Image utilities. More...

Classes
struct	PCL_ROI

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

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

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

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

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

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

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

Detailed Description

Image utilities.

PointCloud utilities.

Function Documentation

◆ depthRgbToPC()

template<typename T1 , typename T2 >

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

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

Parameters

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

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

Returns: the pointcloud obtained by the de-projection.

Definition at line 68 of file PointCloudUtils-inl.h.

◆ depthToPC() [1/2]

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

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

Parameters

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

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

Returns: the pointcloud obtained by the de-projection.

Definition at line 19 of file PointCloudUtils.cpp.

◆ depthToPC() [2/2]

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

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

Parameters

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

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

Returns: the pointcloud obtained by the de-projection.

Definition at line 43 of file PointCloudUtils.cpp.

◆ horzConcat()

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

horzConcat, concatenate horizontally two images of the same size in one with double width.

Parameters

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

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

Returns: true on success, false otherwise.

Definition at line 69 of file ImageUtils.cpp.

◆ horzSplit()

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

horzSplit, split horizontally an image in two images of the same size.

Parameters

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

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

Returns: true on success, false otherwise.

Definition at line 52 of file ImageUtils.cpp.

◆ vertConcat()

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

vertConcat, concatenate vertically two images of the same size in one with double height.

Parameters

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

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

Returns: true on success, false otherwise.

Definition at line 100 of file ImageUtils.cpp.

◆ vertSplit()

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

vertSplit, split vertically an image in two images of the same size.

Parameters

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

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

Returns: true on success, false otherwise.

Definition at line 25 of file ImageUtils.cpp.

Classes

Functions

Detailed Description

Function Documentation

◆ depthRgbToPC()

◆ depthToPC() [1/2]

◆ depthToPC() [2/2]

◆ horzConcat()

◆ horzSplit()

◆ vertConcat()

◆ vertSplit()