mrpt::img::CImage Class Reference

Detailed Description

A class for storing images as grayscale or RGB bitmaps.

I/O is supported as:

• Binary dump using the CSerializable interface(<< and >> operators), just as most objects in MRPT. This format is not compatible with any standarized image format but it is fast.
• Saving/loading from files of different formats (bmp,jpg,png,...) using the methods CImage::loadFromFile and CImage::saveToFile. See OpenCV for the list of supported formats.
• Importing from an XPM array (.xpm file format) using CImage::loadFromXPM()

• Importing TGA images. See CImage::loadTGA()

  How to create color/grayscale images:

  CImage  img1(width, height,  CH_GRAY );  // Grayscale image (8U1C)
  CImage  img2(width, height,  CH_RGB );  // RGB image (8U3C)

Additional notes:

• The OpenCV cv::Mat format is used internally for compatibility with all OpenCV functions. Use CImage::asCvMat() to retrieve it. Example:

  CImage  img;
  ...
  cv::Mat m = img.asCvMat()

• By default, all images use unsigned 8-bit storage format for pixels (on each channel), but it can be changed by flags in the constructor.
• An external storage mode can be enabled by calling CImage::setExternalStorage, useful for storing large collections of image objects in memory while loading the image data itself only for the relevant images at any time. See CImage::forceLoad() and CImage::unload().
• Operator = and copy ctor make shallow copies. For deep copies, see CImage::makeDeepCopy() or CImage(const CImage&, copy_type_t), e.g:

  CImage a(20, 10, CH_GRAY);
  // Shallow copy ctor:
  CImage b(a, mrpt::img::SHALLOW_COPY);
  CImage c(a, mrpt::img::DEEP_COPY);

• If you are interested in a smart pointer to an image, use:

  CImage::Ptr myImg = CImage::Create(); // optional ctor arguments
  // or:
  CImage::Ptr myImg = std::make_shared<CImage>(...);

• To set a CImage from an OpenCV cv::Mat use CImage::CImage(cv::Mat,copy_type_t).

Some functions are implemented in MRPT with highly optimized SSE2/SSE3 routines, in suitable platforms and compilers. To see the list of optimizations refer to sse_optimizations, falling back to default OpenCV methods where unavailable.

For computer vision functions that use CImage as its image data type, see mrpt::vision.

See also

mrpt::vision, mrpt::vision::CFeatureExtractor, mrpt::vision::CImagePyramid, CSerializable, CCanvas

Definition at line 148 of file img/CImage.h.

#include <mrpt/img/CImage.h>

Inheritance diagram for mrpt::img::CImage:

Classes
struct	Impl

Public Types
enum	TPenStyle {   psSolid = 0, psDash, psDot, psDashDot,   psDashDotDot }
	Definition of pen styles. More...

Public Member Functions
void	getAsIplImage (IplImage *dest) const
	(DEPRECATED, DO NOT USE - Kept here only to interface opencv 2.4) More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
void	rectangle (int x0, int y0, int x1, int y1, const mrpt::img::TColor color, unsigned int width=1)
	Draws a rectangle (an empty rectangle, without filling) More...
void	triangle (int x0, int y0, int size, const mrpt::img::TColor color, bool inferior=true, unsigned int width=1)
	Draws a triangle. More...
virtual void	filledRectangle (int x0, int y0, int x1, int y1, const mrpt::img::TColor color)
	Draws a filled rectangle. More...
virtual void	textOut (int x0, int y0, const std::string &str, const mrpt::img::TColor color)
	Renders 2D text using bitmap fonts. More...
virtual void	selectTextFont (const std::string &fontName)
	Select the current font used when drawing text. More...
virtual void	drawImage (int x, int y, const mrpt::img::CImage &img, float rotation, float scale)
	Draws an image as a bitmap at a given position, with some custom scale and rotation changes. More...
void	drawMark (int x0, int y0, const mrpt::img::TColor color, char type, int size=5, unsigned int width=1)
	Draw a mark. More...
void	ellipseGaussian (const mrpt::math::CMatrixFixed< double, 2, 2 > &cov2D, const double mean_x, const double mean_y, double confIntervalStds=2, const mrpt::img::TColor &color=mrpt::img::TColor(255, 255, 255), unsigned int width=1, int nEllipsePoints=20)
	Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution. More...
template<class FEATURELIST >
void	drawFeaturesSimple (const FEATURELIST &list, const TColor &color=TColor::red(), const int cross_size=5)
	Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields. More...
template<class FEATURELIST >
void	drawFeatures (const FEATURELIST &list, const TColor &color=TColor::red(), const bool showIDs=false, const bool showResponse=false, const bool showScale=false, const char marker='+')
	Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features. More...
Constructors & destructor
	CImage ()
	Default constructor: initialize to empty image. More...
	CImage (unsigned int width, unsigned int height, TImageChannels nChannels=CH_RGB)
	Constructor for a given image size and type. More...
	CImage (const CImage &other_img, ctor_CImage_ref_or_gray)
	Fast constructor of a grayscale version of another image, making a shallow copy from the original image if it already was grayscale, or otherwise creating a new grayscale image and converting the original image into it. More...
	CImage (const cv::Mat &img, copy_type_t copy_type)
	Constructor from a cv::Mat image, making or not a deep copy of the data. More...
	CImage (const CImage &img, copy_type_t copy_type)
	Constructor from another CImage, making or not a deep copy of the data. More...
Manipulate the image contents or size, various computer-vision
methods (image filters, undistortion, etc.)
void	clear ()
	Resets the image to the state after a default ctor. More...
void	resize (std::size_t width, std::size_t height, TImageChannels nChannels, PixelDepth depth=PixelDepth::D8U)
	Changes the size of the image, erasing previous contents (does NOT scale its current content, for that, see scaleImage). More...
PixelDepth	getPixelDepth () const
void	scaleImage (CImage &out_img, unsigned int width, unsigned int height, TInterpolationMethod interp=IMG_INTERP_CUBIC) const
	Scales this image to a new size, interpolating as needed, saving the new image in a different output object, or operating in-place if out_img==this. More...
void	rotateImage (CImage &out_img, double ang, unsigned int cx, unsigned int cy, double scale=1.0) const
	Rotates the image by the given angle around the given center point, with an optional scale factor. More...
void	setPixel (int x, int y, size_t color) override
	Changes the value of the pixel (x,y). More...
void	line (int x0, int y0, int x1, int y1, const mrpt::img::TColor color, unsigned int width=1, TPenStyle penStyle=psSolid) override
	Draws a line. More...
void	drawCircle (int x, int y, int radius, const mrpt::img::TColor &color=mrpt::img::TColor(255, 255, 255), unsigned int width=1) override
	Draws a circle of a given radius. More...
void	drawImage (int x, int y, const mrpt::img::CImage &img) override
	Draws an image as a bitmap at a given position. More...
void	equalizeHist (CImage &out_img) const
	Equalize the image histogram, saving the new image in the given output object. More...
CImage	scaleHalf (TInterpolationMethod interp) const
	Returns a new image scaled down to half its original size. More...
bool	scaleHalf (CImage &out_image, TInterpolationMethod interp) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
CImage	scaleDouble (TInterpolationMethod interp) const
	Returns a new image scaled up to double its original size. More...
void	scaleDouble (CImage &out_image, TInterpolationMethod interp) const
void	update_patch (const CImage &patch, const unsigned int col, const unsigned int row)
	Update a part of this image with the "patch" given as argument. More...
void	extract_patch (CImage &patch, const unsigned int col=0, const unsigned int row=0, const unsigned int width=1, const unsigned int height=1) const
	Extract a patch from this image, saveing it into "patch" (its previous contents will be overwritten). More...
float	correlate (const CImage &img2int, int width_init=0, int height_init=0) const
	Computes the correlation coefficient (returned as val), between two images This function use grayscale images only img1, img2 must be same size (by AJOGD @ DEC-2006) More...
void	cross_correlation_FFT (const CImage &in_img, math::CMatrixFloat &out_corr, int u_search_ini=-1, int v_search_ini=-1, int u_search_size=-1, int v_search_size=-1, float biasThisImg=0, float biasInImg=0) const
	Computes the correlation matrix between this image and another one. More...
void	normalize ()
	Optimize the brightness range of an image without using histogram Only for one channel images. More...
void	flipVertical ()
	Flips the image vertically. More...
void	flipHorizontal ()
	Flips the image horizontally. More...
void	swapRB ()
	Swaps red and blue channels. More...
void	undistort (CImage &out_img, const mrpt::img::TCamera &cameraParams) const
	Undistort the image according to some camera parameters, and returns an output undistorted image. More...
void	rectifyImageInPlace (void *mapX, void *mapY)
	Rectify an image (undistorts and rectification) from a stereo pair according to a pair of precomputed rectification maps. More...
void	filterMedian (CImage &out_img, int W=3) const
	Filter the image with a Median filter with a window size WxW, returning the filtered image in out_img. More...
void	filterGaussian (CImage &out_img, int W=3, int H=3, double sigma=1.0) const
	Filter the image with a Gaussian filter with a window size WxH, replacing "this" image by the filtered one. More...
bool	drawChessboardCorners (std::vector< TPixelCoordf > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y, unsigned int lines_width=1, unsigned int circles_radius=4)
	Draw onto this image the detected corners of a chessboard. More...
void	joinImagesHorz (const CImage &im1, const CImage &im2)
	Joins two images side-by-side horizontally. More...
float	KLT_response (const unsigned int x, const unsigned int y, const unsigned int half_window_size) const
	Compute the KLT response at a given pixel (x,y) - Only for grayscale images (for efficiency it avoids converting to grayscale internally). More...
Copy, move & swap operations
void	setFromImageReadOnly (const CImage &o)
CImage	makeShallowCopy () const
	Returns a shallow copy of the original image. More...
CImage	makeDeepCopy () const
	Returns a deep copy of this image. More...
void	copyFromForceLoad (const CImage &o)
	Copies from another image (shallow copy), and, if it is externally stored, the image file will be actually loaded into memory in "this" object. More...
void	copyFastFrom (CImage &o)
	Moves an image from another object, erasing the origin image in the process. More...
void	loadFromIplImage (const IplImage *iplImage, copy_type_t c=DEEP_COPY)
	Assigns from an image in IplImage format. More...
void	setFromIplImageReadOnly (IplImage *iplImage)
void	swap (CImage &o)
	Efficiently swap of two images. More...
Access to image contents (OpenCV data structure, and raw pixels)
void	asCvMat (cv::Mat &out_img, copy_type_t copy_type) const
	Makes a shallow or deep copy of this image into the provided cv::Mat. More...
template<typename CV_MAT >
CV_MAT	asCvMat (copy_type_t copy_type) const
cv::Mat &	asCvMatRef ()
	Get a reference to the internal cv::Mat, which can be resized, etc. More...
const cv::Mat &	asCvMatRef () const
uint8_t *	get_unsafe (unsigned int col, unsigned int row, uint8_t channel=0) const
	Access to pixels without checking boundaries - Use normally the () operator better, which checks the coordinates. More...
template<typename T >
const T &	at (unsigned int col, unsigned int row, unsigned int channel=0) const
	Access to pixels without checking boundaries, and doing a reinterpret_cast<> of the data as the given type. More...
template<typename T >
T &	at (unsigned int col, unsigned int row, unsigned int channel=0)
template<typename T >
const T *	ptr (unsigned int col, unsigned int row, unsigned int channel=0) const
	Returns a pointer to a given pixel, without checking for boundaries. More...
template<typename T >
T *	ptr (unsigned int col, unsigned int row, unsigned int channel=0)
template<typename T >
const T *	ptrLine (unsigned int row) const
	Returns a pointer to the first pixel of the given line. More...
template<typename T >
T *	ptrLine (unsigned int row)
float	getAsFloat (unsigned int col, unsigned int row, unsigned int channel) const
	Returns the contents of a given pixel at the desired channel, in float format: [0,255]->[0,1] The coordinate origin is pixel(0,0)=top-left corner of the image. More...
float	getAsFloat (unsigned int col, unsigned int row) const
	Returns the contents of a given pixel (for gray-scale images, in color images the gray scale equivalent is computed for the pixel), in float format: [0,255]->[0,1] The coordinate origin is pixel(0,0)=top-left corner of the image. More...
unsigned char *	operator() (unsigned int col, unsigned int row, unsigned int channel=0) const
	Returns a pointer to a given pixel information. More...
Query image properties
size_t	getWidth () const override
	Returns the width of the image in pixels. More...
size_t	getHeight () const override
	Returns the height of the image in pixels. More...
void	getSize (TImageSize &s) const
	Return the size of the image. More...
TImageSize	getSize () const
	Return the size of the image. More...
size_t	getRowStride () const
	Returns the row stride of the image: this is the number of bytes between two consecutive rows. More...
std::string	getChannelsOrder () const
	As of mrpt 2.0.0, this returns either "GRAY" or "BGR". More...
float	getMaxAsFloat () const
	Return the maximum pixel value of the image, as a float value in the range [0,1]. More...
bool	isColor () const
	Returns true if the image is RGB, false if it is grayscale. More...
bool	isEmpty () const
	Returns true if the object is in the state after default constructor. More...
bool	isOriginTopLeft () const
	Returns true (as of MRPT v2.0.0, it's fixed) More...
TImageChannels	getChannelCount () const
	Returns the number of channels, typically 1 (GRAY) or 3 (RGB) More...
void	getAsMatrix (mrpt::math::CMatrixFloat &outMatrix, bool doResize=true, int x_min=0, int y_min=0, int x_max=-1, int y_max=-1, bool normalize_01=true) const
	Returns the image as a matrix with pixel grayscale values in the range [0,1]. More...
void	getAsMatrix (mrpt::math::CMatrix_u8 &outMatrix, bool doResize=true, int x_min=0, int y_min=0, int x_max=-1, int y_max=-1) const
void	getAsRGBMatrices (mrpt::math::CMatrixFloat &outMatrixR, mrpt::math::CMatrixFloat &outMatrixG, mrpt::math::CMatrixFloat &outMatrixB, bool doResize=true, int x_min=0, int y_min=0, int x_max=-1, int y_max=-1) const
	Returns the image as RGB matrices with pixel values in the range [0,1]. More...
void	getAsRGBMatrices (mrpt::math::CMatrix_u8 &outMatrixR, mrpt::math::CMatrix_u8 &outMatrixG, mrpt::math::CMatrix_u8 &outMatrixB, bool doResize=true, int x_min=0, int y_min=0, int x_max=-1, int y_max=-1) const
void	getAsMatrixTiled (mrpt::math::CMatrixFloat &outMatrix) const
	Returns the image as a matrix, where the image is "tiled" (repeated) the required number of times to fill the entire size of the matrix on input. More...
Color/Grayscale conversion
CImage	grayscale () const
	Returns a grayscale version of the image, or a shallow copy of itself if it is already a grayscale image. More...
bool	grayscale (CImage &ret) const
CImage	colorImage () const
	Returns a color (RGB) version of the grayscale image, or a shallow copy of itself if it is already a color image. More...
void	colorImage (CImage &ret) const
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
Behavior-changing global flags
static void	DISABLE_ZIP_COMPRESSION (bool val)
	By default, when storing images through the CSerializable interface, grayscale images will be ZIP compressed if they are larger than 16Kb: this flag can be turn on to disable ZIP compression and gain speed versus occupied space. More...
static bool	DISABLE_ZIP_COMPRESSION ()
static void	DISABLE_JPEG_COMPRESSION (bool val)
	By default, when storing images through the CSerializable interface, RGB images are JPEG-compressed to save space. More...
static bool	DISABLE_JPEG_COMPRESSION ()
static void	SERIALIZATION_JPEG_QUALITY (int q)
	Unless DISABLE_JPEG_COMPRESSION=true, this sets the JPEG quality (range 1-100) of serialized RGB images. More...
static int	SERIALIZATION_JPEG_QUALITY ()

Protected Member Functions
void	makeSureImageIsLoaded () const
	Checks if the image is of type "external storage", and if so and not loaded yet, load it. More...
uint8_t *	internal_get (int col, int row, uint8_t channel=0) const
void	internal_fromIPL (const IplImage *iplImage, copy_type_t c)
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...
void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...
void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...
CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...
virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
std::string	m_selectedFont {"9x15"}
	The selected font name. More...
const uint32_t *	m_selectedFontBitmaps {nullptr}
	Direct access to character bitmaps. More...
Data members
mrpt::pimpl< Impl >	m_impl
bool	m_imgIsExternalStorage {false}
	Set to true only when using setExternalStorage. More...
std::string	m_externalFile
	The file name of a external storage image. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::img ::CImage >
using	ConstPtr = std::shared_ptr< const mrpt::img ::CImage >
using	UniquePtr = std::unique_ptr< mrpt::img ::CImage >
using	ConstUniquePtr = std::unique_ptr< const mrpt::img ::CImage >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::img" "::" "CImage"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static std::shared_ptr< CObject >	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

External storage-mode methods
static const std::string &	getImagesPathBase ()
	By default, ".". More...
static void	setImagesPathBase (const std::string &path)
void	setExternalStorage (const std::string &fileName) noexcept
	By using this method the image is marked as referenced to an external file, which will be loaded only under demand. More...
bool	isExternallyStored () const noexcept
	See setExternalStorage(). More...
std::string	getExternalStorageFile () const noexcept
	Only if isExternallyStored() returns true. More...
void	getExternalStorageFileAbsolutePath (std::string &out_path) const
	Only if isExternallyStored() returns true. More...
std::string	getExternalStorageFileAbsolutePath () const
	Only if isExternallyStored() returns true. More...
void	forceLoad () const
	For external storage image objects only, this method makes sure the image is loaded in memory. More...
void	unload () const noexcept
	For external storage image objects only, this method unloads the image from memory (or does nothing if already unloaded). More...

Set, load & save methods
static bool	loadTGA (const std::string &fileName, mrpt::img::CImage &out_RGB, mrpt::img::CImage &out_alpha)
	Loads a TGA true-color RGBA image as two CImage objects, one for the RGB channels plus a separate gray-level image with A channel. More...
void	loadFromMemoryBuffer (unsigned int width, unsigned int height, bool color, unsigned char *rawpixels, bool swapRedBlue=false)
	Reads the image from raw pixels buffer in memory. More...
void	loadFromMemoryBuffer (unsigned int width, unsigned int height, unsigned int bytesPerRow, unsigned char *red, unsigned char *green, unsigned char *blue)
	Reads a color image from three raw pixels buffers in memory. More...
template<typename MAT >
void	setFromMatrix (const MAT &m, bool matrix_is_normalized=true)
	Set the image from a matrix, interpreted as grayscale intensity values, in the range [0,1] (normalized=true) or [0,255] (normalized=false) Matrix indexes are assumed to be in this order: M(row,column) More...
template<typename MAT >
void	setFromRGBMatrices (const MAT &r, const MAT &g, const MAT &b, bool matrix_is_normalized=true)
	Set the image from RGB matrices, given the pixels in the range [0,1] (normalized=true) or [0,255] (normalized=false) Matrix indexes are assumed to be in this order: M(row,column) More...
void	loadFromStreamAsJPEG (mrpt::io::CStream &in)
	Reads the image from a binary stream containing a binary jpeg file. More...
bool	loadFromFile (const std::string &fileName, int isColor=-1)
	Load image from a file, whose format is determined from the extension (internally uses OpenCV). More...
bool	loadFromXPM (const char *const *xpm_array, bool swap_rb=true)
	Loads the image from an XPM array, as #include'd from a ".xpm" file. More...
bool	saveToFile (const std::string &fileName, int jpeg_quality=95) const
	Save the image to a file, whose format is determined from the extension (internally uses OpenCV). More...
void	saveToStreamAsJPEG (mrpt::io::CStream &out, const int jpeg_quality=95) const
	Save image to binary stream as a JPEG (.jpg) compressed format. More...

Member Typedef Documentation

ConstPtr

using mrpt::img::CImage::ConstPtr = std::shared_ptr<const mrpt::img :: CImage >

Definition at line 150 of file img/CImage.h.

ConstUniquePtr

using mrpt::img::CImage::ConstUniquePtr = std::unique_ptr<const mrpt::img :: CImage >

Definition at line 150 of file img/CImage.h.

Ptr

using mrpt::img::CImage::Ptr = std::shared_ptr< mrpt::img :: CImage >

A type for the associated smart pointer

Definition at line 150 of file img/CImage.h.

UniquePtr

using mrpt::img::CImage::UniquePtr = std::unique_ptr< mrpt::img :: CImage >

Definition at line 150 of file img/CImage.h.

Member Enumeration Documentation

TPenStyle

enum mrpt::img::CCanvas::TPenStyle

inherited

Definition of pen styles.

Enumerator
psSolid
psDash
psDot
psDashDot
psDashDotDot

Definition at line 55 of file CCanvas.h.

Constructor & Destructor Documentation

CImage() [1/5]

CImage::CImage

(

)

Default constructor: initialize to empty image.

It's an error trying to access the image in such a state (except reading the image width/height, which are both zero). Either call resize(), assign from another image, load from disk, deserialize from an archive, etc. to properly initialize the image.

Definition at line 159 of file CImage.cpp.

Referenced by CImage(), and clear().

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CImage() [2/5]

CImage::CImage	(	unsigned int	width,
		unsigned int	height,
		TImageChannels	nChannels = CH_RGB
	)

Constructor for a given image size and type.

Examples:

CImage  img1(width, height,  CH_GRAY );  // Grayscale image (8U1C)
CImage  img2(width, height,  CH_RGB );  // RGB image (8U3C)

Definition at line 162 of file CImage.cpp.

References MRPT_END, MRPT_START, and resize().

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CImage() [3/5]

mrpt::img::CImage::CImage ( const CImage &  other_img, ctor_CImage_ref_or_gray    )

inline

Fast constructor of a grayscale version of another image, making a shallow copy from the original image if it already was grayscale, or otherwise creating a new grayscale image and converting the original image into it.

Example of usage:

void my_func(const CImage &in_img) {
   const CImage gray_img(in_img, FAST_REF_OR_CONVERT_TO_GRAY);
   // We can now operate on "gray_img" being sure it's in grayscale.
}

Definition at line 190 of file img/CImage.h.

References CImage(), grayscale(), and isColor().

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CImage() [4/5]

CImage::CImage	(	const cv::Mat &	img,
		copy_type_t	copy_type
	)

Constructor from a cv::Mat image, making or not a deep copy of the data.

Definition at line 184 of file CImage.cpp.

References mrpt::img::DEEP_COPY, m_impl, MRPT_END, and MRPT_START.

CImage() [5/5]

CImage::CImage	(	const CImage &	img,
		copy_type_t	copy_type
	)

Constructor from another CImage, making or not a deep copy of the data.

Definition at line 196 of file CImage.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::img::CImage::_GetBaseClass ( )

staticprotected

asCvMat() [1/2]

void CImage::asCvMat	(	cv::Mat &	out_img,
		copy_type_t	copy_type
	)		const

Makes a shallow or deep copy of this image into the provided cv::Mat.

See also

asCvMatRef

Definition at line 217 of file CImage.cpp.

References mrpt::img::DEEP_COPY, and m_impl.

Referenced by asCvMat(), cvFindChessboardCorners3(), do_special_dilation(), mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureLines::extractLines(), find_chessboard_corners_multiple(), mrpt::vision::findChessboardCorners(), mrpt::vision::findMultipleChessboardsCorners(), icvGenerateQuads(), mrpt::vision::openCV_cross_correlation(), mrpt::vision::CVideoFileWriter::operator<<(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::CUndistortMap::undistort(), and mrpt::vision::CVideoFileWriter::writeImage().

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asCvMat() [2/2]

template<typename CV_MAT >

CV_MAT mrpt::img::CImage::asCvMat ( copy_type_t  copy_type ) const

inline

Definition at line 540 of file img/CImage.h.

References asCvMat().

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asCvMatRef() [1/2]

cv::Mat & CImage::asCvMatRef

(

)

Get a reference to the internal cv::Mat, which can be resized, etc.

and changes will be reflected in this CImage object.

Definition at line 227 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and THROW_EXCEPTION.

Referenced by mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLogPolarImageDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors(), mrpt::vision::CFeatureExtraction::internal_computePolarImageDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::ros1bridge::toROS(), and mrpt::vision::CFeatureTracker_KL::trackFeatures_impl_templ().

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asCvMatRef() [2/2]

const cv::Mat & CImage::asCvMatRef

(

)

const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 237 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and THROW_EXCEPTION.

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at() [1/2]

template<typename T >

const T& mrpt::img::CImage::at ( unsigned int  col, unsigned int  row, unsigned int  channel = 0  ) const

inline

Access to pixels without checking boundaries, and doing a reinterpret_cast<> of the data as the given type.

See also

The CImage::operator() which does check for coordinate limits.

Definition at line 567 of file img/CImage.h.

References internal_get().

Referenced by mrpt::detectors::CFaceDetection::checkIfDiagonalSurface(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface2(), mrpt::detectors::CFaceDetection::checkIfFacePlaneCov(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), mrpt::vision::computeSAD(), expect_identical(), mrpt::detectors::CFaceDetection::experimental_calcHist(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), fillImagePseudoRandom(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::vision::matchFeatures(), and TEST().

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at() [2/2]

template<typename T >

T& mrpt::img::CImage::at ( unsigned int  col, unsigned int  row, unsigned int  channel = 0  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 574 of file img/CImage.h.

References internal_get().

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clear()

void CImage::clear

(

)

Resets the image to the state after a default ctor.

Accessing the image after will throw an exception, unless it is formerly initialized somehow: loading an image from disk, calling rezize(), etc.

Definition at line 1565 of file CImage.cpp.

References CImage().

Referenced by find_chessboard_corners_multiple(), internal_fromIPL(), rectifyImageInPlace(), and serializeFrom().

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clone()

virtual mrpt::rtti::CObject* mrpt::img::CImage::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

colorImage() [1/2]

CImage CImage::colorImage

(

)

const

Returns a color (RGB) version of the grayscale image, or a shallow copy of itself if it is already a color image.

See also

grayscale

Definition at line 1861 of file CImage.cpp.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::gui::MRPTImage2wxImage(), mrpt::gui::CDisplayWindow::showImageAndPoints(), and mrpt::gui::CDisplayWindow::showTiledImageAndPoints().

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colorImage() [2/2]

void CImage::colorImage

(

CImage &

ret

)

const

Definition at line 1868 of file CImage.cpp.

References mrpt::img::CH_RGB, getHeight(), getWidth(), isColor(), m_impl, and resize().

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copyFastFrom()

void mrpt::img::CImage::copyFastFrom ( CImage &  o )

inline

Moves an image from another object, erasing the origin image in the process.

See also

operator =

Definition at line 506 of file img/CImage.h.

copyFromForceLoad()

void CImage::copyFromForceLoad

(

const CImage &

o

)

Copies from another image (shallow copy), and, if it is externally stored, the image file will be actually loaded into memory in "this" object.

See also

operator =

Exceptions

CExceptionExternalImageNotFound

If the external image couldn't be loaded.

Definition at line 178 of file CImage.cpp.

References forceLoad().

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correlate()

float CImage::correlate	(	const CImage &	img2int,
		int	width_init = 0,
		int	height_init = 0
	)		const

Computes the correlation coefficient (returned as val), between two images This function use grayscale images only img1, img2 must be same size (by AJOGD @ DEC-2006)

Definition at line 1179 of file CImage.cpp.

References getHeight(), getWidth(), makeSureImageIsLoaded(), and THROW_EXCEPTION.

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Create()

template<typename... Args>

static Ptr mrpt::img::CImage::Create ( Args &&...  args )

inlinestatic

Definition at line 150 of file img/CImage.h.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::img::CImage::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 150 of file img/CImage.h.

CreateObject()

static std::shared_ptr<CObject> mrpt::img::CImage::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::img::CImage::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 150 of file img/CImage.h.

cross_correlation_FFT()

void CImage::cross_correlation_FFT	(	const CImage &	in_img,
		math::CMatrixFloat &	out_corr,
		int	u_search_ini = -1,
		int	v_search_ini = -1,
		int	u_search_size = -1,
		int	v_search_size = -1,
		float	biasThisImg = 0,
		float	biasInImg = 0
	)		const

Computes the correlation matrix between this image and another one.

This implementation uses the 2D FFT for achieving reduced computation time.

Parameters

in_img	The "patch" image, which must be equal, or smaller than "this" image. This function supports gray-scale (1 channel only) images.
u_search_ini	The "x" coordinate of the search window.
v_search_ini	The "y" coordinate of the search window.
u_search_size	The width of the search window.
v_search_size	The height of the search window.
out_corr	The output for the correlation matrix, which will be "u_search_size" x "v_search_size"
biasThisImg	This optional parameter is a fixed "bias" value to be substracted to the pixels of "this" image before performing correlation.
biasInImg	This optional parameter is a fixed "bias" value to be substracted to the pixels of "in_img" image before performing correlation. Note: By default, the search area is the whole (this) image. (by JLBC @ JAN-2006)

See also

cross_correlation

Definition at line 1435 of file CImage.cpp.

References ASSERT_, mrpt::math::dft2_complex(), getAsMatrix(), getHeight(), getWidth(), mrpt::math::idft2_complex(), makeSureImageIsLoaded(), MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::square().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation().

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DISABLE_JPEG_COMPRESSION() [1/2]

void CImage::DISABLE_JPEG_COMPRESSION ( bool  val )

static

By default, when storing images through the CSerializable interface, RGB images are JPEG-compressed to save space.

If for some reason you prefer storing RAW image data, disable this feature by setting this flag to true. (Default = true)

Definition at line 53 of file CImage.cpp.

References DISABLE_JPEG_COMPRESSION_value, and val.

DISABLE_JPEG_COMPRESSION() [2/2]

bool CImage::DISABLE_JPEG_COMPRESSION ( )

static

Definition at line 57 of file CImage.cpp.

References DISABLE_JPEG_COMPRESSION_value.

Referenced by serializeTo().

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DISABLE_ZIP_COMPRESSION() [1/2]

static void mrpt::img::CImage::DISABLE_ZIP_COMPRESSION ( bool  val )

static

By default, when storing images through the CSerializable interface, grayscale images will be ZIP compressed if they are larger than 16Kb: this flag can be turn on to disable ZIP compression and gain speed versus occupied space.

(Default = false)

DISABLE_ZIP_COMPRESSION() [2/2]

static bool mrpt::img::CImage::DISABLE_ZIP_COMPRESSION ( )

static

drawChessboardCorners()

bool CImage::drawChessboardCorners	(	std::vector< TPixelCoordf > &	cornerCoords,
		unsigned int	check_size_x,
		unsigned int	check_size_y,
		unsigned int	lines_width = 1,
		unsigned int	circles_radius = 4
	)

Draw onto this image the detected corners of a chessboard.

The length of cornerCoords must be the product of the two check_sizes.

Parameters

cornerCoords	[IN] The pixel coordinates of all the corners.
check_size_x	[IN] The number of squares, in the X direction
check_size_y	[IN] The number of squares, in the Y direction

Returns

false if the length of cornerCoords is inconsistent (nothing is drawn then).

See also

mrpt::vision::findChessboardCorners

Definition at line 1799 of file CImage.cpp.

References mrpt::img::TColor::blue(), check_size_x, check_size_y, mrpt::format(), m_impl, mrpt::img::CCanvas::selectTextFont(), and mrpt::img::CCanvas::textOut().

Referenced by mrpt::vision::checkerBoardStereoCalibration().

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drawCircle()

void CImage::drawCircle ( int  x, int  y, int  radius, const mrpt::img::TColor &  color = mrpt::img::TColor(255, 255, 255), unsigned int  width = 1  )

overridevirtual

Draws a circle of a given radius.

Parameters

x	The center - x coordinate in pixels.
y	The center - y coordinate in pixels.
radius	The radius - in pixels.
color	The color of the circle.
width	The desired width of the line (this is IGNORED in this virtual class)

Reimplemented from mrpt::img::CCanvas.

Definition at line 1130 of file CImage.cpp.

References mrpt::img::TColor::B, mrpt::img::TColor::G, m_impl, makeSureImageIsLoaded(), and mrpt::img::TColor::R.

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drawFeatures()

template<class FEATURELIST >

void mrpt::img::CCanvas::drawFeatures ( const FEATURELIST &  list, const TColor &  color = TColor::red(), const bool  showIDs = false, const bool  showResponse = false, const bool  showScale = false, const char  marker = '+'  )

inlineinherited

Draws a set of marks (or scaled circles for features with scale) onto the image, given a generic container of features.

The class of FEATURELIST can be:

• mrpt::vision::CFeatureList
• mrpt::vision::TKeyPointList

See also

drawFeaturesSimple

Definition at line 280 of file CCanvas.h.

References mrpt::img::CCanvas::drawCircle(), mrpt::img::CCanvas::drawMark(), mrpt::format(), mrpt::img::TColor::red(), mrpt::round(), and mrpt::img::CCanvas::textOut().

Referenced by mrpt::gui::CDisplayWindow::showImageAndPoints().

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drawFeaturesSimple()

template<class FEATURELIST >

void mrpt::img::CCanvas::drawFeaturesSimple ( const FEATURELIST &  list, const TColor &  color = TColor::red(), const int  cross_size = 5  )

inlineinherited

Draws a set of marks onto the image, given a generic container of entities having just "x" and "y" fields.

The class of FEATURELIST can be, for example, std::vector<mrpt::math::TPoint2D>, std::vector<TPixelCoordsf> or mrpt::vision::CFeatureList

See also

drawFeatures

Definition at line 259 of file CCanvas.h.

References mrpt::img::CCanvas::drawMark(), and mrpt::round().

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drawImage() [1/2]

virtual void mrpt::img::CCanvas::drawImage ( int  x, int  y, const mrpt::img::CImage &  img, float  rotation, float  scale  )

virtualinherited

Draws an image as a bitmap at a given position, with some custom scale and rotation changes.

Parameters

x0	The top-left corner x coordinates on this canvas where the image is to be drawn
y0	The top-left corner y coordinates on this canvas where the image is to be drawn
rotation	The rotation in radians, positive values being anti-clockwise direction, 0 is the normal position.
scale	The scale factor, e.g. 2 means twice the original size.
img	The image to be drawn in this canvas This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented in mrpt::img::CEnhancedMetaFile.

drawImage() [2/2]

void CImage::drawImage ( int  x, int  y, const mrpt::img::CImage &  img  )

overridevirtual

Draws an image as a bitmap at a given position.

Parameters

x0	The top-left corner x coordinates on this canvas where the image is to be drawn
y0	The top-left corner y coordinates on this canvas where the image is to be drawn
img	The image to be drawn in this canvas This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented from mrpt::img::CCanvas.

Definition at line 1142 of file CImage.cpp.

References getHeight(), getWidth(), m_impl, and makeSureImageIsLoaded().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences().

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drawMark()

void CCanvas::drawMark ( int  x0, int  y0, const mrpt::img::TColor  color, char  type, int  size = 5, unsigned int  width = 1  )

inherited

Draw a mark.

Parameters

x0	The point x coordinate
y0	The point y coordinate
color	The color of the cross
size	The size of the cross
type	The cross type. It could be: 'x', '+', ':'(like '+' but clear at the center dot), or 's' (square)
width	The desired width of the cross (this is IGNORED yet)

Definition at line 304 of file CCanvas.cpp.

References mrpt::math::size(), and THROW_EXCEPTION.

Referenced by mrpt::img::CCanvas::drawFeatures(), mrpt::img::CCanvas::drawFeaturesSimple(), and mrpt::gui::CDisplayWindow::plot().

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duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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ellipseGaussian()

void CCanvas::ellipseGaussian ( const mrpt::math::CMatrixFixed< double, 2, 2 > &  cov2D, const double  mean_x, const double  mean_y, double  confIntervalStds = 2, const mrpt::img::TColor &  color = mrpt::img::TColor(255, 255, 255), unsigned int  width = 1, int  nEllipsePoints = 20  )

inherited

Draws an ellipse representing a given confidence interval of a 2D Gaussian distribution.

Parameters

mean_x	The x coordinate of the center point of the ellipse.
mean_y	The y coordinate of the center point of the ellipse.
cov2D	A 2x2 covariance matrix.
confIntervalStds	How many "sigmas" for the confidence level (i.e. 2->95%, 3=99.97%,...)
color	The color of the ellipse
width	The desired width of the line (this is IGNORED in this virtual class)
nEllipsePoints	The number of points to generate to approximate the ellipse shape.

Exceptions

std::exception

On an invalid matrix.

Definition at line 452 of file CCanvas.cpp.

References mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::array(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::eig(), M_2PI, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::round(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::setDiagonal(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::transpose().

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equalizeHist()

void CImage::equalizeHist

(

CImage &

out_img

)

const

Equalize the image histogram, saving the new image in the given output object.

Note

RGB images are first converted to HSV color space, then equalized for brightness (V)

Definition at line 1902 of file CImage.cpp.

References getChannelCount(), m_impl, resize(), and THROW_EXCEPTION.

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extract_patch()

void CImage::extract_patch	(	CImage &	patch,
		const unsigned int	col = 0,
		const unsigned int	row = 0,
		const unsigned int	width = 1,
		const unsigned int	height = 1
	)		const

Extract a patch from this image, saveing it into "patch" (its previous contents will be overwritten).

The patch to extract starts at (col,row) and has the given dimensions.

See also

update_patch

Definition at line 1166 of file CImage.cpp.

References m_impl, and makeSureImageIsLoaded().

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), and mrpt::vision::openCV_cross_correlation().

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filledRectangle()

void CCanvas::filledRectangle ( int  x0, int  y0, int  x1, int  y1, const mrpt::img::TColor  color  )

virtualinherited

Draws a filled rectangle.

Parameters

x0	The top-left x coordinate
y0	The top-left y coordinate
x1	The right-bottom x coordinate
y1	The right-bottom y coordinate
color	The color of the rectangle fill This method may be redefined in some classes implementing this interface in a more appropiate manner.

See also

rectangle

Definition at line 205 of file CCanvas.cpp.

References getHeight().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::img::CEnhancedMetaFile::CEnhancedMetaFile(), mrpt::gui::CDisplayWindow::plot(), and mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences().

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filterGaussian()

void CImage::filterGaussian	(	CImage &	out_img,
		int	W = 3,
		int	H = 3,
		double	sigma = 1.0
	)		const

Filter the image with a Gaussian filter with a window size WxH, replacing "this" image by the filtered one.

For inplace operation, set out_img to this.

Definition at line 1727 of file CImage.cpp.

References getChannelCount(), m_impl, makeSureImageIsLoaded(), and resize().

Referenced by mrpt::maps::COccupancyGridMap2D::getAsImageFiltered().

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filterMedian()

void CImage::filterMedian	(	CImage &	out_img,
		int	W = 3
	)		const

Filter the image with a Median filter with a window size WxW, returning the filtered image in out_img.

For inplace operation, set out_img to this.

Definition at line 1712 of file CImage.cpp.

References getChannelCount(), m_impl, makeSureImageIsLoaded(), and resize().

Referenced by mrpt::maps::COccupancyGridMap2D::getAsImageFiltered().

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flipHorizontal()

void CImage::flipHorizontal

(

)

Flips the image horizontally.

See also

swapRB(), flipVertical()

Definition at line 1651 of file CImage.cpp.

References m_impl, and makeSureImageIsLoaded().

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flipVertical()

void CImage::flipVertical

(

)

Flips the image vertically.

See also

swapRB(), flipHorizontal()

Definition at line 1643 of file CImage.cpp.

References m_impl, and makeSureImageIsLoaded().

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forceLoad()

void mrpt::img::CImage::forceLoad ( ) const

inline

For external storage image objects only, this method makes sure the image is loaded in memory.

Note that usually images are loaded on-the-fly on first access and there's no need to call this.

Definition at line 806 of file img/CImage.h.

References makeSureImageIsLoaded().

Referenced by copyFromForceLoad().

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get_unsafe()

uint8_t * CImage::get_unsafe	(	unsigned int	col,
		unsigned int	row,
		uint8_t	channel = 0
	)		const

Access to pixels without checking boundaries - Use normally the () operator better, which checks the coordinates.

See also

CImage::operator()

Definition at line 476 of file CImage.cpp.

References internal_get().

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getAsFloat() [1/2]

float CImage::getAsFloat	(	unsigned int	col,
		unsigned int	row,
		unsigned int	channel
	)		const

Returns the contents of a given pixel at the desired channel, in float format: [0,255]->[0,1] The coordinate origin is pixel(0,0)=top-left corner of the image.

Exceptions

std::exception

On pixel coordinates out of bounds

See also

operator()

Definition at line 893 of file CImage.cpp.

References makeSureImageIsLoaded().

Referenced by getMaxAsFloat(), and mrpt::maps::COccupancyGridMap2D::loadFromBitmap().

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getAsFloat() [2/2]

float CImage::getAsFloat	(	unsigned int	col,
		unsigned int	row
	)		const

Returns the contents of a given pixel (for gray-scale images, in color images the gray scale equivalent is computed for the pixel), in float format: [0,255]->[0,1] The coordinate origin is pixel(0,0)=top-left corner of the image.

Exceptions

std::exception

On pixel coordinates out of bounds

See also

operator()

Definition at line 901 of file CImage.cpp.

References isColor().

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getAsIplImage()

void CImage::getAsIplImage

(

IplImage *

dest

)

const

(DEPRECATED, DO NOT USE - Kept here only to interface opencv 2.4)

Definition at line 2180 of file CImage.cpp.

References ASSERT_, m_impl, and makeSureImageIsLoaded().

Referenced by mrpt::vision::CFeatureExtraction::internal_computeLogPolarImageDescriptors(), and mrpt::vision::CFeatureExtraction::internal_computePolarImageDescriptors().

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getAsMatrix() [1/2]

void CImage::getAsMatrix	(	mrpt::math::CMatrixFloat &	outMatrix,
		bool	doResize = true,
		int	x_min = 0,
		int	y_min = 0,
		int	x_max = -1,
		int	y_max = -1,
		bool	normalize_01 = true
	)		const

Returns the image as a matrix with pixel grayscale values in the range [0,1].

Matrix indexes in this order: M(row,column)

Parameters

doResize	If set to true (default), the output matrix will be always the size of the image at output. If set to false, the matrix will be enlarged to the size of the image, but it will not be cropped if it has room enough (useful for FFT2D,...)
x_min	The starting "x" coordinate to extract (default=0=the first column)
y_min	The starting "y" coordinate to extract (default=0=the first row)
x_max	The final "x" coordinate (inclusive) to extract (default=-1=the last column)
y_max	The final "y" coordinate (inclusive) to extract (default=-1=the last row)
normalize_01	Normalize the image values such that they fall in the range [0,1] (default: true). If set to false, the matrix will hold numbers in the range [0,255].

See also

setFromMatrix

Definition at line 1238 of file CImage.cpp.

References ASSERT_, mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::math::CMatrixDynamic< T >::cols(), isColor(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::rows(), and mrpt::math::CMatrixDynamic< T >::setSize().

Referenced by cross_correlation_FFT(), and mrpt::vision::normalizeImage().

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getAsMatrix() [2/2]

void CImage::getAsMatrix	(	mrpt::math::CMatrix_u8 &	outMatrix,
		bool	doResize = true,
		int	x_min = 0,
		int	y_min = 0,
		int	x_max = -1,
		int	y_max = -1
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 1289 of file CImage.cpp.

References ASSERT_, mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::math::CMatrixDynamic< T >::cols(), isColor(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::rows(), and mrpt::math::CMatrixDynamic< T >::setSize().

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getAsMatrixTiled()

void CImage::getAsMatrixTiled

(

mrpt::math::CMatrixFloat &

outMatrix

)

const

Returns the image as a matrix, where the image is "tiled" (repeated) the required number of times to fill the entire size of the matrix on input.

Definition at line 1515 of file CImage.cpp.

References mrpt::math::CMatrixDynamic< T >::cols(), isColor(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, and mrpt::math::CMatrixDynamic< T >::rows().

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getAsRGBMatrices() [1/2]

void CImage::getAsRGBMatrices	(	mrpt::math::CMatrixFloat &	outMatrixR,
		mrpt::math::CMatrixFloat &	outMatrixG,
		mrpt::math::CMatrixFloat &	outMatrixB,
		bool	doResize = true,
		int	x_min = 0,
		int	y_min = 0,
		int	x_max = -1,
		int	y_max = -1
	)		const

Returns the image as RGB matrices with pixel values in the range [0,1].

Matrix indexes in this order: M(row,column)

Parameters

doResize	If set to true (default), the output matrix will be always the size of the image at output. If set to false, the matrix will be enlarged to the size of the image, but it will not be cropped if it has room enough (useful for FFT2D,...)
x_min	The starting "x" coordinate to extract (default=0=the first column)
y_min	The starting "y" coordinate to extract (default=0=the first row)
x_max	The final "x" coordinate (inclusive) to extract (default=-1=the last column)
y_max	The final "y" coordinate (inclusive) to extract (default=-1=the last row)

See also

setFromRGBMatrices

Definition at line 1337 of file CImage.cpp.

References ASSERT_, mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::math::CMatrixDynamic< T >::cols(), G, isColor(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, R, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::u8tof().

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getAsRGBMatrices() [2/2]

void CImage::getAsRGBMatrices	(	mrpt::math::CMatrix_u8 &	outMatrixR,
		mrpt::math::CMatrix_u8 &	outMatrixG,
		mrpt::math::CMatrix_u8 &	outMatrixB,
		bool	doResize = true,
		int	x_min = 0,
		int	y_min = 0,
		int	x_max = -1,
		int	y_max = -1
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 1386 of file CImage.cpp.

References ASSERT_, mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::math::CMatrixDynamic< T >::cols(), G, isColor(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, R, mrpt::math::CMatrixDynamic< T >::rows(), and mrpt::math::CMatrixDynamic< T >::setSize().

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getChannelCount()

TImageChannels CImage::getChannelCount

(

)

const

Returns the number of channels, typically 1 (GRAY) or 3 (RGB)

See also

isColor

Definition at line 878 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and THROW_EXCEPTION.

Referenced by equalizeHist(), filterGaussian(), filterMedian(), mrpt::vision::CFeatureExtraction::internal_computeLogPolarImageDescriptors(), mrpt::vision::CFeatureExtraction::internal_computePolarImageDescriptors(), joinImagesHorz(), mrpt::gui::MRPTImage2wxImage(), mrpt::vision::normalizeImage(), mrpt::vision::CStereoRectifyMap::rectify(), rotateImage(), scaleHalf(), scaleImage(), mrpt::vision::CUndistortMap::undistort(), and undistort().

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getChannelsOrder()

std::string CImage::getChannelsOrder

(

)

const

As of mrpt 2.0.0, this returns either "GRAY" or "BGR".

Definition at line 828 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CColouredPointsMap::colourFromObservation(), and mrpt::gui::MRPTImage2wxImage().

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getClassName()

static constexpr auto mrpt::img::CImage::getClassName ( )

inlinestatic

Definition at line 150 of file img/CImage.h.

getExternalStorageFile()

std::string mrpt::img::CImage::getExternalStorageFile ( ) const

inlinenoexcept

Only if isExternallyStored() returns true.

See also

getExternalStorageFileAbsolutePath

Definition at line 785 of file img/CImage.h.

References m_externalFile.

getExternalStorageFileAbsolutePath() [1/2]

void CImage::getExternalStorageFileAbsolutePath

(

std::string &

out_path

)

const

Only if isExternallyStored() returns true.

See also

getExternalStorageFile

Definition at line 1621 of file CImage.cpp.

References ASSERT_, IMAGES_PATH_BASE(), and m_externalFile.

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getExternalStorageFileAbsolutePath() [2/2]

std::string mrpt::img::CImage::getExternalStorageFileAbsolutePath ( ) const

inline

Only if isExternallyStored() returns true.

See also

getExternalStorageFile

Definition at line 794 of file img/CImage.h.

Referenced by makeSureImageIsLoaded().

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getHeight()

size_t CImage::getHeight ( ) const

overridevirtual

Returns the height of the image in pixels.

See also

getSize

Implements mrpt::img::CCanvas.

Definition at line 849 of file CImage.cpp.

References m_imgIsExternalStorage, m_impl, and makeSureImageIsLoaded().

Referenced by mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface2(), mrpt::detectors::CFaceDetection::checkIfFacePlaneCov(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), colorImage(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::vision::computeMainOrientation(), mrpt::vision::computeSAD(), correlate(), cross_correlation_FFT(), cvFindChessboardCorners3(), mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), mrpt::img::CEnhancedMetaFile::drawImage(), mrpt::img::CCanvas::drawImage(), drawImage(), expect_identical(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), fillImagePseudoRandom(), find_chessboard_corners_multiple(), getMaxAsFloat(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), icvGenerateQuads(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::CGenericFeatureTracker::internal_trackFeatures(), joinImagesHorz(), mrpt::maps::COccupancyGridMap2D::loadFromBitmap(), main(), mrpt::vision::matchFeatures(), mrpt::gui::MRPTImage2wxImage(), mrpt::vision::normalizeImage(), mrpt::vision::openCV_cross_correlation(), mrpt::vision::CVideoFileWriter::operator<<(), rotateImage(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences(), mrpt::maps::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences(), scaleImage(), mrpt::gui::CDisplayWindow::showTiledImageAndPoints(), mrpt::ros1bridge::toROS(), mrpt::vision::CFeatureTracker_KL::trackFeatures_impl_templ(), mrpt::vision::CUndistortMap::undistort(), and mrpt::vision::CVideoFileWriter::writeImage().

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getImagesPathBase()

const std::string & CImage::getImagesPathBase ( )

static

By default, ".".

See also

setExternalStorage

Definition at line 76 of file CImage.cpp.

References IMAGES_PATH_BASE().

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

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getMaxAsFloat()

float CImage::getMaxAsFloat

(

)

const

Return the maximum pixel value of the image, as a float value in the range [0,1].

See also

getAsFloat

Definition at line 921 of file CImage.cpp.

References getAsFloat(), getHeight(), and getWidth().

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getPixelDepth()

PixelDepth CImage::getPixelDepth

(

)

const

Definition at line 294 of file CImage.cpp.

References cvDepth2PixelDepth(), m_impl, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::img::CCanvas::drawImage(), and setPixel().

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getRowStride()

size_t CImage::getRowStride

(

)

const

Returns the row stride of the image: this is the number of bytes between two consecutive rows.

You can access the pointer to the first row with ptrLine(0)

See also

getSize, as, ptr, ptrLine

Definition at line 839 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and THROW_EXCEPTION.

Referenced by mrpt::gui::MRPTImage2wxImage().

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GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::img::CImage::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::img::CImage::GetRuntimeClassIdStatic ( )

static

getSize() [1/2]

void CImage::getSize

(

TImageSize &

s

)

const

Return the size of the image.

See also

getWidth, getHeight

Definition at line 807 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), THROW_EXCEPTION, mrpt::img::TPixelCoord::x, and mrpt::img::TPixelCoord::y.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::computeSAD(), and mrpt::detectors::CFaceDetection::experimental_calcHist().

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getSize() [2/2]

TImageSize mrpt::img::CImage::getSize ( ) const

inline

Return the size of the image.

See also

getWidth, getHeight

Definition at line 646 of file img/CImage.h.

Referenced by scaleDouble().

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getWidth()

size_t CImage::getWidth ( ) const

overridevirtual

Returns the width of the image in pixels.

See also

getSize

Implements mrpt::img::CCanvas.

Definition at line 818 of file CImage.cpp.

References m_imgIsExternalStorage, m_impl, and makeSureImageIsLoaded().

Referenced by mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface2(), mrpt::detectors::CFaceDetection::checkIfFacePlaneCov(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), colorImage(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::vision::computeMainOrientation(), mrpt::vision::computeSAD(), correlate(), cross_correlation_FFT(), cvFindChessboardCorners3(), mrpt::img::CEnhancedMetaFile::drawImage(), mrpt::img::CCanvas::drawImage(), drawImage(), expect_identical(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), fillImagePseudoRandom(), find_chessboard_corners_multiple(), getMaxAsFloat(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), icvGenerateQuads(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::CGenericFeatureTracker::internal_trackFeatures(), mrpt::maps::COccupancyGridMap2D::loadFromBitmap(), main(), mrpt::vision::matchFeatures(), mrpt::gui::MRPTImage2wxImage(), mrpt::vision::normalizeImage(), mrpt::vision::openCV_cross_correlation(), mrpt::vision::CVideoFileWriter::operator<<(), rotateImage(), mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences(), mrpt::maps::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences(), scaleImage(), mrpt::gui::CDisplayWindow::showImagesAndMatchedPoints(), mrpt::gui::CDisplayWindow::showTiledImageAndPoints(), mrpt::ros1bridge::toROS(), mrpt::vision::CFeatureTracker_KL::trackFeatures_impl_templ(), mrpt::vision::CUndistortMap::undistort(), and mrpt::vision::CVideoFileWriter::writeImage().

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grayscale() [1/2]

CImage CImage::grayscale

(

)

const

Returns a grayscale version of the image, or a shallow copy of itself if it is already a grayscale image.

Definition at line 933 of file CImage.cpp.

Referenced by buildPyramid_templ(), CImage(), mrpt::vision::openCV_cross_correlation(), and TEST().

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grayscale() [2/2]

bool CImage::grayscale

(

CImage &

ret

)

const

Definition at line 965 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), my_img_to_grayscale(), and THROW_EXCEPTION.

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internal_fromIPL()

void CImage::internal_fromIPL ( const IplImage *  iplImage, copy_type_t  c  )

protected

Definition at line 351 of file CImage.cpp.

References ASSERT_, clear(), mrpt::img::DEEP_COPY, m_impl, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by loadFromIplImage(), and setFromIplImageReadOnly().

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internal_get()

uint8_t * CImage::internal_get ( int  col, int  row, uint8_t  channel = 0  ) const

protected

Definition at line 464 of file CImage.cpp.

References m_impl, and makeSureImageIsLoaded().

Referenced by at(), get_unsafe(), ptr(), and ptrLine().

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isColor()

bool CImage::isColor

(

)

const

Returns true if the image is RGB, false if it is grayscale.

Definition at line 859 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and THROW_EXCEPTION.

Referenced by buildPyramid_templ(), CImage(), colorImage(), mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::img::CCanvas::drawImage(), getAsFloat(), getAsMatrix(), getAsMatrixTiled(), getAsRGBMatrices(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), loadFromFile(), loadFromStreamAsJPEG(), mrpt::gui::MRPTImage2wxImage(), mrpt::vision::openCV_cross_correlation(), serializeTo(), and TEST().

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isEmpty()

bool CImage::isEmpty

(

)

const

Returns true if the object is in the state after default constructor.

Definition at line 869 of file CImage.cpp.

References m_imgIsExternalStorage, m_impl, and THROW_EXCEPTION.

isExternallyStored()

bool mrpt::img::CImage::isExternallyStored ( ) const

inlinenoexcept

See setExternalStorage().

Definition at line 782 of file img/CImage.h.

References m_imgIsExternalStorage.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

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isOriginTopLeft()

bool CImage::isOriginTopLeft

(

)

const

Returns true (as of MRPT v2.0.0, it's fixed)

Definition at line 888 of file CImage.cpp.

Referenced by mrpt::img::CCanvas::textOut().

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joinImagesHorz()

void CImage::joinImagesHorz	(	const CImage &	im1,
		const CImage &	im2
	)

Joins two images side-by-side horizontally.

Both images must have the same number of rows and be of the same type (i.e. depth and color mode)

Parameters

im1	[IN] The first image.
im2	[IN] The other image.

Definition at line 1887 of file CImage.cpp.

References ASSERT_, getChannelCount(), getHeight(), m_impl, and resize().

Referenced by mrpt::gui::CDisplayWindow::showImagesAndMatchedPoints().

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KLT_response()

float MRPT_DISABLE_FULL_OPTIMIZATION CImage::KLT_response	(	const unsigned int	x,
		const unsigned int	y,
		const unsigned int	half_window_size
	)		const

Compute the KLT response at a given pixel (x,y) - Only for grayscale images (for efficiency it avoids converting to grayscale internally).

See KLT_response() for more details on the internal optimizations of this method, but this graph shows a general view:

Definition at line 1961 of file CImage.cpp.

References ASSERTMSG_, and m_impl.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CGenericFeatureTracker::internal_trackFeatures(), and mrpt::vision::detail::trackFeatures_checkResponses_impl_simple().

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line()

void CImage::line ( int  x0, int  y0, int  x1, int  y1, const mrpt::img::TColor  color, unsigned int  width = 1, TPenStyle  penStyle = psSolid  )

overridevirtual

Draws a line.

Parameters

x0	The starting point x coordinate
y0	The starting point y coordinate
x1	The end point x coordinate
y1	The end point y coordinate
color	The color of the line
width	The desired width of the line (this is IGNORED in this virtual class) This method may be redefined in some classes implementing this interface in a more appropiate manner.

Reimplemented from mrpt::img::CCanvas.

Definition at line 1117 of file CImage.cpp.

References mrpt::img::TColor::B, mrpt::img::TColor::G, m_impl, makeSureImageIsLoaded(), and mrpt::img::TColor::R.

Referenced by main(), mrpt::gui::CDisplayWindow::plot(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences(), and mrpt::gui::CDisplayWindow::showTiledImageAndPoints().

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loadFromFile()

bool CImage::loadFromFile	(	const std::string &	fileName,
		int	isColor = -1
	)

Load image from a file, whose format is determined from the extension (internally uses OpenCV).

Parameters

fileName	The file to read from.
isColor	Specifies colorness of the loaded image: if >0, the loaded image is forced to be color 3-channel image; if 0, the loaded image is forced to be grayscale; if <0, the loaded image will be loaded as is (with number of channels depends on the file). The supported formats are:

• Windows bitmaps - BMP, DIB;
• JPEG files - JPEG, JPG, JPE;
• Portable Network Graphics - PNG;
• Portable image format - PBM, PGM, PPM;
• Sun rasters - SR, RAS;
• TIFF files - TIFF, TIF.

Returns

False on any error

See also

saveToFile, setExternalStorage,loadFromXPM, loadTGA

Definition at line 305 of file CImage.cpp.

References isColor(), m_imgIsExternalStorage, m_impl, MRPT_END, MRPT_START, MRPT_TODO(), and THROW_EXCEPTION.

Referenced by makeSureImageIsLoaded(), and TEST().

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loadFromIplImage()

void mrpt::img::CImage::loadFromIplImage ( const IplImage *  iplImage, copy_type_t  c = DEEP_COPY  )

inline

Assigns from an image in IplImage format.

Definition at line 513 of file img/CImage.h.

References internal_fromIPL().

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loadFromMemoryBuffer() [1/2]

void CImage::loadFromMemoryBuffer	(	unsigned int	width,
		unsigned int	height,
		bool	color,
		unsigned char *	rawpixels,
		bool	swapRedBlue = false
	)

Reads the image from raw pixels buffer in memory.

Definition at line 365 of file CImage.cpp.

References mrpt::img::CH_GRAY, mrpt::img::CH_RGB, m_imgIsExternalStorage, m_impl, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, resize(), and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), and mrpt::hwdrivers::CFFMPEG_InputStream::retrieveFrame().

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loadFromMemoryBuffer() [2/2]

void CImage::loadFromMemoryBuffer	(	unsigned int	width,
		unsigned int	height,
		unsigned int	bytesPerRow,
		unsigned char *	red,
		unsigned char *	green,
		unsigned char *	blue
	)

Reads a color image from three raw pixels buffers in memory.

bytesPerRow is the number of bytes per row per channel, i.e. the row increment.

Definition at line 1044 of file CImage.cpp.

References mrpt::img::CH_RGB, mrpt::img::D8U, m_impl, MRPT_END, MRPT_START, and resize().

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loadFromStreamAsJPEG()

void CImage::loadFromStreamAsJPEG

(

mrpt::io::CStream &

in

)

Reads the image from a binary stream containing a binary jpeg file.

Exceptions

std::exception

On pixel coordinates out of bounds

Definition at line 452 of file CImage_JPEG_streams.cpp.

References mrpt::img::CH_GRAY, mrpt::img::CH_RGB, isColor(), jpeg_create_decompress, jpeg_stdio_src(), JPOOL_IMAGE, m_impl, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, MRPT_TODO(), jpeg_decompress_struct::out_color_components, jpeg_decompress_struct::output_components, jpeg_decompress_struct::output_height, jpeg_decompress_struct::output_width, and resize().

Referenced by mrpt::hwdrivers::CRovio::captureImageAsync(), and serializeFrom().

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loadFromXPM()

bool mrpt::img::CImage::loadFromXPM	(	const char *const *	xpm_array,
		bool	swap_rb = true
	)

Loads the image from an XPM array, as #include'd from a ".xpm" file.

Parameters

[in]

swap_rb

Swaps red/blue channels from loaded image. Seems to be always needed, so it's enabled by default.

See also

loadFromFile

Returns

false on any error

See also

loadFromFile

Returns

false on any error

Definition at line 484 of file CImage_loadXPM.cpp.

References ASSERTMSG_, XPMColorMapData::B, mrpt::img::CH_RGB, mrpt::opengl::internal::data, mrpt::containers::end(), XPMColorMapData::G, GetRGBFromName(), ParseColor(), XPMColorMapData::R, resize(), swapRB(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

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loadTGA()

bool CImage::loadTGA ( const std::string &  fileName, mrpt::img::CImage &  out_RGB, mrpt::img::CImage &  out_alpha  )

static

Loads a TGA true-color RGBA image as two CImage objects, one for the RGB channels plus a separate gray-level image with A channel.

Returns

true on success

Definition at line 2097 of file CImage.cpp.

References mrpt::img::CH_GRAY, mrpt::img::CH_RGB, mrpt::opengl::internal::data, mrpt::containers::end(), m_impl, and resize().

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makeDeepCopy()

CImage CImage::makeDeepCopy

(

)

const

Returns a deep copy of this image.

If the image is externally-stored, there is no difference with a shallow copy.

See also

makeShallowCopy()

Definition at line 206 of file CImage.cpp.

References m_impl, and THROW_EXCEPTION.

Referenced by mrpt::gui::MRPTImage2wxImage(), and TEST().

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makeShallowCopy()

CImage mrpt::img::CImage::makeShallowCopy ( ) const

inline

Returns a shallow copy of the original image.

Definition at line 484 of file img/CImage.h.

Referenced by mrpt::detectors::CObjectDetection::detectObjects(), mrpt::vision::openCV_cross_correlation(), and setFromImageReadOnly().

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makeSureImageIsLoaded()

void CImage::makeSureImageIsLoaded ( ) const

protected

Checks if the image is of type "external storage", and if so and not loaded yet, load it.

Exceptions

CExceptionExternalImageNotFound

Definition at line 1585 of file CImage.cpp.

References getExternalStorageFileAbsolutePath(), loadFromFile(), m_externalFile, m_imgIsExternalStorage, m_impl, THROW_EXCEPTION, and THROW_TYPED_EXCEPTION_FMT.

Referenced by asCvMatRef(), correlate(), cross_correlation_FFT(), drawCircle(), drawImage(), extract_patch(), filterGaussian(), filterMedian(), flipHorizontal(), flipVertical(), forceLoad(), getAsFloat(), getAsIplImage(), getAsMatrix(), getAsMatrixTiled(), getAsRGBMatrices(), getChannelCount(), getChannelsOrder(), getHeight(), getRowStride(), getSize(), getWidth(), grayscale(), internal_get(), isColor(), line(), normalize(), operator()(), rectifyImageInPlace(), rotateImage(), saveToFile(), saveToStreamAsJPEG(), scaleHalf(), scaleImage(), setFromRGBMatrices(), setPixel(), swapRB(), undistort(), and update_patch().

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normalize()

void CImage::normalize

(

)

Optimize the brightness range of an image without using histogram Only for one channel images.

See also

equalizeHist

Definition at line 1230 of file CImage.cpp.

References m_impl, makeSureImageIsLoaded(), and mrpt::math::normalize().

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operator()()

unsigned char * CImage::operator()	(	unsigned int	col,
		unsigned int	row,
		unsigned int	channel = 0
	)		const

Returns a pointer to a given pixel information.

The coordinate origin is pixel(0,0)=top-left corner of the image.

Exceptions

std::exception

On pixel coordinates out of bounds

Definition at line 426 of file CImage.cpp.

References ASSERT_, mrpt::format(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

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ptr() [1/2]

template<typename T >

const T* mrpt::img::CImage::ptr ( unsigned int  col, unsigned int  row, unsigned int  channel = 0  ) const

inline

Returns a pointer to a given pixel, without checking for boundaries.

See also

The CImage::operator() which does check for coordinate limits.

Definition at line 583 of file img/CImage.h.

References internal_get().

Referenced by mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), and mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange().

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ptr() [2/2]

template<typename T >

T* mrpt::img::CImage::ptr ( unsigned int  col, unsigned int  row, unsigned int  channel = 0  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 590 of file img/CImage.h.

References internal_get().

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ptrLine() [1/2]

template<typename T >

const T* mrpt::img::CImage::ptrLine ( unsigned int  row ) const

inline

Returns a pointer to the first pixel of the given line.

See also

ptr, at

Definition at line 597 of file img/CImage.h.

References internal_get().

Referenced by mrpt::gui::MRPTImage2wxImage().

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ptrLine() [2/2]

template<typename T >

T* mrpt::img::CImage::ptrLine ( unsigned int  row )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 603 of file img/CImage.h.

References internal_get().

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rectangle()

void CCanvas::rectangle ( int  x0, int  y0, int  x1, int  y1, const mrpt::img::TColor  color, unsigned int  width = 1  )

inherited

Draws a rectangle (an empty rectangle, without filling)

Parameters

x0	The top-left x coordinate
y0	The top-left y coordinate
x1	The right-bottom x coordinate
y1	The right-bottom y coordinate
color	The color of the line
width	The desired width of the line.

See also

filledRectangle

Definition at line 161 of file CCanvas.cpp.

Referenced by mrpt::vision::addFeaturesToImage(), and mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences().

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rectifyImageInPlace()

void CImage::rectifyImageInPlace	(	void *	mapX,
		void *	mapY
	)

Rectify an image (undistorts and rectification) from a stereo pair according to a pair of precomputed rectification maps.

Parameters

mapX,mapY

[IN] The pre-computed maps of the rectification (should be computed beforehand)

See also

mrpt::vision::CStereoRectifyMap, mrpt::vision::computeStereoRectificationMaps

Definition at line 1667 of file CImage.cpp.

References clear(), m_impl, and makeSureImageIsLoaded().

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resize()

void CImage::resize	(	std::size_t	width,
		std::size_t	height,
		TImageChannels	nChannels,
		PixelDepth	depth = PixelDepth::D8U
	)

Changes the size of the image, erasing previous contents (does NOT scale its current content, for that, see scaleImage).

• nChannels: Can be 3 for RGB images or 1 for grayscale images.

  See also

  scaleImage

Definition at line 247 of file CImage.cpp.

References mrpt::img::D8U, mrpt::format(), m_impl, MRPT_END, MRPT_START, pixelDepth2IPLCvDepth(), and THROW_EXCEPTION.

Referenced by CImage(), colorImage(), mrpt::slam::CMetricMapBuilderRBPF::drawCurrentEstimationToImage(), equalizeHist(), filterGaussian(), filterMedian(), mrpt::maps::CReflectivityGridMap2D::getAsImage(), mrpt::maps::COccupancyGridMap2D::getAsImage(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), joinImagesHorz(), loadFromMemoryBuffer(), loadFromStreamAsJPEG(), loadFromXPM(), loadTGA(), mrpt::vision::normalizeImage(), mrpt::vision::CStereoRectifyMap::rectify(), rotateImage(), scaleImage(), serializeFrom(), setFromMatrix(), setFromRGBMatrices(), mrpt::vision::CUndistortMap::undistort(), and undistort().

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rotateImage()

void CImage::rotateImage	(	CImage &	out_img,
		double	ang,
		unsigned int	cx,
		unsigned int	cy,
		double	scale = 1.0
	)		const

Rotates the image by the given angle around the given center point, with an optional scale factor.

See also

resize, scaleImage

Definition at line 1767 of file CImage.cpp.

References getChannelCount(), getHeight(), getWidth(), m_impl, makeSureImageIsLoaded(), and resize().

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saveToFile()

bool CImage::saveToFile	(	const std::string &	fileName,
		int	jpeg_quality = 95
	)		const

Save the image to a file, whose format is determined from the extension (internally uses OpenCV).

Parameters

fileName

The file to write to.

The supported formats are:

• Windows bitmaps - BMP, DIB;
• JPEG files - JPEG, JPG, JPE;
• Portable Network Graphics - PNG;
• Portable image format - PBM, PGM, PPM;
• Sun rasters - SR, RAS;
• TIFF files - TIFF, TIF.

Parameters

jpeg_quality

Only for JPEG files, the quality of the compression in the range [0-100]. Larger is better quality but slower.

Note

jpeg_quality is only effective if MRPT is compiled against OpenCV 1.1.0 or newer.

Returns

False on any error

See also

loadFromFile

Definition at line 330 of file CImage.cpp.

References ASSERT_, m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, params, and THROW_EXCEPTION.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), mrpt::hmtslam::CHMTSLAM::generateLogFiles(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences(), mrpt::slam::CMetricMapBuilderRBPF::saveCurrentEstimationToImage(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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saveToStreamAsJPEG()

void CImage::saveToStreamAsJPEG	(	mrpt::io::CStream &	out,
		const int	jpeg_quality = 95
	)		const

Save image to binary stream as a JPEG (.jpg) compressed format.

Exceptions

std::exception

On number of rows or cols equal to zero or other errors.

See also

saveToJPEG

Definition at line 346 of file CImage_JPEG_streams.cpp.

References ASSERT_, jpeg_compress_struct::image_height, jpeg_compress_struct::image_width, jpeg_compress_struct::in_color_space, jpeg_compress_struct::input_components, JCS_GRAYSCALE, JCS_RGB, jpeg_create_compress, jpeg_stdio_dest(), m_impl, makeSureImageIsLoaded(), MRPT_END, MRPT_START, MRPT_TODO(), out, and THROW_EXCEPTION.

Referenced by serializeTo().

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scaleDouble() [1/2]

CImage mrpt::img::CImage::scaleDouble ( TInterpolationMethod  interp ) const

inline

Returns a new image scaled up to double its original size.

Exceptions

std::exception

On odd size

See also

scaleHalf, scaleImage

Definition at line 329 of file img/CImage.h.

Referenced by TEST().

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scaleDouble() [2/2]

void CImage::scaleDouble	(	CImage &	out_image,
		TInterpolationMethod	interp
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 1037 of file CImage.cpp.

References getSize(), out, scaleImage(), mrpt::img::TPixelCoord::x, and mrpt::img::TPixelCoord::y.

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scaleHalf() [1/2]

CImage mrpt::img::CImage::scaleHalf ( TInterpolationMethod  interp ) const

inline

Returns a new image scaled down to half its original size.

Exceptions

std::exception

On odd size

See also

scaleDouble, scaleImage, scaleHalfSmooth

Definition at line 314 of file img/CImage.h.

Referenced by TEST().

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scaleHalf() [2/2]

bool CImage::scaleHalf	(	CImage &	out_image,
		TInterpolationMethod	interp
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Returns

true if an optimized SSE2/SSE3 version could be used.

Definition at line 989 of file CImage.cpp.

References getChannelCount(), image_SSE2_scale_half_1c8u(), image_SSE2_scale_half_smooth_1c8u(), image_SSSE3_scale_half_3c8u(), mrpt::img::IMG_INTERP_LINEAR, mrpt::img::IMG_INTERP_NN, interpolationMethod2Cv(), m_impl, makeSureImageIsLoaded(), out, resize(), mrpt::cpu::SSE2, mrpt::cpu::SSSE3, mrpt::cpu::supports(), and THROW_EXCEPTION.

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scaleImage()

void CImage::scaleImage	(	CImage &	out_img,
		unsigned int	width,
		unsigned int	height,
		TInterpolationMethod	interp = IMG_INTERP_CUBIC
	)		const

Scales this image to a new size, interpolating as needed, saving the new image in a different output object, or operating in-place if out_img==this.

See also

resize, rotateImage

Definition at line 1741 of file CImage.cpp.

References getChannelCount(), getHeight(), getWidth(), interpolationMethod2Cv(), m_impl, makeSureImageIsLoaded(), resize(), and resize().

Referenced by mrpt::hwdrivers::CCameraSensor::getNextFrame(), scaleDouble(), and TEST().

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selectTextFont()

void CCanvas::selectTextFont ( const std::string &  fontName )

virtualinherited

Select the current font used when drawing text.

Parameters

fontName

The name of the font

Valid font names:

• 5x7
• 6x13
• 6x13B
• 6x13O
• 9x15 (Default at start-up)
• 9x15B
• 10x20

• 18x18ja (Asian characters for UTF-8 strings - Only available if MRPT is built with MRPT_HAS_ASIAN_FONTS = true)

  

See also

textOut, The example in this page.

Definition at line 220 of file CCanvas.cpp.

References FontData::data, init_fonts_list(), list_registered_fonts, FontData::prepared_to_big_endian, and mrpt::reverseBytesInPlace().

Referenced by drawChessboardCorners(), and mrpt::img::CEnhancedMetaFile::selectVectorTextFont().

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SERIALIZATION_JPEG_QUALITY() [1/2]

void CImage::SERIALIZATION_JPEG_QUALITY ( int  q )

static

Unless DISABLE_JPEG_COMPRESSION=true, this sets the JPEG quality (range 1-100) of serialized RGB images.

(Default = 95)

Definition at line 61 of file CImage.cpp.

References SERIALIZATION_JPEG_QUALITY_value.

SERIALIZATION_JPEG_QUALITY() [2/2]

int CImage::SERIALIZATION_JPEG_QUALITY ( )

static

Definition at line 65 of file CImage.cpp.

References SERIALIZATION_JPEG_QUALITY_value.

Referenced by serializeTo().

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serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase &  in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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serializeFrom() [2/2]

void CImage::serializeFrom ( mrpt::serialization::CArchive &  in, uint8_t  serial_version  )

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 585 of file CImage.cpp.

References ASSERT_EQUAL_, mrpt::io::CMemoryStream::assignMemoryNotOwn(), mrpt::img::CH_GRAY, mrpt::img::CH_RGB, clear(), mrpt::img::D8U, loadFromStreamAsJPEG(), m_externalFile, m_imgIsExternalStorage, m_impl, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadBuffer(), resize(), mrpt::io::CMemoryStream::Seek(), and THROW_EXCEPTION.

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serializeGetVersion()

uint8_t CImage::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 482 of file CImage.cpp.

serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase &  out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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serializeTo() [2/2]

void CImage::serializeTo ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 490 of file CImage.cpp.

References ASSERT_, cvDepth2PixelDepth(), DISABLE_JPEG_COMPRESSION(), mrpt::io::CMemoryStream::getRawBufferData(), mrpt::io::CMemoryStream::getTotalBytesCount(), isColor(), m_externalFile, m_imgIsExternalStorage, m_impl, out, saveToStreamAsJPEG(), and SERIALIZATION_JPEG_QUALITY().

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setExternalStorage()

void CImage::setExternalStorage ( const std::string &  fileName )

noexcept

By using this method the image is marked as referenced to an external file, which will be loaded only under demand.

A CImage with external storage does not consume memory until some method trying to access the image is invoked (e.g. getWidth(), isColor(),...) At any moment, the image can be unloaded from memory again by invoking unload. An image becomes of type "external storage" only through calling setExternalStorage. This property remains after serializing the object. File names can be absolute, or relative to the CImage::getImagesPathBase() directory. Filenames staring with "X:\" or "/" are considered absolute paths. By calling this method the current contents of the image are NOT saved to that file, because this method can be also called to let the object know where to load the image in case its contents are required. Thus, for saving images in this format (not when loading) the proper order of commands should be:

img.saveToFile( fileName );
img.setExternalStorage( fileName );

Note

Modifications to the memory copy of the image are not automatically saved to disk.

See also

unload, isExternallyStored

Definition at line 1571 of file CImage.cpp.

References mrpt::containers::clear().

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and TEST().

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setFromImageReadOnly()

void mrpt::img::CImage::setFromImageReadOnly ( const CImage &  o )

inline

Definition at line 478 of file img/CImage.h.

References makeShallowCopy().

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setFromIplImageReadOnly()

void mrpt::img::CImage::setFromIplImageReadOnly ( IplImage *  iplImage )

inline

Definition at line 522 of file img/CImage.h.

References internal_fromIPL(), and mrpt::img::SHALLOW_COPY.

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setFromMatrix()

template<typename MAT >

void mrpt::img::CImage::setFromMatrix ( const MAT &  m, bool  matrix_is_normalized = true  )

inline

Set the image from a matrix, interpreted as grayscale intensity values, in the range [0,1] (normalized=true) or [0,255] (normalized=false) Matrix indexes are assumed to be in this order: M(row,column)

See also

getAsMatrix

Definition at line 844 of file img/CImage.h.

References mrpt::img::CH_GRAY, MRPT_END, MRPT_START, and resize().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::vision::normalizeImage(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateRangeImageViewport().

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setFromRGBMatrices()

template<typename MAT >

void mrpt::img::CImage::setFromRGBMatrices ( const MAT &  r, const MAT &  g, const MAT &  b, bool  matrix_is_normalized = true  )

inline

Set the image from RGB matrices, given the pixels in the range [0,1] (normalized=true) or [0,255] (normalized=false) Matrix indexes are assumed to be in this order: M(row,column)

See also

getAsRGBMatrices

Definition at line 877 of file img/CImage.h.

References ASSERT_, mrpt::img::CH_RGB, makeSureImageIsLoaded(), MRPT_END, MRPT_START, and resize().

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setImagesPathBase()

void CImage::setImagesPathBase ( const std::string &  path )

static

Definition at line 77 of file CImage.cpp.

References IMAGES_PATH_BASE().

Referenced by mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass(), mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::~CGraphSlamEngine().

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setPixel()

void CImage::setPixel ( int  x, int  y, size_t  color  )

overridevirtual

Changes the value of the pixel (x,y).

Pixel coordinates starts at the left-top corner of the image, and start in (0,0). The meaning of the parameter "color" depends on the implementation: it will usually be a 24bit RGB value (0x00RRGGBB), but it can also be just a 8bit gray level. This method must support (x,y) values OUT of the actual image size without neither raising exceptions, nor leading to memory access errors.

See also

at, ptr

Implements mrpt::img::CCanvas.

Definition at line 1076 of file CImage.cpp.

References ASSERT_, mrpt::img::D8U, getPixelDepth(), m_impl, makeSureImageIsLoaded(), MRPT_END, and MRPT_START.

Referenced by mrpt::detectors::CFaceDetection::experimental_segmentFace().

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swap()

void CImage::swap

(

CImage &

o

)

Efficiently swap of two images.

Definition at line 171 of file CImage.cpp.

References m_externalFile, m_imgIsExternalStorage, and m_impl.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), and TEST().

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swapRB()

void CImage::swapRB

(

)

Swaps red and blue channels.

Definition at line 1659 of file CImage.cpp.

References m_impl, and makeSureImageIsLoaded().

Referenced by loadFromXPM(), and mrpt::gui::MRPTImage2wxImage().

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textOut()

void CCanvas::textOut ( int  x0, int  y0, const std::string &  str, const mrpt::img::TColor  color  )

virtualinherited

Renders 2D text using bitmap fonts.

Parameters

x0	The x coordinates
y0	The y coordinates
str	The string to put. If using UNICODE characters, use UTF-8 encoding.
color	The text color

See also

selectTextFont

Reimplemented in mrpt::img::CEnhancedMetaFile.

Definition at line 374 of file CCanvas.cpp.

References mrpt::system::decodeUTF8(), isOriginTopLeft(), mrpt::system::os::memcpy(), MRPT_END, and MRPT_START.

Referenced by drawChessboardCorners(), mrpt::img::CCanvas::drawFeatures(), and mrpt::gui::CDisplayWindow::plot().

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triangle()

void CCanvas::triangle ( int  x0, int  y0, int  size, const mrpt::img::TColor  color, bool  inferior = true, unsigned int  width = 1  )

inherited

Draws a triangle.

Parameters

x0	The triangle center x coordinate
y0	The triangle center y coordinate
size	The size of the triangle
color	The color of the line
inferior	The position of the triangle
width	The desired width of the line.

See also

triangle

Definition at line 181 of file CCanvas.cpp.

References mrpt::round(), and mrpt::math::size().

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undistort()

void CImage::undistort	(	CImage &	out_img,
		const mrpt::img::TCamera &	cameraParams
	)		const

Undistort the image according to some camera parameters, and returns an output undistorted image.

Parameters

out_img	The output undistorted image
cameraParams	The input camera params (containing the intrinsic and distortion parameters of the camera)

Note

The intrinsic parameters (fx,fy,cx,cy) of the output image are the same than in the input image.

See also

mrpt::vision::CUndistortMap

Definition at line 1685 of file CImage.cpp.

References ASSERTMSG_, mrpt::img::TCamera::dist, getChannelCount(), mrpt::img::TCamera::intrinsicParams, m_impl, makeSureImageIsLoaded(), and resize().

Referenced by mrpt::hwdrivers::CRovio::captureImageAsync(), and mrpt::obs::CObservation3DRangeScan::undistort().

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unload()

void CImage::unload ( ) const

noexcept

For external storage image objects only, this method unloads the image from memory (or does nothing if already unloaded).

It does not need to be called explicitly, unless the user wants to save memory for images that will not be used often. If called for an image without the flag "external storage", it is simply ignored.

See also

setExternalStorage, forceLoad

Definition at line 1578 of file CImage.cpp.

References m_imgIsExternalStorage, and m_impl.

update_patch()

void CImage::update_patch	(	const CImage &	patch,
		const unsigned int	col,
		const unsigned int	row
	)

Update a part of this image with the "patch" given as argument.

The "patch" will be "pasted" at the (col,row) coordinates of this image.

Exceptions

std::exception

if patch pasted on the pixel (_row, _column) jut out of the image.

See also

extract_patch

Definition at line 1154 of file CImage.cpp.

References m_impl, and makeSureImageIsLoaded().

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writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

className

constexpr const char* mrpt::img::CImage::className = "mrpt::img" "::" "CImage"

static

Definition at line 150 of file img/CImage.h.

m_externalFile

std::string mrpt::img::CImage::m_externalFile

mutableprotected

The file name of a external storage image.

Definition at line 1036 of file img/CImage.h.

Referenced by getExternalStorageFile(), getExternalStorageFileAbsolutePath(), makeSureImageIsLoaded(), serializeFrom(), serializeTo(), and swap().

m_imgIsExternalStorage

bool mrpt::img::CImage::m_imgIsExternalStorage {false}

mutableprotected

Set to true only when using setExternalStorage.

See also

setExternalStorage

Definition at line 1033 of file img/CImage.h.

Referenced by getHeight(), getWidth(), isEmpty(), isExternallyStored(), loadFromFile(), loadFromMemoryBuffer(), makeSureImageIsLoaded(), serializeFrom(), serializeTo(), swap(), and unload().

m_impl

mrpt::pimpl<Impl> mrpt::img::CImage::m_impl

protected

Definition at line 1027 of file img/CImage.h.

Referenced by asCvMat(), asCvMatRef(), CImage(), colorImage(), drawChessboardCorners(), drawCircle(), drawImage(), equalizeHist(), extract_patch(), filterGaussian(), filterMedian(), flipHorizontal(), flipVertical(), getAsIplImage(), getAsMatrix(), getAsMatrixTiled(), getAsRGBMatrices(), getChannelCount(), getChannelsOrder(), getHeight(), getPixelDepth(), getRowStride(), getSize(), getWidth(), grayscale(), internal_fromIPL(), internal_get(), isColor(), isEmpty(), joinImagesHorz(), KLT_response(), line(), loadFromFile(), loadFromMemoryBuffer(), loadFromStreamAsJPEG(), loadTGA(), makeDeepCopy(), makeSureImageIsLoaded(), normalize(), operator()(), rectifyImageInPlace(), resize(), rotateImage(), saveToFile(), saveToStreamAsJPEG(), scaleHalf(), scaleImage(), serializeFrom(), serializeTo(), setPixel(), swap(), swapRB(), undistort(), unload(), and update_patch().

m_selectedFont

std::string mrpt::img::CCanvas::m_selectedFont {"9x15"}

protectedinherited

The selected font name.

Definition at line 45 of file CCanvas.h.

m_selectedFontBitmaps

const uint32_t* mrpt::img::CCanvas::m_selectedFontBitmaps {nullptr}

protectedinherited

Direct access to character bitmaps.

Definition at line 48 of file CCanvas.h.

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::img::CImage::runtimeClassId

staticprotected

Definition at line 150 of file img/CImage.h.