Classes
class	BlendImagesNodelet

class	ContrastStretchNodelet

class	CrosshairsNodelet

class	DrawPolygonNodelet

class	DrawTextNodelet

class	ImagePubNodelet

class	NormalizeResponseNodelet

class	PitchAndRollEstimator
	A class for estimating image warping based on perspective distortion. Primarily intended for use with downward-facing camera methods. More...

class	PitchAndRollEstimatorQueue
	A class for estimating image warping based on perspective distortion. Primarily intended for use with downward-facing camera methods. More...

class	ReplaceColorsNodelet

class	RollingNormalization

class	RotateImageNodelet

class	ScaleImageNodelet

class	WarpImageNodelet

Typedefs
typedef cv::Rect_< double >	BoundingBox

Functions
void	ContrastStretch (int32_t grid_size, const cv::Mat &source_image, cv::Mat &dest_image, const cv::Mat &mask=cv::Mat(), double max_min=0.0, double min_max=0.0)

void	ConvertMatches (const std::vector< cv::KeyPoint > &kp1, const std::vector< cv::KeyPoint > &kp2, const std::vector< cv::DMatch > &matches, cv::Mat &kp1_out, cv::Mat &kp2_out)
	Converts keypoints and matches into two cv::Mats in which the the matching keypoints from kp1 and kp2 are ordered in the same manner. More...

void	DrawMatches (cv::Mat &image_out, const cv::Mat image1, const cv::Mat image2, const cv::Mat points1, const cv::Mat points2, const cv::Scalar &color=cv::Scalar::all(-1), bool draw_image_borders=false)

void	DrawMatches (const std::string &title, const cv::Mat image1, const cv::Mat image2, const cv::Mat points1, const cv::Mat points2, const cv::Scalar &color=cv::Scalar::all(-1), bool draw_image_borders=false)

void	DrawMatches (const std::string &title, const cv::Mat image, const cv::Mat points1, const cv::Mat points2, const cv::Scalar &color1, const cv::Scalar &color2, bool draw_image_borders=false)

void	DrawOverlap (const std::string &title, const cv::Mat &image1, const cv::Mat &image2, const cv::Mat &transform)

cv::Mat	generate_normalization_image (const std::vector< cv::Mat > &image_list)
	Computes a best estimate of a normalization image from a vector of images. More...

std::vector< tf::Vector3 >	GetEllipsePoints (const cv::Mat &ellipse, const tf::Vector3 &center, double scale, int32_t num_points)

void	GetFundamentalInliers (const cv::Mat points1, const cv::Mat points2, cv::Mat &fundamental_matrix, cv::Mat &inliers1, cv::Mat &inliers2, double max_distance=1.0, double confidence=0.99)
	Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames. More...

void	GetFundamentalInliers (const cv::Mat points1, const cv::Mat points2, cv::Mat &fundamental_matrix, cv::Mat &inliers1, cv::Mat &inliers2, std::vector< uint32_t > &indices, double max_distance=1.0, double confidence=0.99)
	Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames. More...

double	GetOverlappingArea (const cv::Rect &rect, const cv::Mat &rigid_transform)

cv::Mat	GetR (double pitch, double roll, double yaw=0.0)
	Gets the rotation matrix associated with the specified pitch and roll values. More...

bool	Intersects (const BoundingBox &box1, const BoundingBox &box2)

void	JetColorMap (unsigned char &r, unsigned char &g, unsigned char &b, float value, float min, float max)
	Map a scalar value to a color gradient. More...

void	MaskedBoxFilter (cv::Mat &mat, cv::Mat &mask, int32_t kernel_size)

void	normalize_illumination (cv::Mat NormImage, cv::Mat SourceImage, cv::Mat &DestImage)

void	NormalizeResponse (const cv::Mat &src, cv::Mat &dst, int winsize, int ftzero, uchar *buf)

cv::Mat	ProjectEllipsoid (const cv::Mat &ellipsiod)

void	RandomColor (int32_t seed, double &r, double &g, double &b)

void	replaceColors (const cv::Mat &original_image, const cv::Mat &lut, cv::Mat &modified_image)

cv::Mat	scale_2_8bit (const cv::Mat &image)
	Convert the input Mat to 8 bit. More...

cv::Mat	scale_2_8bit_color (const cv::Mat &image)
	Convert the input Mat to 8 bit color. More...

cv::Mat	WarpImage (const cv::Mat &image, double roll, double pitch)

void	WarpPoints (double pitch, double roll, const cv::Size &image_size, const cv::Mat &pts_in, cv::Mat &pts_out)

void	WarpPoints (double pitch, double roll, const cv::Size &image_size, const std::vector< cv::KeyPoint > &pts_in, std::vector< cv::KeyPoint > &pts_out)

Variables
const double	DEFAULT_ALPHA_LEVEL = 0.5

const int32_t	MAX_RGB_VALUE = 255

const cv::Scalar	NO_MASK = cv::Scalar(-1, -1, -1)

const int32_t	NUM_GRAY_VALUES = 256

Typedef Documentation

◆ BoundingBox

typedef cv::Rect_<double> swri_image_util::BoundingBox

Definition at line 31 of file geometry_util.h.

Function Documentation

◆ ContrastStretch()

void swri_image_util::ContrastStretch	(	int32_t	grid_size,
		const cv::Mat &	source_image,
		cv::Mat &	dest_image,
		const cv::Mat &	mask = `cv::Mat()`,
		double	max_min = `0.0`,
		double	min_max = `0.0`
	)

Normalizes the illumination in an image using contrast stretching.

Parameters

[in]	grid_size	The grid size to normalize on
[in]	source_image	The image to normalize
[out]	dest_image	The resulting normalized image

Definition at line 135 of file image_normalization.cpp.

◆ ConvertMatches()

void swri_image_util::ConvertMatches	(	const std::vector< cv::KeyPoint > &	kp1,
		const std::vector< cv::KeyPoint > &	kp2,
		const std::vector< cv::DMatch > &	matches,
		cv::Mat &	kp1_out,
		cv::Mat &	kp2_out
	)

Converts keypoints and matches into two cv::Mats in which the the matching keypoints from kp1 and kp2 are ordered in the same manner.

Parameters

[in]	kp1	The first set of keypoints
[in]	kp2	The second set of keypoints
[in]	matches	The vector of matches
[out]	kp1_out	The first set of matching keypoints output as a Mat
[out]	kp2_out	The second set of matching keypoints output as a Mat

Definition at line 109 of file image_matching.cpp.

◆ DrawMatches() [1/3]

void swri_image_util::DrawMatches	(	cv::Mat &	image_out,
		const cv::Mat	image1,
		const cv::Mat	image2,
		const cv::Mat	points1,
		const cv::Mat	points2,
		const cv::Scalar &	color = `cv::Scalar::all(-1)`,
		bool	draw_image_borders = `false`
	)

Definition at line 127 of file draw_util.cpp.

◆ DrawMatches() [2/3]

void swri_image_util::DrawMatches	(	const std::string &	title,
		const cv::Mat	image1,
		const cv::Mat	image2,
		const cv::Mat	points1,
		const cv::Mat	points2,
		const cv::Scalar &	color = `cv::Scalar::all(-1)`,
		bool	draw_image_borders = `false`
	)

Definition at line 196 of file draw_util.cpp.

◆ DrawMatches() [3/3]

void swri_image_util::DrawMatches	(	const std::string &	title,
		const cv::Mat	image,
		const cv::Mat	points1,
		const cv::Mat	points2,
		const cv::Scalar &	color1,
		const cv::Scalar &	color2,
		bool	draw_image_borders = `false`
	)

Definition at line 217 of file draw_util.cpp.

◆ DrawOverlap()

void swri_image_util::DrawOverlap	(	const std::string &	title,
		const cv::Mat &	image1,
		const cv::Mat &	image2,
		const cv::Mat &	transform
	)

Definition at line 106 of file draw_util.cpp.

◆ generate_normalization_image()

cv::Mat swri_image_util::generate_normalization_image ( const std::vector< cv::Mat > & image_list )

Computes a best estimate of a normalization image from a vector of images.

Parameters

[in] image_list A vector of images – it is best to have a diversity of images in this list.

Return values

Returns the normalization image

Definition at line 54 of file image_normalization.cpp.

◆ GetEllipsePoints()

std::vector< tf::Vector3 > swri_image_util::GetEllipsePoints	(	const cv::Mat &	ellipse,
		const tf::Vector3 &	center,
		double	scale,
		int32_t	num_points
	)

Gets a list of points on the perimeter of an ellipse.

Parameters

[in]	ellipse	The ellipse represented as a 2x2 float matrix.
[in]	center	The center of the ellipse.
[in]	scale	A scale factor.
[in]	num_points	The number of points to use.

Returns: A list of points on the perimeter of the ellipse if successful. An empty list otherwise.

Definition at line 195 of file geometry_util.cpp.

◆ GetFundamentalInliers() [1/2]

void swri_image_util::GetFundamentalInliers	(	const cv::Mat	points1,
		const cv::Mat	points2,
		cv::Mat &	fundamental_matrix,
		cv::Mat &	inliers1,
		cv::Mat &	inliers2,
		double	max_distance = `1.0`,
		double	confidence = `0.99`
	)

Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames.

Parameters

[in]	points1	The keypoints for the first image
[in]	points2	The matching keypoints for a second image
[out]	fundamental_matrix	The computed fundamental matrix
[out]	inliers1	The inlier keypoints from the first set
[out]	inliers2	The inlier keypoints from the second set
[in]	max_distance	The maximum allowable distance (in pixels) from the computed epipolar line
[in]	confidence	The confidence level (which affects the number of iterations)

Definition at line 43 of file image_matching.cpp.

◆ GetFundamentalInliers() [2/2]

void swri_image_util::GetFundamentalInliers	(	const cv::Mat	points1,
		const cv::Mat	points2,
		cv::Mat &	fundamental_matrix,
		cv::Mat &	inliers1,
		cv::Mat &	inliers2,
		std::vector< uint32_t > &	indices,
		double	max_distance = `1.0`,
		double	confidence = `0.99`
	)

Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames.

Parameters

[in]	points1	The keypoints for the first image
[in]	points2	The matching keypoints for a second image
[out]	fundamental_matrix	The computed fundamental matrix
[out]	inliers1	The inlier keypoints from the first set
[out]	inliers2	The inlier keypoints from the second set
[out]	indices	The indices of the inlier keypoints
[in]	max_distance	The maximum allowable distance (in pixels) from the computed epipolar line
[in]	confidence	The confidence level (which affects the number of iterations)

Definition at line 61 of file image_matching.cpp.

◆ GetOverlappingArea()

double swri_image_util::GetOverlappingArea	(	const cv::Rect &	rect,
		const cv::Mat &	rigid_transform
	)

Calculate the overlapping area of a rectangle an a rigidly transformed version of itself.

Parameters

[in]	rect	The rectangle.
[in]	rigid_transform	The rigid transform.

Returns: The area of intersection of the two rectangles.

Definition at line 51 of file geometry_util.cpp.

◆ GetR()

cv::Mat swri_image_util::GetR	(	double	pitch,
		double	roll,
		double	yaw = `0.0`
	)

Gets the rotation matrix associated with the specified pitch and roll values.

Parameters

[in]	pitch	The pitch value
[in]	roll	The roll value
[in]	yaw	The yaw value (default = 0.0);

Return values

Returns the appropriately formatted rotation matrix

Definition at line 116 of file image_warp_util.cpp.

◆ Intersects()

bool swri_image_util::Intersects	(	const BoundingBox &	box1,
		const BoundingBox &	box2
	)

Determine if two aligned rectangles intersect one another.

Parameters

[in]	box1	The first rectangle.
[in]	box2	The second rectangle.

Returns: True if box1 intersects with box2. False otherwise.

Definition at line 46 of file geometry_util.cpp.

◆ JetColorMap()

void swri_image_util::JetColorMap	(	unsigned char &	r,
		unsigned char &	g,
		unsigned char &	b,
		float	value,
		float	min,
		float	max
	)

Map a scalar value to a color gradient.

Return a color gradient RGB value by mapping an input value to a specified scale.

Parameters

[out]	r	Red channel of the output gradient color.
[out]	g	Green channel of the output gradient color.
[out]	b	Blue channel of the output gradient color.
[in]	value	The input value to be mapped to a color.
[in]	min	The minimum value on the gradient scale.
[in]	max	The maximum value on the gradient scale.

Definition at line 53 of file draw_util.cpp.

◆ MaskedBoxFilter()

void swri_image_util::MaskedBoxFilter	(	cv::Mat &	mat,
		cv::Mat &	mask,
		int32_t	kernel_size
	)

Definition at line 111 of file image_normalization.cpp.

◆ normalize_illumination()

void swri_image_util::normalize_illumination	(	cv::Mat	NormImage,
		cv::Mat	SourceImage,
		cv::Mat &	DestImage
	)

Normalizes the illumination in an image using a normalization image as a template

Parameters

[in]	NormImage	A normalization image
[in]	SourceImage	The image to normalize
[out]	DestImage	The resulting normalized image

Definition at line 40 of file image_normalization.cpp.

◆ NormalizeResponse()

void swri_image_util::NormalizeResponse	(	const cv::Mat &	src,
		cv::Mat &	dst,
		int	winsize,
		int	ftzero,
		uchar *	buf
	)

Normalizes the illumination in an image using approach from OpenCV's stereo block matching.

Definition at line 289 of file image_normalization.cpp.

◆ ProjectEllipsoid()

cv::Mat swri_image_util::ProjectEllipsoid ( const cv::Mat & ellipsiod )

Projects a 3D ellipsoid to an ellipse on the XY-plane.

Parameters

[in] ellipsoid The ellipsoid represented as a 3x3 float matrix.

Returns: The ellipse as a 2x2 float matrix if successful. An empty matrix otherwise.

Definition at line 73 of file geometry_util.cpp.

◆ RandomColor()

void swri_image_util::RandomColor	(	int32_t	seed,
		double &	r,
		double &	g,
		double &	b
	)

Definition at line 44 of file draw_util.cpp.

◆ replaceColors()

void swri_image_util::replaceColors	(	const cv::Mat &	original_image,
		const cv::Mat &	lut,
		cv::Mat &	modified_image
	)

Replaces the colors in original_image with the values from the look up table in lut. The modified image is stored in modified_image

Definition at line 37 of file replace_colors.cpp.

◆ scale_2_8bit()

cv::Mat swri_image_util::scale_2_8bit ( const cv::Mat & image )

Convert the input Mat to 8 bit.

Parameters

[in] image The input image

Returns: The 8-bit Mat.

Definition at line 373 of file image_normalization.cpp.

◆ scale_2_8bit_color()

cv::Mat swri_image_util::scale_2_8bit_color ( const cv::Mat & image )

Convert the input Mat to 8 bit color.

Parameters

[in] image The input image

Returns: The 8-bit color Mat.

Definition at line 389 of file image_normalization.cpp.

◆ WarpImage()

cv::Mat swri_image_util::WarpImage	(	const cv::Mat &	image,
		double	roll,
		double	pitch
	)

Definition at line 37 of file image_warp_util.cpp.

◆ WarpPoints() [1/2]

void swri_image_util::WarpPoints	(	double	pitch,
		double	roll,
		const cv::Size &	image_size,
		const cv::Mat &	pts_in,
		cv::Mat &	pts_out
	)

Warps a matrix of points (in the same form as the inliers)

Parameters

[in]	pitch	The pitch used to warp the point
[in]	roll	The roll used to warp the point
[in]	image_size	The size of the (unwarped) image
[in]	pts_in	The points to warp
[out]	pts_out	The warped points

Definition at line 60 of file image_warp_util.cpp.

◆ WarpPoints() [2/2]

void swri_image_util::WarpPoints	(	double	pitch,
		double	roll,
		const cv::Size &	image_size,
		const std::vector< cv::KeyPoint > &	pts_in,
		std::vector< cv::KeyPoint > &	pts_out
	)

Warps a matrix of points (in the same form as the inliers)

Parameters

[in]	pitch	The pitch used to warp the point
[in]	roll	The roll used to warp the point
[in]	image_size	The size of the (unwarped) image
[in]	pts_in	The points to warp
[out]	pts_out	The warped points

Definition at line 88 of file image_warp_util.cpp.

Variable Documentation

◆ DEFAULT_ALPHA_LEVEL

const double swri_image_util::DEFAULT_ALPHA_LEVEL = 0.5

Definition at line 44 of file blend_images_nodelet.cpp.

◆ MAX_RGB_VALUE

const int32_t swri_image_util::MAX_RGB_VALUE = 255

Definition at line 50 of file replace_colors_nodelet.cpp.

◆ NO_MASK

const cv::Scalar swri_image_util::NO_MASK = cv::Scalar(-1, -1, -1)

Definition at line 45 of file blend_images_nodelet.cpp.

◆ NUM_GRAY_VALUES

const int32_t swri_image_util::NUM_GRAY_VALUES = 256

Definition at line 47 of file replace_colors_nodelet.cpp.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ BoundingBox

Function Documentation

◆ ContrastStretch()

◆ ConvertMatches()

◆ DrawMatches() [1/3]

◆ DrawMatches() [2/3]

◆ DrawMatches() [3/3]

◆ DrawOverlap()

◆ generate_normalization_image()

◆ GetEllipsePoints()

◆ GetFundamentalInliers() [1/2]

◆ GetFundamentalInliers() [2/2]

◆ GetOverlappingArea()

◆ GetR()

◆ Intersects()

◆ JetColorMap()

◆ MaskedBoxFilter()

◆ normalize_illumination()

◆ NormalizeResponse()

◆ ProjectEllipsoid()

◆ RandomColor()

◆ replaceColors()

◆ scale_2_8bit()

◆ scale_2_8bit_color()

◆ WarpImage()

◆ WarpPoints() [1/2]

◆ WarpPoints() [2/2]

Variable Documentation

◆ DEFAULT_ALPHA_LEVEL

◆ MAX_RGB_VALUE

◆ NO_MASK

◆ NUM_GRAY_VALUES