Classes | Enumerations | Functions
ipa_Utils Namespace Reference

Classes

class  UniqueNumber

Enumerations

enum  { RET_OK = 0x00000001UL, RET_FAILED = 0x00000002UL, RET_WARNING = 0x00000004UL }

Functions

template<typename Distance >
void ClusteringKMeanspp (int k, cv::Mat &dataset, int *indices, int indices_length, int *centers, int &centers_length, int numLocalTries=1)
unsigned long ConvertToShowImage (const cv::Mat &source, cv::Mat &dest, int channel=1, double min=-1, double max=-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 FilterSpeckles (cv::Mat &img, int maxSpeckleSize, double _maxDiff, cv::Mat &_buf)
 Description.
unsigned long FilterTearOffEdges (cv::Mat &xyzImage, cv::Mat *mask, float piHalfFraction=6)
cv::Mat GetColorcoded (const cv::Mat &img_32F)
cv::Mat GetColorcoded (const cv::Mat &img_32F, double min, double max)
cv::Vec3b GrayColorMap (double value, double min, double max)
void InitUndistortMap (const cv::Mat &A, const cv::Mat &dist_coeffs, cv::Mat &mapxarr, cv::Mat &mapyarr)
 Function to replace the buggy OpenCV 1.1 function.
unsigned long LoadMat (cv::Mat &mat, std::string filename, int type=CV_32F)
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 SaveMat (cv::Mat &mat, std::string filename, int type=CV_32F)
template<class T >
std::vector< T > takeRandomN (const std::vector< T > &v, int n)
cv::Mat vstack (const std::vector< cv::Mat > &mats)

Enumeration Type Documentation

anonymous enum

An enum for the return values. This enum describes possible return values that are used to return failure or success.

Enumerator:
RET_OK 

Everythings OK.

RET_FAILED 

Something went dramatically wrong.

RET_WARNING 

Something went wrong.

Definition at line 70 of file GlobalDefines.h.


Function Documentation

template<typename Distance >
void ipa_Utils::ClusteringKMeanspp ( int  k,
cv::Mat &  dataset,
int *  indices,
int  indices_length,
int *  centers,
int &  centers_length,
int  numLocalTries = 1 
)

Original implementation from OpenCV, hierarchical_clustering_index.h Chooses the initial centers in the k-means using the algorithm proposed in the KMeans++ paper: Arthur, David; Vassilvitskii, Sergei - k-means++: The Advantages of Careful Seeding

Definition at line 174 of file VisionUtils.h.

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

Function to convert a 32 bit, n channel image into a eight bit, 1 channel image.

Parameters:
sourceThe 32 bit, n channel source image
destThe resulting 8 bit, 1 channel image
channelThe channel of the source image to process
minMinimal value that is converted, smaller values are clipped to min
maxMaximal value that is converted, bigger values are clipped to max
Returns:
Return code

Calculate minmal and maximal value within the specified image channel

Definition at line 371 of file VisionUtils.cpp.

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

Evaluates a polynomial, calculated with FitPolynomial

Parameters:
xThe function value
degreeThe degree of the polynomial
coefficientsPointer to an array of the degree+1 coefficients fo the polynomial
yThe resulting function value
Returns:
Return code

Definition at line 101 of file VisionUtils.cpp.

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

Filters a 3D range image with help of the amplitude image

Parameters:
xyzImageA 3 channel, 32bit image, containing the xyz-data, filtered values are set to 0.
greyImageA 3 channel, 32bit image, containing the amplitude data
maskThe resulting mask image (32F1).
maskColorThe resulting color mask. Pixels are set to different colors if they are filtered or not.
minMaskThreshLower border for filtering.
maxMaskThreshUpper border for filtering.

build color mask from amplitude values

Definition at line 478 of file VisionUtils.cpp.

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

Description.

Definition at line 786 of file VisionUtils.cpp.

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

Filters tear-off edges from a 3D range image. All tear off edges are masked with a value of 255 in mask image. All other points are 0.

Parameters:
xyzImageA 3 channel, 32bit image, containing the xyz-data, filtered values are set to 0.
maskThe resulting image mask
piHalfFractionAngles between (PI/2)/'piHalfFraction' and (2*PI)-(PI/2)/'piHalfFraction' are not discarded
Returns:
Return code

Check if destination image has been initialized correctly

Extract four surrounding neighbor vectors that have a non zero mask value

x x o x x

Counte the amount of times, we satisfy the thresholds

Vector Middle (must exist)

Vector Left

Vector Right

Vector Up

Vector Down

Mask value if angle exceeded threshold too often

Definition at line 565 of file VisionUtils.cpp.

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

Returns mat as HSV or gray image

Parameters:
img_32FFloat matrix
Returns:
Colorcoded image

Definition at line 900 of file VisionUtils.cpp.

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

Returns mat as HSV or gray image

Parameters:
img_32FFloat matrix
minMinimum for scaling
maxMaximum for scaling
Returns:
Colorcoded image

Definition at line 910 of file VisionUtils.cpp.

cv::Vec3b ipa_Utils::GrayColorMap ( double  value,
double  min,
double  max 
)

Returns mat as HSV or gray image

Parameters:
valueValue to convert
minMinimum for scaling
maxMaximum for scaling
Returns:
Vector containing RGB values

Definition at line 891 of file VisionUtils.cpp.

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

Function to replace the buggy OpenCV 1.1 function.

Definition at line 113 of file VisionUtils.cpp.

unsigned long ipa_Utils::LoadMat ( cv::Mat &  mat,
std::string  filename,
int  type = CV_32F 
)

Load OpenCV matrix in binary format.

Parameters:
matThe OpenCV mat data structure
filenameThe filename
Returns:
Return code

Definition at line 1017 of file VisionUtils.cpp.

unsigned long ipa_Utils::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 
)

Function to mask image source with image mask. All Pixels in source will be set to 0 if the corresponding pixel in mask is outside the interval [minMaskThresh, maxMaskTresh]. Additionally the source image values can be bounded to [sourceMin, sourceMax].

Parameters:
sourceThe source image.
destThe destination image.
maskThe image used as mask for the source image.
destMaskThe resulting destination mask image (32F1).
minMaskThreshLower border for masking.
maxMaskThreshUpper border for masking.
sourceChannelChannel to be bounded in source image.
sourceMinLower border for bounding source image.
sourceMaxUpper border for bounding source image.

Check if destination image has been initialized correctly

Check if mask image has been initialized correctly

Calculate minmal and maximal value within the specified image sourceChannel Channel must be within [1, source->nChannels]

Definition at line 182 of file VisionUtils.cpp.

unsigned long ipa_Utils::SaveMat ( cv::Mat &  mat,
std::string  filename,
int  type = CV_32F 
)

Save OpenCV matrix in binary format.

Parameters:
matThe OpenCV mat data structure
filenameThe filename
Returns:
Return code

Definition at line 969 of file VisionUtils.cpp.

template<class T >
std::vector<T> ipa_Utils::takeRandomN ( const std::vector< T > &  v,
int  n 
)

Definition at line 252 of file VisionUtils.h.

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

Combines different matrices row wise, so that the number of columns remains the same and the number of rows increases.

Returns:
The stacked matrix

Definition at line 64 of file VisionUtils.cpp.

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cob_vision_utils
Author(s): Jan Fischer
autogenerated on Sat Mar 9 2013 11:24:23