mrpt.img

mrpt-img Python API.

Package Contents

class mrpt.img.CImage

C++ API: class mrpt::img::CImage

CImage(array: numpy.ndarray)

A class for storing images as grayscale, RGB, or RGBA bitmaps.

as_numpy() → numpy.ndarray

Returns a zero-copy NumPy view of the image, of shape (height, width, channels) and dtype uint8 or uint16.

drawCircle(center: TPixelCoord, radius: int, color: TColor, width: int = 1) → None

Draws a circle of a given radius.

static from_numpy(array: numpy.ndarray) → CImage

Creates a CImage from a NumPy uint8 array of shape (H, W) or (H, W, C), with 1, 3 or 4 channels (the data is copied).

getHeight() → int

Image height in pixels

getWidth() → int

Image width in pixels

isColor() → bool

True if the image has 3 or 4 channels (RGB or RGBA)

loadFromFile(filename: str) → bool

Load image from file. Returns True on success.

resize(width: int, height: int, channels: int = 3, depth: PixelDepth = ...) → None

Changes the image size and number of channels (1, 3 or 4), erasing its contents (it does not scale them).

saveToFile(filename: str, jpeg_quality: int = 95) → bool

Save image to file. Returns True on success.

textOut(p: TPixelCoord, str: CImage.textOut.str, color: TColor) → None

Renders 2D text using bitmap fonts.

class mrpt.img.Color

Predefined TColor constants.

BLACK: ClassVar[_bindings.TColor]
BLUE: ClassVar[_bindings.TColor]
GREEN: ClassVar[_bindings.TColor]
RED: ClassVar[_bindings.TColor]
WHITE: ClassVar[_bindings.TColor]
class mrpt.img.DistortionModel(value: int)

Members:

none

plumb_bob

kannala_brandt

property name: str
property value: int
kannala_brandt: ClassVar[DistortionModel]
none: ClassVar[DistortionModel]
plumb_bob: ClassVar[DistortionModel]
class mrpt.img.PixelDepth(value: int)

Bit depth of each image channel

Members:

D8U

D16U

property name: str
property value: int
D16U: ClassVar[PixelDepth]
D8U: ClassVar[PixelDepth]
class mrpt.img.TCamera

C++ API: class mrpt::img::TCamera

Intrinsic parameters for a pinhole or fisheye camera model, along with the associated lens distortion model.

cx: float
cy: float
dist: list[float]
distortion: DistortionModel
fx: float
fy: float
ncols: int
nrows: int
intrinsicParams() → list[list[float]]

Return intrinsic matrix as 3x3 list of lists (use np.array() to convert).

class mrpt.img.TColor(r: int, g: int, b: int, alpha: int = 255)

C++ API: struct mrpt::img::TColor

TColor(arg0: list[int])

An RGBA color, 8 bits per channel.

A: int
B: int
G: int
R: int
class mrpt.img.TColorf

C++ API: struct mrpt::img::TColorf

TColorf(r: float, g: float, b: float, alpha: float = 1.0) TColorf(color: TColor)

An RGBA color - floats in the range [0,1].

A: float
B: float
G: float
R: float
asTColor() → TColor

Converts to a TColor with uint8 components

class mrpt.img.TColormap(value: int)

Members:

cmNONE

cmGRAYSCALE

cmJET

cmHOT

property name: str
property value: int
cmGRAYSCALE: ClassVar[TColormap]
cmHOT: ClassVar[TColormap]
cmJET: ClassVar[TColormap]
cmNONE: ClassVar[TColormap]
class mrpt.img.TPixelCoord(arg0: int, arg1: int)

Integer pixel coordinates (x, y).

x: int
y: int
class mrpt.img.TPixelCoordf(arg0: float, arg1: float)

Sub-pixel coordinates (x, y), as floats.

x: float
y: float
class mrpt.img.TStereoCamera

C++ API: class mrpt::img::TStereoCamera

Bases: mrpt.serialization.CSerializable

Structure to hold the parameters of a pinhole stereo camera model.

leftCamera: TCamera
rightCamera: TCamera
rightCameraPose: mrpt.math.TPose3DQuat
mrpt.img.colormap(color_map: TColormap, color_index: float) → TColorf

Maps a value in [0,1] to a TColorf using the given colormap