Image utilities. More...

Classes
struct	PCL_ROI

Enumerations
enum class	OrganizationType { Organized , Unorganized }

Functions
bool	vertSplit (const yarp::sig::Image &inImg, yarp::sig::Image &outImgL, yarp::sig::Image &outImgR)
	Split vertically an image in two images of the same size. More...

bool	horzSplit (const yarp::sig::Image &inImg, yarp::sig::Image &outImgUp, yarp::sig::Image &outImgDown)
	Split horizontally an image in two images of the same size. More...

bool	horzConcat (const yarp::sig::Image &inImgL, const yarp::sig::Image &inImgR, yarp::sig::Image &outImg)
	Concatenate horizontally two images of the same size in one with double width. More...

bool	vertConcat (const yarp::sig::Image &inImgUp, const yarp::sig::Image &inImgDown, yarp::sig::Image &outImg)
	Concatenate vertically two images of the same size in one with double height. More...

bool	cropRect (const yarp::sig::Image &inImg, const std::pair< unsigned int, unsigned int > &vertex1, const std::pair< unsigned int, unsigned int > &vertex2, yarp::sig::Image &outImg)
	Crop a rectangle area out of an image given two opposite vertices. More...

yarp::sig::PointCloud< yarp::sig::DataXYZ >	depthToPC (const yarp::sig::ImageOf< yarp::sig::PixelFloat > &depth, const yarp::sig::IntrinsicParams &intrinsic)
	depthToPC, compute the PointCloud given depth image and the intrinsic parameters of the camera. More...

yarp::sig::PointCloud< yarp::sig::DataXYZ >	depthToPC (const yarp::sig::ImageOf< yarp::sig::PixelFloat > &depth, const yarp::sig::IntrinsicParams &intrinsic, const yarp::sig::utils::PCL_ROI &roi, size_t step_x, size_t step_y)
	depthToPC, compute the PointCloud given depth image, the intrinsic parameters of the camera and a Region Of Interest. More...

template<typename T1 , typename T2 >
yarp::sig::PointCloud< T1 >	depthRgbToPC (const yarp::sig::ImageOf< yarp::sig::PixelFloat > &depth, const yarp::sig::ImageOf< T2 > &color, const yarp::sig::IntrinsicParams &intrinsic, const yarp::sig::utils::OrganizationType organizationType=yarp::sig::utils::OrganizationType::Organized)
	depthRgbToPC, compute the colored PointCloud given depth image, color image and the intrinsic parameters of the camera. More...

Detailed Description

Image utilities.

PointCloud utilities.

Enumeration Type Documentation

◆ OrganizationType

enum yarp::sig::utils::OrganizationType

strong

Enumerator
Organized
Unorganized

Definition at line 23 of file PointCloudUtils.h.

Function Documentation

◆ cropRect()

bool yarp::sig::utils::cropRect	(	const yarp::sig::Image &	inImg,
		const std::pair< unsigned int, unsigned int > &	vertex1,
		const std::pair< unsigned int, unsigned int > &	vertex2,
		yarp::sig::Image &	outImg
	)

Crop a rectangle area out of an image given two opposite vertices.

Parameters

[in]	inImg	input image.
[in]	vertex1	first vertex of the crop rectangle area.
[in]	vertex2	second vertex of the crop rectangle area.
[out]	outImg	result of cropping the input image.

Note: Input and output images must have same pixel type and the crop area must lay within the input image. Vertices needn't be passed in the usual top-left, bottom-right order. The output image is resized to match the crop dimensions.

Returns: true on success, false otherwise.

Definition at line 113 of file ImageUtils.cpp.

◆ depthRgbToPC()

template<typename T1 , typename T2 >

yarp::sig::PointCloud< T1 > yarp::sig::utils::depthRgbToPC	(	const yarp::sig::ImageOf< yarp::sig::PixelFloat > &	depth,
		const yarp::sig::ImageOf< T2 > &	color,
		const yarp::sig::IntrinsicParams &	intrinsic,
		const yarp::sig::utils::OrganizationType	organizationType = `yarp::sig::utils::OrganizationType::Organized`
	)

depthRgbToPC, compute the colored PointCloud given depth image, color image and the intrinsic parameters of the camera.

Parameters

[in]	depth,the	input depth image.
[in]	color,the	input color image.
[in]	intrinsic,intrinsic	parameter of the camera.

Note: the intrinsic parameters are the one of the depth sensor if the depth frame IS NOT aligned with the colored one. On the other hand use the intrinsic parameters of the RGB camera if the frames are aligned.

Returns: the pointcloud obtained by the de-projection.

Definition at line 65 of file PointCloudUtils-inl.h.

◆ depthToPC() [1/2]

PointCloud< DataXYZ > yarp::sig::utils::depthToPC	(	const yarp::sig::ImageOf< yarp::sig::PixelFloat > &	depth,
		const yarp::sig::IntrinsicParams &	intrinsic
	)

depthToPC, compute the PointCloud given depth image and the intrinsic parameters of the camera.

Parameters

[in]	depth,the	input depth image.
[in]	intrinsic,intrinsic	parameter of the camera.

Note: the intrinsic parameters are the one of the depth sensor if the depth frame IS NOT aligned with the colored one. On the other hand use the intrinsic parameters of the RGB camera if the frames are aligned.

Returns: the pointcloud obtained by the de-projection.

Definition at line 16 of file PointCloudUtils.cpp.

◆ depthToPC() [2/2]

PointCloud< DataXYZ > yarp::sig::utils::depthToPC	(	const yarp::sig::ImageOf< yarp::sig::PixelFloat > &	depth,
		const yarp::sig::IntrinsicParams &	intrinsic,
		const yarp::sig::utils::PCL_ROI &	roi,
		size_t	step_x,
		size_t	step_y
	)

depthToPC, compute the PointCloud given depth image, the intrinsic parameters of the camera and a Region Of Interest.

Parameters

[in]	depth,the	input depth image.
[in]	intrinsic,intrinsic	parameter of the camera.
[in]	roi,the	Region Of Interest intrinsic of the depth image that we want to convert.
[in]	step_x,the	depth image size can be decimated, by selecting a column every step_x;
[in]	step_t,the	depth image size can be decimated, by selecting a row every step_y;

Note: the intrinsic parameters are the one of the depth sensor if the depth frame IS NOT aligned with the colored one. On the other hand use the intrinsic parameters of the RGB camera if the frames are aligned.

Returns: the pointcloud obtained by the de-projection.

Definition at line 40 of file PointCloudUtils.cpp.

◆ horzConcat()

bool yarp::sig::utils::horzConcat	(	const yarp::sig::Image &	inImgL,
		const yarp::sig::Image &	inImgR,
		yarp::sig::Image &	outImg
	)

Concatenate horizontally two images of the same size in one with double width.

Parameters

[in]	inImgL	input left image.
[in]	inImgR	input right image.
[out]	outImg	result of the horizontal concatenation.

Note: The input images must have same dimensions and pixel type, and the output image must have same height and double width.

Returns: true on success, false otherwise.

Definition at line 67 of file ImageUtils.cpp.

◆ horzSplit()

bool yarp::sig::utils::horzSplit	(	const yarp::sig::Image &	inImg,
		yarp::sig::Image &	outImgUp,
		yarp::sig::Image &	outImgDown
	)

Split horizontally an image in two images of the same size.

Parameters

[in]	inImg	image to be horizontally split.
[out]	outImgUp	top half of inImg.
[out]	outImgDown	bottom half of inImg.

Note: The input image must have same height, double width of the output images and same pixel type.

Returns: true on success, false otherwise.

Definition at line 50 of file ImageUtils.cpp.

◆ vertConcat()

bool yarp::sig::utils::vertConcat	(	const yarp::sig::Image &	inImgUp,
		const yarp::sig::Image &	inImgDown,
		yarp::sig::Image &	outImg
	)

Concatenate vertically two images of the same size in one with double height.

Parameters

[in]	inImgUp	input top image.
[in]	inImgDown	input bottom image.
[out]	outImg	result of the horizontal concatenation.

Note: The input images must have same dimensions and pixel type, and the output image must have same width and double height.

Returns: true on success, false otherwise.

Definition at line 98 of file ImageUtils.cpp.

◆ vertSplit()

bool yarp::sig::utils::vertSplit	(	const yarp::sig::Image &	inImg,
		yarp::sig::Image &	outImgL,
		yarp::sig::Image &	outImgR
	)

Split vertically an image in two images of the same size.

Parameters

[in]	inImg	image to be vertically split.
[out]	outImgL	left half of inImg.
[out]	outImgR	right half of inImg.

Note: The input image must have same height, double width of the output images and same pixel type.

Returns: true on success, false otherwise.

Definition at line 23 of file ImageUtils.cpp.

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ OrganizationType

Function Documentation

◆ cropRect()

◆ depthRgbToPC()

◆ depthToPC() [1/2]

◆ depthToPC() [2/2]

◆ horzConcat()

◆ horzSplit()

◆ vertConcat()

◆ vertSplit()