_DATA = (1 << 5) , PC_CURVATURE_DATA = (1 << 6) , PC_RANGE_DATA = (1 << 7) , PC_VIEWPOINT_DATA = (1 << 8) , PC_MOMENT_INV_DATA = (1 << 9) , PC_RADII_RSD_DATA = (1 << 10) , PC_BOUNDARY_DATA = (1 << 11) , PC_PRINCIPAL_CURVATURE_DATA = (1 << 12) , PC_PFH_SIGNAT_125_DATA = (1 << 13) , PC_FPFH_SIGNAT_33_DATA = (1 << 14) , PC_VFH_SIGNAT_308_DATA = (1 << 15) , PC_NARF_36_DATA = (1 << 16) , PC_BORDER_DATA = (1 << 17) , PC_INTENSITY_GRAD_DATA = (1 << 18) , PC_HISTOGRAM_DATA = (1 << 19) , PC_SCALE_DATA = (1 << 20) , PC_CONFIDENCE_DATA = (1 << 21) , PC_RADIUS_DATA = (1 << 22) , PC_USER_DEFINED = (1 << 23) , PC_PADDING2 = (1 << 24) , PC_PADDING3 = (1 << 25) }
	The PointCloudBasicTypes enum. More...

enum	PointCloudCompositeType : std::int32_t { PCL_POINT2D_XY = (PC_XY_DATA) , PCL_POINT_XYZ = (PC_XYZ_DATA) , PCL_POINT_XYZ_RGBA = (PC_XYZ_DATA \| PC_RGBA_DATA \| PC_PADDING3) , PCL_POINT_XYZ_I = (PC_XYZ_DATA \| PC_INTENSITY_DATA) , PCL_INTEREST_POINT_XYZ = (PC_XYZ_DATA \| PC_INTEREST_DATA) , PCL_NORMAL = (PC_NORMAL_DATA \| PC_CURVATURE_DATA \| PC_PADDING3) , PCL_POINT_XYZ_NORMAL = (PC_XYZ_DATA \| PC_NORMAL_DATA \| PC_CURVATURE_DATA \| PC_PADDING3) , PCL_POINT_XYZ_NORMAL_RGBA = (PC_XYZ_DATA \| PC_RGBA_DATA \| PC_NORMAL_DATA \| PC_CURVATURE_DATA \| PC_PADDING2) , PCL_POINT_XYZ_I_NORMAL = (PC_XYZ_DATA \| PC_INTENSITY_DATA \| PC_NORMAL_DATA \| PC_CURVATURE_DATA) , PCL_POINT_XYZ_RANGE = (PC_XYZ_DATA \| PC_RANGE_DATA) , PCL_POINT_XYZ_VIEWPOINT = (PC_XYZ_DATA \| PC_VIEWPOINT_DATA) , PCL_MOMENT_INVARIANTS = (PC_MOMENT_INV_DATA) , PCL_PRINCIPAL_RADII_RSD = (PC_RADII_RSD_DATA) , PCL_BOUNDARY = (PC_BOUNDARY_DATA) , PCL_PRINCIPAL_CURVATURES = (PC_PRINCIPAL_CURVATURE_DATA) , PCL_PFH_SIGNAT_125 = (PC_PFH_SIGNAT_125_DATA) , PCL_FPFH_SIGNAT_33 = (PC_FPFH_SIGNAT_33_DATA) , PCL_VFH_SIGNAT_308 = (PC_VFH_SIGNAT_308_DATA) , PCL_NARF_36 = (PC_NARF_36_DATA) , PCL_POINT2D_BORDER = (PC_XY_DATA \| PC_BORDER_DATA) , PCL_INTENSITY_GRADIENT = (PC_INTENSITY_GRAD_DATA) , PCL_PC_HISTOGRAM_N = (PC_HISTOGRAM_DATA) , PCL_POINT_XYZ_SCALE = (PC_XYZ_DATA \| PC_SCALE_DATA) , PCL_POINT_XYZ_SURFEL = (PC_XYZ_DATA \| PC_RGBA_DATA \| PC_NORMAL_DATA \| PC_RADIUS_DATA \| PC_CONFIDENCE_DATA) }
	The PointCloudCompositeType enum. More...

enum	PointCloudBorderTrait : std::int32_t { BORDER_TRAIT__OBSTACLE_BORDER , BORDER_TRAIT__SHADOW_BORDER , BORDER_TRAIT__VEIL_POINT , BORDER_TRAIT__SHADOW_BORDER_TOP , BORDER_TRAIT__SHADOW_BORDER_RIGHT , BORDER_TRAIT__SHADOW_BORDER_BOTTOM , BORDER_TRAIT__SHADOW_BORDER_LEFT , BORDER_TRAIT__OBSTACLE_BORDER_TOP , BORDER_TRAIT__OBSTACLE_BORDER_RIGHT , BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM , BORDER_TRAIT__OBSTACLE_BORDER_LEFT , BORDER_TRAIT__VEIL_POINT_TOP , BORDER_TRAIT__VEIL_POINT_RIGHT , BORDER_TRAIT__VEIL_POINT_BOTTOM , BORDER_TRAIT__VEIL_POINT_LEFT }

Functions
size_t	PAD_BYTES (size_t len, size_t pad)
	computes the padding of YARP images. More...

bool	submatrix (const Matrix &in, Matrix &out, size_t r1, size_t r2, size_t c1, size_t c2)

bool	removeCols (const Matrix &in, Matrix &out, size_t first_col, size_t how_many)

bool	removeRows (const Matrix &in, Matrix &out, size_t first_row, size_t how_many)

Typedef Documentation

◆ PixelFloat

typedef float yarp::sig::PixelFloat

Floating point pixel type.

Definition at line 572 of file Image.h.

◆ PixelInt

typedef yarp::os::NetInt32 yarp::sig::PixelInt

32-bit integer pixel type.

Definition at line 446 of file Image.h.

◆ PixelMono

typedef unsigned char yarp::sig::PixelMono

Monochrome pixel type.

Definition at line 436 of file Image.h.

◆ PixelMono16

typedef yarp::os::NetUint16 yarp::sig::PixelMono16

16-bit monochrome pixel type.

Definition at line 441 of file Image.h.

◆ PixelMonoSigned

typedef char yarp::sig::PixelMonoSigned

Signed byte pixel type.

Definition at line 555 of file Image.h.

◆ PointCloudInterestPointXYZ

using yarp::sig::PointCloudInterestPointXYZ = typedef PointCloud<DataInterestPointXYZ>

Definition at line 456 of file PointCloud.h.

◆ PointCloudNormal

using yarp::sig::PointCloudNormal = typedef PointCloud<DataNormal>

Definition at line 453 of file PointCloud.h.

◆ PointCloudXY

using yarp::sig::PointCloudXY = typedef PointCloud<DataXY>

Definition at line 451 of file PointCloud.h.

◆ PointCloudXYZ

using yarp::sig::PointCloudXYZ = typedef PointCloud<DataXYZ>

Definition at line 452 of file PointCloud.h.

◆ PointCloudXYZI

using yarp::sig::PointCloudXYZI = typedef PointCloud<DataXYZI>

Definition at line 455 of file PointCloud.h.

◆ PointCloudXYZNormal

using yarp::sig::PointCloudXYZNormal = typedef PointCloud<DataXYZNormal>

Definition at line 457 of file PointCloud.h.

◆ PointCloudXYZNormalRGBA

using yarp::sig::PointCloudXYZNormalRGBA = typedef PointCloud<DataXYZNormalRGBA>

Definition at line 458 of file PointCloud.h.

◆ PointCloudXYZRGBA

using yarp::sig::PointCloudXYZRGBA = typedef PointCloud<DataXYZRGBA>

Definition at line 454 of file PointCloud.h.

◆ Range

typedef float yarp::sig::Range

Definition at line 418 of file PointCloudTypes.h.

◆ Vector

typedef VectorOf<double> yarp::sig::Vector

Examples: os/portable_pair/portable_pair.cpp.

Definition at line 40 of file Vector.h.

Enumeration Type Documentation

◆ PointCloudBasicType

enum yarp::sig::PointCloudBasicType : std::int32_t

The PointCloudBasicTypes enum.

Enumerator
PC_XY_DATA
PC_XYZ_DATA
PC_RGBA_DATA
PC_INTENSITY_DATA
PC_INTEREST_DATA
PC_NORMAL_DATA
PC_CURVATURE_DATA
PC_RANGE_DATA
PC_VIEWPOINT_DATA
PC_MOMENT_INV_DATA
PC_RADII_RSD_DATA
PC_BOUNDARY_DATA
PC_PRINCIPAL_CURVATURE_DATA
PC_PFH_SIGNAT_125_DATA
PC_FPFH_SIGNAT_33_DATA
PC_VFH_SIGNAT_308_DATA
PC_NARF_36_DATA
PC_BORDER_DATA
PC_INTENSITY_GRAD_DATA
PC_HISTOGRAM_DATA
PC_SCALE_DATA
PC_CONFIDENCE_DATA
PC_RADIUS_DATA
PC_USER_DEFINED
PC_PADDING2
PC_PADDING3

Definition at line 34 of file PointCloudTypes.h.

◆ PointCloudBorderTrait

enum yarp::sig::PointCloudBorderTrait : std::int32_t

Enumerator
BORDER_TRAIT__OBSTACLE_BORDER
BORDER_TRAIT__SHADOW_BORDER
BORDER_TRAIT__VEIL_POINT
BORDER_TRAIT__SHADOW_BORDER_TOP
BORDER_TRAIT__SHADOW_BORDER_RIGHT
BORDER_TRAIT__SHADOW_BORDER_BOTTOM
BORDER_TRAIT__SHADOW_BORDER_LEFT
BORDER_TRAIT__OBSTACLE_BORDER_TOP
BORDER_TRAIT__OBSTACLE_BORDER_RIGHT
BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM
BORDER_TRAIT__OBSTACLE_BORDER_LEFT
BORDER_TRAIT__VEIL_POINT_TOP
BORDER_TRAIT__VEIL_POINT_RIGHT
BORDER_TRAIT__VEIL_POINT_BOTTOM
BORDER_TRAIT__VEIL_POINT_LEFT

Definition at line 94 of file PointCloudTypes.h.

◆ PointCloudCompositeType

enum yarp::sig::PointCloudCompositeType : std::int32_t

The PointCloudCompositeType enum.

Enumerator
PCL_POINT2D_XY
PCL_POINT_XYZ
PCL_POINT_XYZ_RGBA
PCL_POINT_XYZ_I
PCL_INTEREST_POINT_XYZ
PCL_NORMAL
PCL_POINT_XYZ_NORMAL
PCL_POINT_XYZ_NORMAL_RGBA
PCL_POINT_XYZ_I_NORMAL
PCL_POINT_XYZ_RANGE
PCL_POINT_XYZ_VIEWPOINT
PCL_MOMENT_INVARIANTS
PCL_PRINCIPAL_RADII_RSD
PCL_BOUNDARY
PCL_PRINCIPAL_CURVATURES
PCL_PFH_SIGNAT_125
PCL_FPFH_SIGNAT_33
PCL_VFH_SIGNAT_308
PCL_NARF_36
PCL_POINT2D_BORDER
PCL_INTENSITY_GRADIENT
PCL_PC_HISTOGRAM_N
PCL_POINT_XYZ_SCALE
PCL_POINT_XYZ_SURFEL

Definition at line 65 of file PointCloudTypes.h.

◆ YarpDistortion

enum yarp::sig::YarpDistortion : std::int32_t

strong

The YarpDistortion enum to define the type of the distortion model of the camera.

In geometric optics, distortion is a deviation from rectilinear projection; a projection in which straight lines in a scene remain straight in an image. Although distortion can be irregular or follow many patterns, the most commonly encountered distortions are radially symmetric. These can be represent by models that allow us to undistort the images knowing the parameters of the distortion (k1, k2, t1, t2, k3).

Enumerator
YARP_DISTORTION_NONE	Rectilinear images. No distortion compensation required.
YARP_PLUM_BOB	Plumb bob distortion model.
YARP_FISH_EYE	Fish eye distortion model.
YARP_UNSUPPORTED	Unsupported distortion model.
YARP_DISTORTION_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 30 of file IntrinsicParams.h.

Function Documentation

◆ PAD_BYTES()

size_t yarp::sig::PAD_BYTES	(	size_t	len,
		size_t	pad
	)

inline

computes the padding of YARP images.

Parameters

len	is the row length in bytes
pad	is the desired padding (e.g. 8 bytes)

Returns: the number of extra bytes to add at the end of the image row

Definition at line 36 of file Image.h.

◆ removeCols()

bool yarp::sig::removeCols	(	const Matrix &	in,
		Matrix &	out,
		size_t	first_col,
		size_t	how_many
	)

Definition at line 50 of file Matrix.cpp.

◆ removeRows()

bool yarp::sig::removeRows	(	const Matrix &	in,
		Matrix &	out,
		size_t	first_row,
		size_t	how_many
	)

Definition at line 70 of file Matrix.cpp.

◆ submatrix()

bool yarp::sig::submatrix	(	const Matrix &	in,
		Matrix &	out,
		size_t	r1,
		size_t	r2,
		size_t	c1,
		size_t	c2
	)

Definition at line 90 of file Matrix.cpp.