VisionUtils.h

Go to the documentation of this file.

/****************************************************************
*
* Copyright (c) 2010
*
* Fraunhofer Institute for Manufacturing Engineering
* and Automation (IPA)
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Project name: care-o-bot
* ROS stack name: cob_common
* ROS package name: cob_vision_utils
* Description: Utility functions for Fraunhofer IPA vision library.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: July 2008
* ToDo:
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Fraunhofer Institute for Manufacturing
* Engineering and Automation (IPA) nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License LGPL as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License LGPL for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License LGPL along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************/
 

#ifndef __IPA_VISIONUTILS_H__
#define __IPA_VISIONUTILS_H__

#ifdef __LINUX__
        #include "cob_vision_utils/GlobalDefines.h"

        #include <opencv/cv.h>
#else
        #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/GlobalDefines.h"

        #include <cv.h>
#endif

#include <iostream>

namespace ipa_Utils {


cv::Mat vstack(const std::vector<cv::Mat> &mats);

void InitUndistortMap( const cv::Mat& A, const cv::Mat& dist_coeffs,
                    cv::Mat& mapxarr, cv::Mat& mapyarr );

unsigned long ConvertToShowImage(const cv::Mat& source, cv::Mat& dest, int channel = 1, double min = -1, double max = -1);

unsigned long MaskImage(const cv::Mat& source, cv::Mat& dest, const cv::Mat& mask, cv::Mat& destMask, float minMaskThresh = 0,
                                                float maxMaskTresh = 20000, int sourceChannel = 1, double sourceMin = -1, double sourceMax = -1);

unsigned long EvaluatePolynomial(double x, int degree, double* coefficients, double* y);

unsigned long FilterByAmplitude(cv::Mat& xyzImage, const cv::Mat& greyImage, cv::Mat* mask, cv::Mat* maskColor, float minMaskThresh, float maxMaskThresh);

unsigned long FilterTearOffEdges(cv::Mat& xyzImage, cv::Mat* mask, float piHalfFraction = 6);

unsigned long FilterSpeckles( cv::Mat& img, int maxSpeckleSize, double _maxDiff, cv::Mat& _buf );

cv::Vec3f GrayColorMap(double value, double min, double max);

cv::Mat GetColorcoded(const cv::Mat& img_32F);

cv::Mat GetColorcoded(const cv::Mat& img_32F, double min, double max);

unsigned long SaveMat(cv::Mat& mat, std::string filename);

unsigned long LoadMat(cv::Mat& mat, std::string filename);


} // end namespace __IPA_VISIONUTILS_H__


#endif

---

cob_vision_utils
Author(s): Jan Fischer
autogenerated on Fri Jan 11 09:40:36 2013