#include <uimage.h>

Inheritance diagram for UImage:

Public Member Functions
void	clear (UPixel rgb)

void	clear (void)

void	clear (int v)

bool	colorSaturate (double gain)

bool	colourSaturate (double gain)

bool	copy (UImage *source)

bool	copyAndScale (UImage *source, double factor)

bool	copyJustImage (UImage *source)

bool	copyMeta (UImage *source, bool andSize)

bool	copyScaleDown (UImage *source, int factor)

bool	copyToMaxRes (UImage *source)

CvArr *	cvArr ()

void	edgeSobel (UImage *destination, bool absoluteValue=true, int reducFactor=1)

bool	fromMat (char *colorFormatString=NULL)

bool	fromMat (cv::Mat src, char *colorFormatString=NULL)

unsigned int	getBufferSize ()
	Get number of bytes in image buffer. This is the total size of the allocated image buffer. This may be larger than the the number of bytes actually used by the image, and allows thus change in image size or format without allocating new buffer space. More...

int	getChannels ()

char *	getCharRef (unsigned int line, unsigned int column)

int	getColorType ()

const char *	getColorTypeString ()

UImage **	getConvertBuffer ()

UPixel *	getData ()

unsigned int	getDataSize ()

int	getDepth ()

unsigned int	getHeight ()

UTime	getImageTime ()

int *	getIntRef (unsigned int line, unsigned int column)

IplImage *	getIplImage ()

UPixel *	getLine (unsigned int line)

bool	GetNewNonCameraImage ()

UPixel	getPix (unsigned int line, unsigned int column)

UPixel	getPix (unsigned int line, unsigned int column, int inColFormat)

int	getPixInt (unsigned int line, unsigned int column)

UPixel *	getPixRef (unsigned int line, unsigned int column)

bool	getQuadPix (unsigned int line, unsigned int column, unsigned char I11, unsigned char I12, unsigned char I21, unsigned char I22, unsigned char U, unsigned char V)

unsigned char *	getUCharRef (unsigned int line, unsigned int column)

unsigned char *	getUline (unsigned int line)

UTime	getUpdatedTime ()

unsigned char *	getVline (unsigned int line)

unsigned int	getWidth ()

unsigned char *	getYline (unsigned int line)

void	gridLine (float Pos, char axis, float minH, float maxH, float minW, float maxW, char sw= 'y', int Color=1)

void	gridLines (float major, float minor, char axis, float minH, float maxH, float minW, float maxW, char sw)

unsigned int	height ()

void	hLine (unsigned int line, unsigned int c1, unsigned int c2, int p1, int p2, int p3)

unsigned int	imgBytes ()

virtual void	imgUpdated ()

bool	initImage (const unsigned int iHeight, const unsigned int iWidth, char *data, const unsigned int bufferSize, const int channels=3, const int depth=8)

bool	inRange (int line, int column)

bool	invertY ()

bool	isBayer ()

bool	isBGR ()

bool	isBW ()

bool	isBW16s ()

bool	isBW16u ()

bool	isRGB ()

bool	isRGBA ()

bool	isTooBig (const unsigned int w, const unsigned int h)

bool	isValid ()

bool	isYUV ()

bool	isYUV420 ()

bool	isYUV422 ()

void	lineInGrid (UPosition pos1, UPosition pos2, float minH, float maxH, float minW, float maxW, char sw, UPixel rgb, UMatrix4 mA=NULL, int lineWidth=1)

bool	loadBMP (const char filename[])

bool	loadBMP (const char path[], const char basename[], const int num, const char nameAdd[])

bool	loadPNG (const char *filename)

unsigned int	maxBytes ()

unsigned int	maxPixels ()

bool	median (UImage *dimg, unsigned int row1, unsigned int col1, unsigned int row2, unsigned int col2, unsigned int fW, unsigned int fH)

void	moveBW16ToRGB (UImage *dest)

int	packZLIB (char *buffer, int bufferSize)

void	paintGridAligned (const int r0, const int c0, const double pixPerM, const int strongTicEvery)

int	pixCmp (UPixel p1, UPixel p2)

UPixel	pixRGB (unsigned char r, unsigned char g, unsigned char b)

UPixel *	pixSort (UPixel ***ps, int pixCnt)

UPixel	pixYUV (unsigned char y, unsigned char u, unsigned char v)

bool	resize (const unsigned int iHeight, const unsigned int iWidth, const int channels=3, const int depth=8)

bool	resizeBuffer (const unsigned int iHeight, const unsigned int iWidth, const int channels, const int depth)

bool	saveBMP (const char filename[])

bool	saveBMP (const char path[], const char basename[], const int num, const char nameAdd[])

bool	saveMeta (const char name, const char type, const char *path)

bool	savePNG (const char *filename)

bool	saveTxt (const char *filename)

int	setColorType (const char *)

bool	setColorType (int colorFormat)

bool	setMaxSize43 ()

void	setName (const char *imageName)

void	setNameAndExt (const char basename, const char ext=NULL)

void	setPix (unsigned int line, unsigned int column, UPixel pix)

void	setPixChar (unsigned int line, unsigned int column, char pix)

void	setPixel (int x1, int y1, UPixel rgb, UImage *image=NULL, int procent=0)

void	setPixInt (unsigned int line, unsigned int column, int pix)

void	setPixUChar (unsigned int line, unsigned int column, unsigned char pix)

bool	setQuadPix (unsigned int line, unsigned int column, unsigned char I11, unsigned char I12, unsigned char I21, unsigned char I22, unsigned char U, unsigned char V)

void	setROI (int x, int y, int w, int h)

bool	setSize (const unsigned int iHeight, const unsigned int iWidth, const int channels, const int depth, const char *colorType=NULL)

bool	setSizeOnly (const unsigned int iHeight, const unsigned int iWidth)

void	shiftCols (int cols, int byteFill=-1)

void	shiftRows (int rows, int byteFill=-1)

UPixel	sobel (UPixel p1, UPixel p2, UPixel *p3)

UPixel	sobel (UPixel p1, UPixel p2, UPixel p3, UPixel pixRef, int reducFactor)

bool	toBGR (UImage *dest=NULL)

bool	toBW (UImage *dest=NULL)

bool	toCromaBGR (UImage *dest=NULL)

bool	toHalf ()

bool	toMat ()

void	tone (UPixel *rgb, int procent)

void	tone (UPixel rgb, int procent)

bool	toRaibow (UImage *gray)

bool	toRaibowInv (UImage *gray)

bool	toRGB (UImage *dest=NULL)

bool	toRGBA (UImage *dest=NULL)

bool	toYUV (UImage *dest=NULL)

	UImage ()

bool	unpackZLIB (int rows, int cols, const char colFormat, char buffer, int bufferCnt)

void	updated ()

void	vLine (unsigned int col, unsigned int r1, unsigned int r2, int p1, int p2, int p3)

unsigned int	width ()

bool	yuv422toBGR (uint8_t *source, int h, int w)

bool	yuv422toBGRhalf (uint8_t *source, int h, int w)

bool	yuv422toBW (uint8_t *source, int h, int w)

bool	yuv422toRGB (uint8_t *source, int h, int w)

bool	yuv422toRGBhalf (uint8_t *source, int h, int w)

bool	yuv422toYUV (uint8_t *source, int h, int w)

bool	yuv422toYUVhalf (uint8_t *source, int h, int w)

virtual	~UImage ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Static Public Member Functions
static int	toColFormatInt (const char *col)

Public Attributes
void *	cam

int	camDevice

unsigned int	hdrSet

unsigned long	imageNumber

UTime	imgTime

cv::Mat	mat

char	name [MAX_IMG_NAME_SIZE]

UPosition	pos

bool	radialErrorRemoved

float	readDelay

URotation	rot

char	saveType [MAX_EXT_SIZE]

int	source

unsigned int	used

bool	valid

Protected Member Functions
bool	moveBGGRTo (int toColFormat, UImage *dest)

bool	moveBGGRtoBGR (UImage *dest)

bool	moveBGGRtoBW (UImage *dest)

void	moveBGGRToHalfBGR ()

bool	moveBGGRtoRGB (UImage *dest)

void	moveBWToHalf ()

void	movePixToHalf ()

bool	moveYUV420To (int toColFormat, UImage *dest)

void	moveYUV420ToHalf ()

void	moveYUV420ToHalf (UImage *dst)

Protected Attributes
unsigned int	bufferBytes

int	colFormat

IplImage	img

UTime	imgUpdateTime

unsigned char *	pu

unsigned char *	pv

unsigned char *	py

Private Attributes
UImage *	convertBuffer

Detailed Description

Class to hold a virtual an image with all the functionality of an image.
Should only be used as UImage640 or similar

Constructor & Destructor Documentation

UImage::UImage ( )

Constructor - resets data

References bufferBytes, cam, UPosition::clear(), URotation::clear(), colFormat, convertBuffer, imageNumber, img, imgTime, name, UTime::Now(), PIX_PLANES_BGR, pos, radialErrorRemoved, rot, saveType, source, used, and valid.

Referenced by UImgPush::fillShowBuffer(), moveBGGRtoBGR(), and moveBGGRtoRGB().

UImage::~UImage ( )

virtual

Destructor

References convertBuffer, and img.

Member Function Documentation

void UImage::clear ( UPixel rgb )

void UImage::clear ( void )

Clears the image to white, and makes the image valid

References getData(), and imgBytes().

Referenced by colorSaturate().

void UImage::clear ( int v )

Clears all bytes in image to this value.

References getData(), imgBytes(), and valid.

bool UImage::colorSaturate ( double gain )

inline

References clear(), colourSaturate(), copy(), copyAndScale(), copyJustImage(), copyMeta(), copyScaleDown(), copyToMaxRes(), invertY(), and source.

bool UImage::colourSaturate ( double gain )

Increase colour diversity by applying this gain to the colour channels, ie multiply U=(U-128)*gain and V(V-128)*gain. Saturation limits to 255 and 0. gain may have one decimal, as the value is calculated as integer - the used operation is U = ((U-128) * int(gain*8)) >> 3)

References colFormat, getData(), getUCharRef(), getUline(), height(), isBGR(), isBW(), isRGB(), isYUV(), maxi(), mini(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGR, PIX_PLANES_RGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, PIX_PLANES_YUV422, roundi(), UPixel::setRGBto(), UPixel::setYUVto(), UPixel::u, UPixel::v, width(), and UPixel::y.

Referenced by colorSaturate(), UFunctionImage::handleImageGetCommand(), and updated().

bool UImage::copy ( UImage * source )

Copy image all image data.
Returns false if source data is not valid or resolution is incomatible.

Copy all image data regardless of resolution

References copyJustImage(), and copyMeta().

Referenced by UFuncCog::calculateCOG(), colorSaturate(), UImAna::distFilt(), UImageAna::distFilt(), UImagePoly::distFilt(), UImAna::distFiltH(), UImageAna::distFiltH(), UImagePoly::distFiltH(), UFuncImSeg::doGrayLevelCooccurenceMatrix(), UClientFuncLaserGui::doImage(), UFuncBallKL::findBall(), UFuncPiPi::findBall(), UFuncBall::findBall(), UFuncBall_improved::findBall(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImageAna::findRoad(), UImageAna::findRoadCroma(), UImageAna::findRoadFill(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), UCamDevBase::getImageSnapshot(), UFuncStraightLine::handleCommand(), UFunctionImage::handleImageGetCommand(), harris(), harris2(), harris3(), UFuncLinefinder::houghTest(), UImagePoly::makeSimilarImage2(), UImagePoly::makeSimilarImage3(), UFuncLinefinder::maskColors(), moveBGGRtoBGR(), moveBGGRtoRGB(), UHighGuiWindowHandle::setImage(), UClientFuncImgGui::showUVImage(), testEigenvector(), testMatrixVecBig(), toBGR(), toBW(), toRGB(), toRGBA(), and toYUV().

bool UImage::copyAndScale	(	UImage *	source,
		double	factor
	)

Copy source image to this image and scale this image with factor. The scaling uses nearest neighbour method (no interpolation)

Parameters

source	is the image to copy
factor	is the scale factor - 0.5 reduces to half size, 3 expands each axis by a factor 3.

Returns: true if scaling succeded.

References copyMeta(), cvArr(), getChannels(), getDepth(), height(), isYUV420(), moveYUV420ToHalf(), resize(), roundi(), and width().

Referenced by colorSaturate(), and UFunctionImgPool::handleImageGetCommand().

bool UImage::copyJustImage ( UImage * source )

Copy image rgb data, width and height, leaving other data unchanged

References getChannels(), getData(), getDepth(), height(), imgBytes(), maxBytes(), resize(), setSize(), used, and width().

Referenced by colorSaturate(), copy(), UFunctionImgPool::handleImageGetCommand(), toRGB(), toRGBA(), and toYUV().

bool UImage::copyMeta	(	UImage *	source,
		bool	andSize
	)

Clears or sets all UImage propreties to a default value Copy just image meta data, that is name, time, position and color format, position etc., but not the bitmap itself. if 'andSize', then the image size and color format is changed to that of the source image. A full copy is implemented as a copyMeta() followed by a copyJustImage().

References cam, camDevice, colFormat, getBufferSize(), getChannels(), getDataSize(), getDepth(), hdrSet, height(), imageNumber, imgTime, name, pos, radialErrorRemoved, readDelay, resize(), rot, saveType, setColorType(), used, and width().

Referenced by UFuncCog::calculateCOG(), UFuncCropRow::CannyEdge(), colorSaturate(), copy(), copyAndScale(), copyToMaxRes(), UFuncStraightLine::crop(), UFuncImSeg::doLBPhistogramMatch(), edgeSobel(), UFuncBallKL::filterMask(), UFuncPiPi::filterMask(), UFuncCropRow::filterMask(), UFuncBall::filterMask(), UFuncBall_improved::filterMask(), UFuncLinefinder::filterMask(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImageAna::findRoad(), UImageAna::findRoadCroma(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), UFuncCropRow::handleCommand(), UFuncStraightLine::handleCommand(), UFunctionImgPool::handleImageGetCommand(), UFuncImSeg::makeLBPimage(), UImagePoly::makeSimilarImage2(), UImagePoly::makeSimilarImage3(), UCalibrate::MarkCornerDetections4(), UFuncBallKL::maskColors(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), UFuncLinefinder::maskColors(), UFuncImSeg::meanShiftSegment(), moveBGGRtoBGR(), moveBGGRtoBW(), moveBGGRtoRGB(), moveBW16ToRGB(), moveYUV420To(), moveYUV420ToHalf(), UFuncFz::paintColoredImage(), UFuncKinect::processDepthImages(), UFuncStereo::processImages(), UCamRad::removeRadialError(), savePNG(), testMatrixVecBig(), testOpticalFlow(), testOpticalFlowHarris(), toBGR(), toBW(), toCromaBGR(), toRGB(), toRGBA(), and toYUV().

bool UImage::copyScaleDown	(	UImage *	source,
		int	factor
	)

Make a copy of source image, but scanle size down by the integer factor provided. The scale down uses center pixel in new image. Reurns true if possible.

References cam, colFormat, getChannels(), getDepth(), getLine(), height(), imageNumber, imgTime, name, pos, radialErrorRemoved, rot, saveType, setSize(), used, valid, and width().

Referenced by colorSaturate(), harris2(), and testEigenvector().

bool UImage::copyToMaxRes ( UImage * source )

Resample source image to destination image, so that it fills to max size. The copy is not optimized, and there is no anti-aliasing, and at decreasing size the nearest pixel is used only.
Some image parameters are copied as well, i.e.: time, name, number, intensity, isRGB, cam. Returns false if source data is not valid

References copyMeta(), cvArr(), height(), setSizeOnly(), and width().

Referenced by colorSaturate(), UClientFuncImgGui::gotNewImage(), testImageHandling(), and testMatrixVecBig().

CvArr* UImage::cvArr ( )

inline

Get array structure recognized by opencv

References img.

void UImage::edgeSobel	(	UImage *	destination,
		bool	absoluteValue = `true`,
		int	reducFactor = `1`
	)

Edge filter the image to the destination image. if 'absoluteValue' the the result is the absolute value of the sum of found edges. Else the found signed sum is added to the source image - as a contour enhancement. The reducFactor is used to divide the found value, so a factor 4 gives an average value of the 4 edge filtrers.

References copyMeta(), getLine(), height(), maxi(), mini(), UPixel::set(), sobel(), and width().

Referenced by UImageAna::findRoadFill(), getBufferSize(), and testSobel().

bool UImage::fromMat ( char * colorFormatString = NULL )

copy a cv:Mat image to the (old ) UImage format This will make a copy of the cvMat data area to to UImage buffer. Only images with 1 and 4 channels can be converted (e.g. RGBA and 8bit gray images)

Returns: true if conversion is sucessfull

References getData(), getDataSize(), mat, setSize(), and updated().

Referenced by getConvertBuffer(), and UFuncImSeg::makeLBPimage().

bool UImage::fromMat	(	cv::Mat	src,
		char *	colorFormatString = `NULL`
	)

copy a cv:Mat image to the (old ) UImage format from this source - the comor frmat can be set too. This will make a copy of the cvMat data area to to UImage buffer. Only images with 1 and 4 channels can be converted (e.g. RGBA and 8bit gray images)

Parameters

src	is the image source in cv::Mat format
colorFormatString	(default is NULL) can be RGB, BGR, RGBA, YUV or GRAY ...

Returns: true if conversion is sucessfull

References getData(), getDataSize(), setSize(), and updated().

unsigned int UImage::getBufferSize ( )

inline

Get number of bytes in image buffer. This is the total size of the allocated image buffer. This may be larger than the the number of bytes actually used by the image, and allows thus change in image size or format without allocating new buffer space.

Returns: number of bytes in reserver buffer (unsigned integer)

References edgeSobel(), getQuadPix(), getUline(), getVline(), getYline(), hLine(), imgUpdated(), maxBytes(), median(), pixCmp(), pixSort(), setQuadPix(), shiftCols(), shiftRows(), sobel(), and vLine().

Referenced by copyMeta(), UCamDevGigE::frameToImage(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

int UImage::getChannels ( )

inline

Get number of color planes (channels)

References img.

Referenced by copyAndScale(), copyJustImage(), copyMeta(), copyScaleDown(), UFunctionImgPool::handleImageListCommand(), UClientFuncImage::handleImages(), imgBytes(), UImgPush::imgUpdated(), loadBMP(), UFuncStereo::processImages(), UImgPush::run(), UFuncV4lGst::run(), UImgPush::runShow(), saveBMP(), UFunctionImgBase::sendImage(), shiftCols(), shiftRows(), toMat(), unpackZLIB(), and UFuncV4lGst::useBuffer().

char* UImage::getCharRef	(	unsigned int	line,
		unsigned int	column
	)

inline

Get a pointer to a pixel, - for use with 8-bit BW images

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())

Returns: pointer to this pixel.

References cvArr().

Referenced by UFuncImSeg::cooccurrence(), UFuncStraightLine::crop(), UFuncImSeg::doLBPhistogramMatch(), UFuncImSeg::doPatchHistogram(), UFuncImSeg::doPatchHistogramLBP8(), UFuncStraightLine::findLines(), UFuncStraightLine::GLR(), UFuncStraightLine::mean(), moveYUV420ToHalf(), UFuncStereo::processImages(), setPixChar(), and UFuncStraightLine::threshold().

int UImage::getColorType ( )

inline

Get the color type as integer value

References colFormat, and getColorTypeString().

Referenced by UClientFuncImgGui::gotNewImage(), UFunctionImgPool::handleImageGetCommand(), UImgPush::imgUpdated(), moveBGGRtoBGR(), moveBGGRtoRGB(), UCamRad::removeRadialError(), saveBMP(), UFunctionImgBase::sendImage(), UClientFuncImgGui::showUVImage(), and UResDisp::showUVImage().

const char * UImage::getColorTypeString ( )

Get image comour format as string

Returns: pointer to constant string with format name.

References colFormat, PIX_PLANES_BAYER, PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_BW16S, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_RGGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, and PIX_PLANES_YUV422.

Referenced by getColorType(), UFunctionImgPool::handleImageListCommand(), UImageLog::logImage(), and UFunctionImgBase::sendImage().

UImage** UImage::getConvertBuffer ( )

inline

Get address of convert buffer pointer - for fixed allocated convert buffer space. The buffer is an integrated part of the UImage structure, and needs to be allocated, when first used. It will be deallocated when image is deallocated (deleted).

Returns: adress of convert buffer pointer inside image structure.

References convertBuffer, fromMat(), and toMat().

Referenced by UImgPush::fillShowBuffer(), UFuncRectify::handleCommand(), UHighGuiWindowHandle::showImage(), UQtgui::updateImg(), and MainWindow::updateImg().

UPixel* UImage::getData ( )

inline

Get pointer to image data

References img.

Referenced by UResObj3d::addGroundObjects(), UFuncKinect::callGotNewDataWithObject(), clear(), colourSaturate(), copyJustImage(), UImgPush::fillBuffer(), UImgPush::fillShowBuffer(), UImageAna::findRoadCroma(), UImageAna::findRoadFill(), UCamDevGigE::frameToImage(), fromMat(), getPix(), getPixInt(), UClientFuncImage::handleImages(), invertY(), UFuncPCLTest::MakeMap(), moveBGGRtoBW(), moveBGGRToHalfBGR(), moveBW16ToRGB(), movePixToHalf(), moveYUV420To(), moveYUV420ToHalf(), packZLIB(), UFuncTOF::processChannel8(), UFuncKinect::processDepthImages(), UFuncTOF::processImages(), UCamPwc::readFramesThread(), UCamDevice::readFramesThread(), UFuncPiCam::run(), saveBMP(), UFunctionImgBase::sendImage(), setSize(), setSizeOnly(), testVideo(), testVideo2(), toBGR(), toBW(), toCromaBGR(), toMat(), toRaibow(), toRaibowInv(), toRGB(), toRGBA(), toYUV(), unpackZLIB(), UQtgui::updateImg(), MainWindow::updateImg(), UFuncV4lGst::useBuffer(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

unsigned int UImage::getDataSize ( )

inline

Get number of bytes in image

References imgBytes().

Referenced by copyMeta(), UImgPush::fillBuffer(), UImgPush::fillShowBuffer(), UCamDevGigE::frameToImage(), fromMat(), moveYUV420To(), UCamPwc::readFramesThread(), UCamDevice::readFramesThread(), UImgPush::run(), UFuncPiCam::run(), UImgPush::runShow(), testVideo(), testVideo2(), and UFuncV4lGst::useBuffer().

int UImage::getDepth ( )

inline

Get number of bits in each color plane - in each channel

References img.

Referenced by copyAndScale(), copyJustImage(), copyMeta(), copyScaleDown(), UImgPush::fillShowBuffer(), UFunctionImgPool::handleImageListCommand(), UClientFuncImage::handleImages(), imgBytes(), UImgPush::imgUpdated(), UFuncKinect::processDepthImages(), UImgPush::run(), UFuncV4lGst::run(), UImgPush::runShow(), saveBMP(), savePNG(), saveTxt(), UFunctionImgBase::sendImage(), toMat(), and UFuncV4lGst::useBuffer().

unsigned int UImage::getHeight ( )

inline

Get image height in pixels.

References img.

UTime UImage::getImageTime ( )

inline

Get image timestamp time (when the image was taken). The image update time is set when image was first captured.

References imgTime, moveBW16ToRGB(), paintGridAligned(), toHalf(), toRaibow(), and toRaibowInv().

Referenced by UFunctionCamGmk::handleGmkGetCommand(), UFuncStereo::processImages(), UFuncPiCam::run(), UFuncStraightLine::toRobot(), UFuncStraightLine::toWorld(), and UFuncKinect::updateCloud().

int* UImage::getIntRef	(	unsigned int	line,
		unsigned int	column
	)

inline

Get a pointer to a pixel, - for use with 32-bit color images

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())

Returns: pointer to this pixel.

References cvArr(), getPix(), and getPixInt().

Referenced by setPixInt().

IplImage* UImage::getIplImage ( )

inline

get pointer to openCV image header. This is used in connection with image functions other than the simple byte conversions.

References img.

Referenced by UFuncStraightLine::handleCommand(), UFuncImSeg::meanShiftSegment(), UFuncTOF::processChannel8(), UFuncStereo::processImages(), UFuncTOF::processImages(), and UFuncPTgrey::Receiver().

UPixel* UImage::getLine ( unsigned int line )

inline

Get a pointer to an image line of UPixels

Parameters

line	is row number starting at 0 counting down in image (less than height())

Returns: pointer to first pixel in line

References getPixRef().

Referenced by UFuncFocus::calculateFocusValue(), UGroundPatch::colorAnalysis(), copyScaleDown(), UImAna::distFilt(), UImageAna::distFilt(), UImagePoly::distFilt(), UImAna::distFiltH(), UImageAna::distFiltH(), UImagePoly::distFiltH(), UClientFuncImgGui::doFuzzyClassify(), edgeSobel(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImageAna::findRoad(), UImageAna::findRoadCroma(), UImageAna::findRoadFill(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), UImAna::getAvgVar(), UImageAna::getAvgVar(), UImagePoly::getAvgVar(), UImagePoly::getAvgVar2(), UFuncKinect::GetXYZCoordinates(), harris(), harris2(), harris3(), hLine(), UFuncFz::initializeClassesFromLine(), loadBMP(), loadPNG(), UFuncImSeg::makeLBPimage(), UFuncKinect::makeObj3Dcloud(), UProbGrid::makeProbGrid(), UImagePoly::makeSimilarImage2(), UImagePoly::makeSimilarImage3(), UFuncBallKL::maskColors(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), UFuncLinefinder::maskColors(), UFuncImSeg::meanShiftSegment(), median(), moveBW16ToRGB(), moveYUV420To(), UClientFuncImgGui::paintClustPixels(), UFuncFz::paintClustPixels(), UFuncFz::paintColoredImage(), saveBMP(), UProbGrid::saveMatlab(), savePNG(), UFunctionImgBase::sendImage(), shiftCols(), shiftRows(), UClientFuncImgGui::showFocusNumber(), UClientFuncImgGui::showUVImage(), UResDisp::showUVImage(), testCameraHDR(), testEigenvector(), testMatrixVecBig(), tone(), vLine(), yuv422toBGR(), yuv422toBGRhalf(), yuv422toBW(), yuv422toRGB(), yuv422toRGBhalf(), yuv422toYUV(), and yuv422toYUVhalf().

bool UImage::GetNewNonCameraImage ( )

Set image as valid image without any camera and with max size. Primarily used for planar view images, where no camera projection is needed.

References cam, UPosition::clear(), URotation::clear(), imageNumber, imgTime, maxBytes(), name, UTime::Now(), pos, rot, saveType, setMaxSize43(), used, and valid.

Referenced by setName().

UPixel UImage::getPix	(	unsigned int	line,
		unsigned int	column
	)

Get a UPixel at this position. Line count positive down and column counts positiove right. Returns pixel in current color format (YUV420 returns in YUV) and BW returns in YUV too.

References colFormat, getData(), getPixRef(), getUline(), getVline(), getYline(), PIX_PLANES_BW, PIX_PLANES_YUV420, PIX_PLANES_YUV422, UPixel::set(), and width().

Referenced by UCalibrationComponents::doFindCodeCellIntensity(), UImgProj::doPolygonMap(), UImgPolyProj::doPolygonMap(), UImgPolyProj::doProject(), UImgProj::doProject(), UCalibrate::findGmk(), getIntRef(), getPix(), harris(), UImAna::imageUsable(), UImageAna::imageUsable(), UImagePoly::imageUsable(), UFuncStereo::processImages(), saveBMP(), UClientFuncImgGui::showUVImage(), UResDisp::showUVImage(), and testEigenvector().

UPixel UImage::getPix	(	unsigned int	line,
		unsigned int	column,
		int	inColFormat
	)

Get a UPixel at this position. Line count positive down and column counts positiove right. Returns pixel in desired color format (YUV420 returns in YUV) and BW returns in YUV too.

References UPixel::asBGR(), UPixel::asRGB(), UPixel::asYUV(), colFormat, getPix(), PIX_PLANES_BGR, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, and PIX_PLANES_YUV422.

int UImage::getPixInt	(	unsigned int	line,
		unsigned int	column
	)

Get pixel as integer. The pixel is coded as 0xRRGGBB 3x 8 bit if in RGB format or in general 0xP1P2P3 for the 3 pixel planes in 3x8 bit color.

Parameters

line	is the image line - zero is left, positive right.
column	is the image column - zero is top line, positive down.

Returns: pixel packed into integer.

References colFormat, getData(), getPixRef(), getUline(), getVline(), getYline(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BW, PIX_PLANES_YUV420, PIX_PLANES_YUV422, and width().

Referenced by getIntRef().

UPixel* UImage::getPixRef	(	unsigned int	line,
		unsigned int	column
	)

inline

Get a pointer to a UPixel

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())

Returns: pointer to this pixel.

References cvArr().

Referenced by UResObj3d::addGroundObjects(), UFuncCog::calculateCOG(), UFuncStraightLine::crop(), UClientFuncImgGui::doFuzzyClassify(), UClientFuncLaserGui::doImage(), UImgProj::doPolygonMap(), UImgPolyProj::doPolygonMap(), UImgPolyProj::doProject(), UImgProj::doProject(), UCalibrationComponents::EnumerateCalibrationDetections(), UCalibrationComponents::EnumerateCalibrationDetections4(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), getLine(), getPix(), getPixInt(), UImAna::getRoadProbability(), UImageAna::getRoadProbability(), UImagePoly::getRoadProbability(), UImageAna::imageContour2(), UImagePoly::imageContour2(), UImAna::imageContourMaha(), UImageAna::imageContourMaha(), UImagePoly::imageContourMaha(), UImAna::imageContourMahaCroma(), UImageAna::imageContourMahaCroma(), UImagePoly::imageContourMahaCroma(), UFuncFz::loadNewImage(), UProbGrid::makeProbGrid2(), UCalibrate::MarkCornerDetections4(), UFuncStraightLine::printLine(), setPix(), UClientFuncImgGui::showLine(), UClientFuncImgGui::showUVImage(), and UResDisp::showUVImage().

bool UImage::getQuadPix	(	unsigned int	line,
		unsigned int	column,
		unsigned char *	I11,
		unsigned char *	I12,
		unsigned char *	I21,
		unsigned char *	I22,
		unsigned char *	U,
		unsigned char *	V
	)

Get the 4 intensity values and the related color information. The line and column is for the full image resolution, but is truncated so that the LSB is not used - i.e. getQuadPix(5,5, ...) gets same values as getQuadPix(4,4, ...) Returns true if in range - otherwise no data. NB! works correct if format is YUV420 only!

References colFormat, getUline(), getVline(), getYline(), height(), PIX_PLANES_YUV420, and width().

Referenced by getBufferSize().

unsigned char* UImage::getUCharRef	(	unsigned int	line,
		unsigned int	column
	)

inline

Get a pointer to a pixel, - for use with unsigned 8-bit BW images

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())

Returns: pointer to this pixel.

References cvArr().

Referenced by UFuncKinect::callGotNewDataWithObject(), colourSaturate(), UFunctionImgPool::handleImageGetCommand(), UFuncCropRow::maskColors(), UFuncImSeg::meanShiftSegment(), UFuncPTgrey::Receiver(), savePNG(), saveTxt(), setPixUChar(), toBW(), toHalf(), toRaibow(), toRaibowInv(), toYUV(), and UGrid3D::voxelSegmentation().

unsigned char * UImage::getUline ( unsigned int line )

Get line array for U-intensity at half resolution. line has range 0 to (height / 2 - 1). Returns NULL if out of range. Returns pointer to array of bytes lpU[line * width / 2]. NB! works correct if format is YUV420 only!

References height(), pu, and width().

Referenced by UFuncCog::calculateCOG(), colourSaturate(), getBufferSize(), getPix(), getPixInt(), getQuadPix(), moveYUV420ToHalf(), UCamRad::removeRadialError(), UFunctionImgBase::sendImage(), and setQuadPix().

UTime UImage::getUpdatedTime ( )

inline

Get image update time. The image update time is set by a call to 'imgUpdate' and is always in current processor time - replay or not.

References imgUpdateTime.

Referenced by UHighGuiWindowHandle::isTime().

unsigned char * UImage::getVline ( unsigned int line )

Get line array for V-intensity at half resolution. line has range 0 to (height / 2 - 1). Returns NULL if out of range. Returns pointer to array of bytes lpV[line * width / 2]. NB! works correct if format is YUV420 only!

References height(), pv, and width().

Referenced by UFuncCog::calculateCOG(), getBufferSize(), getPix(), getPixInt(), getQuadPix(), moveYUV420ToHalf(), UCamRad::removeRadialError(), UFunctionImgBase::sendImage(), and setQuadPix().

unsigned int UImage::getWidth ( )

inline

Get image width in pixels.

References img.

unsigned char * UImage::getYline ( unsigned int line )

Get line array for intensity (full resolution) Returns NULL if out of range. Returns pointer to array intensity bytes lpY[width]. NB! works correct if format is YUV420 only!

References height(), img, and py.

Referenced by UFuncCog::calculateCOG(), UFuncFocus::calculateFocusValue(), UImgStat::evaluateStatistics(), getBufferSize(), getPix(), getPixInt(), getQuadPix(), moveYUV420ToHalf(), UCamPwc::readFramesThread(), UCamDevice::readFramesThread(), UCamRad::removeRadialError(), and setQuadPix().

void UImage::gridLine	(	float	Pos,
		char	axis,
		float	minH,
		float	maxH,
		float	minW,
		float	maxW,
		char	sw = `'y'`,
		int	Color = `1`
	)

Paints a line across the image at position pos for axis (in x,y,z) given the limits min and max for both axis and axis specifier sw colour is 1:Minor,2:Major,3:Zero, 4,4++ dotted in major colour if sw = 'z' then axis='x' means width (right positive) and axis='y' means height (up positive)

References cvArr(), height(), UPixel::p1, UPixel::p2, UPixel::p3, roundi(), and width().

Referenced by gridLines(), and inRange().

void UImage::gridLines	(	float	major,
		float	minor,
		char	axis,
		float	minH,
		float	maxH,
		float	minW,
		float	maxW,
		char	sw
	)

Paints a series of grid lines along one coordinate (axis) axis specified as above. 'major' is major line distance, 'minor' is minor line distance. sw: // y => x-z plot => axis: x or z - z as width z => y-x plot => axis: y or x - x as width x => y-z plot => axis: y or z - z as width

References absf(), and gridLine().

Referenced by inRange().

unsigned int UImage::height ( )

inline

Get image height in pixels.

References img.

void UImage::hLine	(	unsigned int	line,
		unsigned int	c1,
		unsigned int	c2,
		int	p1,
		int	p2,
		int	p3
	)

Paint horizontal line in one or more of the image planes from column 'c1' to column 'c2'. paint with value p1, p2, p3 in the 3 planes, if a plane is -1 (negative) then plane is not changed.

References getLine(), height(), maxi(), mini(), UPixel::p1, UPixel::p2, UPixel::p3, and width().

Referenced by getBufferSize().

unsigned int UImage::imgBytes ( )

inline

Get number of bytes in image

References getChannels(), getDepth(), height(), PIX_PLANES_YUV420, PIX_PLANES_YUV422, and width().

Referenced by clear(), copyJustImage(), getDataSize(), UCalibrate::MarkCornerDetections4(), packZLIB(), testZlib(), and unpackZLIB().

void UImage::imgUpdated ( )

virtual

Image is updated, and if any push commands is associated, then these are executed

Reimplemented in UImgPush.

References imgUpdateTime, UTime::now(), and used.

Referenced by UFuncCog::calculateCOG(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), getBufferSize(), UClientFuncImage::handleImages(), UFuncImgPoly::handleImgPolyCommand(), UFunctionCamPath::handlePathGetCommand(), UImgPush::imgUpdated(), UNavPaint::paint(), testUImage(), and updated().

bool UImage::initImage	(	const unsigned int	iHeight,
		const unsigned int	iWidth,
		char *	data,
		const unsigned int	bufferSize,
		const int	channels = `3`,
		const int	depth = `8`
	)

Initialize image data area. This buffer area must be at least iHeight * iWidth * channels, as pixels are always in unsigned bye format.

References bufferBytes, img, setSize(), and valid.

Referenced by UImage160::UImage160(), UImage320::UImage320(), UImage640::UImage640(), and UImage800::UImage800().

bool UImage::inRange	(	int	line,
		int	column
	)

inline

Is this pixel position in image range

References gridLine(), gridLines(), img, lineInGrid(), setPixel(), and tone().

Referenced by UCalibrationComponents::doFindCodeCellIntensity(), UNavPaint::paintHistScan(), and UClientFuncLaserGui::paintHistScan().

bool UImage::invertY ( )

Invert intensity for image, by inverting the Y channal. If The image is RGB then it is converted before the operation and back after the operation. returns 0;

References getData(), height(), isBW(), width(), and UPixel::y.

Referenced by colorSaturate().

bool UImage::isBayer ( )

inline

Is color format Bayer

References colFormat, PIX_PLANES_BGGR, PIX_PLANES_GBRG, PIX_PLANES_GRBG, and PIX_PLANES_RGGB.

Referenced by UImgPush::fillShowBuffer(), UFuncRectify::handleCommand(), UFunctionImgPool::handleImageGetCommand(), UImgPush::run(), saveBMP(), toBGR(), toBW(), toCromaBGR(), and toYUV().

bool UImage::isBGR ( )

inline

Is color format BGR

References colFormat, and PIX_PLANES_BGR.

Referenced by colourSaturate(), UFuncFz::doClassify(), UFuncRectify::handleCommand(), UFuncFz::initializeClassesFromLine(), UFuncStereo::processImages(), saveBMP(), UHighGuiWindowHandle::showImage(), UResDisp::showUVImage(), toBGR(), toBW(), toCromaBGR(), toRGB(), and toYUV().

bool UImage::isBW ( )

inline

Is color format BW

References colFormat, PIX_PLANES_BAYER, and PIX_PLANES_BW.

Referenced by colourSaturate(), UFuncRectify::handleCommand(), invertY(), UFuncStereo::processImages(), UImgPush::run(), UImgPush::runShow(), saveBMP(), savePNG(), UResDisp::showUVImage(), toBGR(), toBW(), toCromaBGR(), tone(), toRGB(), toRGBA(), and toYUV().

bool UImage::isBW16s ( )

inline

Is 16 bit signed BW image

References colFormat, and PIX_PLANES_BW16S.

Referenced by savePNG(), testUImage(), and toBW().

bool UImage::isBW16u ( )

inline

Is 16 bit signed BW image

References colFormat, and PIX_PLANES_BW16U.

Referenced by toBW().

bool UImage::isRGB ( )

inline

Is color format RGB

References colFormat, and PIX_PLANES_RGB.

Referenced by colourSaturate(), UFuncFz::doClassify(), UFuncRectify::handleCommand(), UFuncKinect::makeObj3Dcloud(), UFuncBallKL::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), UImgPush::run(), UImgPush::runShow(), savePNG(), UResDisp::showUVImage(), toBGR(), toBW(), toCromaBGR(), toRGB(), toYUV(), UQtgui::updateImg(), and MainWindow::updateImg().

bool UImage::isRGBA ( )

inline

Is color format RGB

References colFormat, and PIX_PLANES_RGBA.

Referenced by toRGBA().

bool UImage::isTooBig	(	const unsigned int	w,
		const unsigned int	h
	)

inline

Test to see if the image can hold an image of this size

References colFormat, loadBMP(), loadPNG(), maxPixels(), name, packZLIB(), rows, saveBMP(), saveMeta(), savePNG(), saveTxt(), and unpackZLIB().

bool UImage::isValid ( )

inline

Is image valid (configured)

References valid.

Referenced by UImAna::imageUsable(), UImageAna::imageUsable(), and UImagePoly::imageUsable().

bool UImage::isYUV ( )

inline

Is color format RGB

References colFormat, and PIX_PLANES_YUV.

Referenced by UFuncFocus::calculateFocusValue(), colourSaturate(), UFuncFz::doClassify(), UImgPush::fillShowBuffer(), UImAna::imageUsable(), UImageAna::imageUsable(), UImagePoly::imageUsable(), UFuncFz::initializeClassesFromLine(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncLinefinder::maskColors(), UResDisp::showUVImage(), toBGR(), toBW(), toCromaBGR(), toHalf(), toRGB(), and toYUV().

bool UImage::isYUV420 ( )

inline

Is YUV 420 planar format

References colFormat, and PIX_PLANES_YUV420.

Referenced by UFuncFocus::calculateFocusValue(), copyAndScale(), UImgPush::fillShowBuffer(), UFuncRectify::handleCommand(), UFunctionImgPool::handleImageGetCommand(), UImAna::imageUsable(), UImageAna::imageUsable(), UImagePoly::imageUsable(), saveBMP(), toCromaBGR(), toRGB(), and toRGBA().

bool UImage::isYUV422 ( )

inline

Is YUV 422 planar format

References colFormat, and PIX_PLANES_YUV422.

Referenced by UImgPush::fillShowBuffer().

void UImage::lineInGrid	(	UPosition	pos1,
		UPosition	pos2,
		float	minH,
		float	maxH,
		float	minW,
		float	maxW,
		char	sw,
		UPixel *	rgb,
		UMatrix4 *	mA = `NULL`,
		int	lineWidth = `1`
	)

Paint a free line in image from position 1 to position 2 in specified color, width and perspective as indicated

References cvArr(), height(), UPixel::p1, UPixel::p2, UPixel::p3, roundi(), UPosition::transfer(), width(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by inRange().

bool UImage::loadBMP ( const char filename[] )

Load image from BMP file (do not require opencv highgui. Takes a fully qualified filename. Returns true if loaded. Returns false if image is not found, too big of in other ways not qualified.

References bmp_qft(), bmp_rdata(), bmp_rhdr(), bmp_rpal(), GBM::bpp, getChannels(), getLine(), GBM::h, height(), maxBytes(), setColorType(), setSize(), valid, GBM::w, and width().

Referenced by UImagePool::decodeReplayLine(), UCamPool::decodeReplayLine(), UClientFuncLaserGui::doImage(), UFunctionImgPool::handleImageSetCommand(), UFunctionCamPath::handlePathGetCommand(), isTooBig(), loadBMP(), UResDisp::loadImgToPool(), testCromaImage(), testImageHandling(), testImageShift(), testMatrixVecBig(), testOpenCv(), testSobel(), and testZlib().

bool UImage::loadBMP	(	const char	path[],
		const char	basename[],
		const int	num,
		const char	nameAdd[]
	)

Load an image in Windows BMP format with more separate name components. There is always added an ".bmp" extension. e.g. saveBMP("/home/chr", "img0045", 7, "Gaus3x3"); is equvivalent with saveBMP("/home/chr/img0045-07Gaus3x3.bmp"); The image name is set to the same name excluding the path. If the integer part 'num' is -1, then the "-07" part of the name is omitted

References loadBMP(), MAX_IMG_NAME_SIZE, and name.

bool UImage::loadPNG ( const char * filename )

Load an RGB image in png format (no larger than buffer allows). Filename is assumed to be fully qualified.

References getLine(), maxBytes(), setSize(), and width().

Referenced by UFuncKinect::decodeReplayLine(), UCamPool::decodeReplayLine(), UFunctionImgPool::handleImageSetCommand(), isTooBig(), UResDisp::loadImgToPool(), and testPng().

unsigned int UImage::maxBytes ( )

inline

Get buffer size in bytes

References bufferBytes.

Referenced by copyJustImage(), getBufferSize(), GetNewNonCameraImage(), loadBMP(), loadPNG(), UCalibrate::MarkCornerDetections4(), pixYUV(), setSize(), setSizeOnly(), and unpackZLIB().

unsigned int UImage::maxPixels ( )

inline

Get buffer size in bytes

References bufferBytes, and img.

Referenced by clear(), isTooBig(), and setMaxSize43().

bool UImage::median	(	UImage *	dimg,
		unsigned int	row1,
		unsigned int	col1,
		unsigned int	row2,
		unsigned int	col2,
		unsigned int	fW,
		unsigned int	fH
	)

Do median filter for a part of an image. The part from (row1, col1) to (row2,col2) is filtered - row1,col1 must be top-left corner. at edges the edge pixel is reused as needed. The row and column row2 and col2 is not inclusive in the filtered area. Returns true if destination image is valid and mask size is within handled size (fH <= 11 and (fH * fW) < 200.

References getLine(), height(), maxi(), mini(), pixSort(), and width().

Referenced by getBufferSize().

bool UImage::moveBGGRTo	(	int	toColFormat,
		UImage *	dest
	)

protected

Convert image format RGGB Bayer (raw from ieee1394 cam) to one of the other formats

Parameters

toColFormat	is the new color format.
dest	is the destination image, may be same image (and is, if dest== NULL).

Returns: true if OK

References moveBGGRtoBGR(), moveBGGRtoBW(), moveBGGRtoRGB(), PIX_PLANES_BGR, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_YUV, and toYUV().

Referenced by toBGR(), toBW(), toRGB(), toRGBA(), and toYUV().

bool UImage::moveBGGRtoBGR ( UImage * dest )

protected

Move BGGR to BGR (24 bit) - using openCV.

Parameters

dest	is the destination image, may be same image (and is, if dest== NULL).

Returns: true if image buffer has space for BGR image -as this is 3 times the size of the original image.

References convertBuffer, copy(), copyMeta(), cvArr(), getColorType(), height(), PIX_PLANES_BGGR, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGGB, setSize(), UImage(), and width().

Referenced by moveBGGRTo().

bool UImage::moveBGGRtoBW ( UImage * dest )

protected

Move BGGR to BW - using the green values only, and narest neighbour.

Parameters

dest	is the destination image, may be same image (and is, if dest== NULL).

Returns: true

References absi(), bool2str(), copyMeta(), getData(), getHeight(), getWidth(), height(), img, PIX_PLANES_BW, setColorType(), setSize(), UIMAGE_MAX_WIDTH, and width().

Referenced by moveBGGRTo().

void UImage::moveBGGRToHalfBGR ( )

protected

Downsample Bayer BGGR image to half size

References colFormat, getData(), height(), img, UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGGR, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGGB, setSize(), UIMAGE_MAX_WIDTH, and width().

Referenced by toHalf().

bool UImage::moveBGGRtoRGB ( UImage * dest )

protected

Move BGGR to RGB (24 bit) using openCV.

Parameters

dest	is the destination image, may be same image (and is, if dest== NULL).

Returns: true if image buffer has space for BGR image -as this is 3 times the size of the original image.

References convertBuffer, copy(), copyMeta(), cvArr(), getColorType(), height(), PIX_PLANES_BGGR, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGGB, setSize(), UImage(), and width().

Referenced by moveBGGRTo().

void UImage::moveBW16ToRGB ( UImage * dest )

save a BW16S format as RGB - no data loss

References a, copyMeta(), getData(), getLine(), height(), PIX_PLANES_RGB, UPixel::set(), setColorType(), and width().

Referenced by getImageTime(), toBGR(), toRGB(), and toRGBA().

void UImage::moveBWToHalf ( )

protected

Downsample BW image to half size

References height(), img, setSizeOnly(), and width().

Referenced by toHalf().

void UImage::movePixToHalf ( )

protected

Downsample any UPixel based image (RGB, BGR, YUV) to half size

References getData(), height(), UPixel::p1, UPixel::p2, UPixel::p3, setSizeOnly(), and width().

Referenced by toHalf().

bool UImage::moveYUV420To	(	int	toColFormat,
		UImage *	dest
	)

protected

Convert image format YUV420 (raw from webcam) to one of the other formats

Parameters

toColFormat	is the new color format.
dest	is the destination image, may be same image (and is, if dest== NULL).

Returns: true if OK

References colFormat, copyMeta(), getData(), getDataSize(), getLine(), height(), PIX_PLANES_BGR, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_YUV, setColorType(), setSize(), UPixel::setYUVto(), and width().

Referenced by toBGR(), toBW(), toCromaBGR(), toRGB(), toRGBA(), and toYUV().

void UImage::moveYUV420ToHalf ( )

protected

Downsample TYV420 coded image to half size in YUV format

References getData(), getUline(), getVline(), getYline(), height(), img, UPixel::p1, UPixel::p2, UPixel::p3, pu, pv, setSize(), UIMAGE_MAX_WIDTH, and width().

Referenced by copyAndScale(), and toHalf().

void UImage::moveYUV420ToHalf ( UImage * dst )

protected

Downsample YUV420 to half size but stil in YUV420 format

Parameters

dst	is the destination image

References copyMeta(), getCharRef(), getUline(), getVline(), height(), setSize(), and width().

int UImage::packZLIB	(	char *	buffer,
		int	bufferSize
	)

Pack image data using Z-lib. Returns the number of bytes used in the buffer. Returns -1 packing failed. Will fail if ZLIB is not available

References getData(), imgBytes(), and packZlib().

Referenced by isTooBig(), and testZlib().

void UImage::paintGridAligned	(	const int	r0,
		const int	c0,
		const double	pixPerM,
		const int	strongTicEvery
	)

Paint simple grid aligned with x and y axis. The origin is at (r0,c0) row and column number, a tick every meter and stronger ticks regularly. Origin lines are in blue, simple ticks week gray and strong tics a bit darker. Designed for white background.

Parameters

r0,c0	the grid origin in pixels
pixPerMeter	number of pixels per meter (one tick per meter)
strongTicEvery	strong tick interval (e.g. 10 for every 10 meter)

References cvArr(), getHeight(), getWidth(), and roundi().

Referenced by UResObj3d::addGroundObjects(), getImageTime(), UResObj3d::paintGndPlane(), UGrid3D::paintVoxels(), and UResDisp::showUVImage().

int UImage::pixCmp	(	UPixel *	p1,
		UPixel *	p2
	)

Compare pixels for intensity (r+g+b). Returns positive if p1 > p2, and 0 if equal, and negative if p2 > p1.

References a, UPixel::p1, UPixel::p2, and UPixel::p3.

Referenced by getBufferSize(), and pixSort().

UPixel UImage::pixRGB	(	unsigned char	r,
		unsigned char	g,
		unsigned char	b
	)

Get a pixel value in right color format from RGB source

References colFormat, PIX_PLANES_BGR, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_YUV, UPixel::RGBtoYUV(), UPixel::set(), and UPixel::y.

Referenced by setName(), testCameraHDR(), and testMatrixVecBig().

UPixel * UImage::pixSort	(	UPixel ***	ps,
		int	pixCnt
	)

Order this number of pixels after intensity in all channels, Uses pixCmp(...) to when sorting pixels. Returns the center element. NB! no range checks

References pixCmp().

Referenced by getBufferSize(), and median().

UPixel UImage::pixYUV	(	unsigned char	y,
		unsigned char	u,
		unsigned char	v
	)

Get a pixel value in right color format from YUV source

References colFormat, cvArr(), height(), img, MAX_FILENAME_SIZE, MAX_IMG_NAME_SIZE, maxBytes(), mini(), name, PIX_PLANES_BGR, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_YUV, saveType, UPixel::set(), setColorType(), setNameAndExt(), setSize(), valid, width(), UPixel::y, UPixel::YUVtoBGR(), and UPixel::YUVtoRGB().

Referenced by setName().

bool UImage::resize	(	const unsigned int	iHeight,
		const unsigned int	iWidth,
		const int	channels = `3`,
		const int	depth = `8`
	)

Resize image - and rearrange image buffer as needed

Returns: true if possible

References bufferBytes, img, resizeBuffer(), setSize(), and valid.

Referenced by copyAndScale(), copyJustImage(), copyMeta(), UFuncV4lGst::run(), testUImage(), and UImgPush::UImgPush().

bool UImage::resizeBuffer	(	const unsigned int	iHeight,
		const unsigned int	iWidth,
		const int	channels,
		const int	depth
	)

Resize image buffer (if needed). Allocates more memory image buffer (realloc) if new size is larger than current buffer. if image is smaller than buffer no action is taken.

Parameters

iHeight	is the new image height.
iWidth	is the new image width.
channels	is the number of colour channels (1=BW, 3 or 4 if colour)
depth	is number of bits per channel - usually 8 (is truncated down to bytes, i.e. 8 and 16 is allowed only).

Returns: true if buffer can hold specified image.

References bufferBytes, and img.

Referenced by resize(), setSize(), and setSizeOnly().

bool UImage::saveBMP ( const char filename[] )

Save image in BMP format (do not require opencv highgui

References UPixel::asBGR(), bmp_w(), GBM::bpp, colFormat, data, getChannels(), getColorType(), getData(), getDepth(), getLine(), getPix(), getWidth(), GBM::h, height(), isBayer(), isBGR(), isBW(), isYUV420(), PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BW16S, PIX_PLANES_BW16U, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGGB, PIX_PLANES_YUV420, PIX_PLANES_YUV422, rows, setName(), valid, GBM::w, and width().

Referenced by UFuncCog::calculateCOG(), UClientFuncLaserGui::doImage(), UImgPolyProj::doPolygonMap(), UImgProj::doPolygonMap(), UImageAna::findRoad(), UImageAna::findRoadCroma(), UImageAna::findRoadFill(), UFunctionImage::handleImageGetCommand(), UFunctionImgPool::handleImageGetCommand(), UClientFuncImage::handleImages(), isTooBig(), UImageLog::logImage(), UProbGrid::makeProbGrid(), UProbGrid::makeProbGrid2(), UImagePoly::makeSimilarImage3(), saveBMP(), testCromaImage(), testImageHandling(), testImageShift(), testMatrixVecBig(), testPng(), testRadErr(), testSobel(), testVideo(), testVideo3(), and testZlib().

bool UImage::saveBMP	(	const char	path[],
		const char	basename[],
		const int	num,
		const char	nameAdd[]
	)

Saves the image in Windows BMP format with more separate name components. There is always added an ".bmp" extension. e.g. saveBMP("/home/chr", "img0045", 7, "Gaus3x3"); is equvivalent with saveBMP("/home/chr/img0045-07Gaus3x3.bmp"); The image name is set to the same name excluding the path. If the integer part 'num' is -1, then the "-07" part of the name is omitted

References add, MAX_IMG_NAME_SIZE, name, and saveBMP().

bool UImage::saveMeta	(	const char *	name,
		const char *	type,
		const char *	path
	)

Save image meta data to file. Returns true if saved.

Referenced by isTooBig(), and testImageLoadSave().

bool UImage::savePNG ( const char * filename )

Save image in PNG format. Filename is assumed to be fully qualified.

References colFormat, convertBuffer, copyMeta(), getDepth(), getLine(), getUCharRef(), height(), img, isBW(), isBW16s(), isRGB(), PIX_PLANES_RGB, setSize(), toRGB(), and width().

Referenced by UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), UFunctionImgPool::handleImageGetCommand(), isTooBig(), UImageLog::logImage(), testGuppy(), testOpenCv(), testPng(), testVideo(), testVideo2(), testVideo3(), and testZlib().

bool UImage::saveTxt ( const char * filename )

Save image as space separated integer values line by line. Filename is assumed to be fully qualified.

References getDepth(), getUCharRef(), height(), and width().

Referenced by UFunctionImgPool::handleImageGetCommand(), and isTooBig().

int UImage::setColorType ( const char * col )

Set colot type. The following types are recognized: "BW", "RGB", "BGR", "YUV". "RGBA", "BGRA", "GRAY", "BW16S", "BGGR", "RGGB", "YUV420", "YUV422" Returns ordinal value. The image data is left unchanged.

References colFormat, img, PIX_PLANES_BAYER, PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_BW16S, PIX_PLANES_BW16U, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_RGGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, and PIX_PLANES_YUV422.

Referenced by copyMeta(), UCamDevGigE::frameToImage(), UFunctionImgPool::handleImageGetCommand(), UClientFuncImage::handleImages(), loadBMP(), UFuncPCLTest::MakeMap(), UCalibrate::MarkCornerDetections4(), moveBGGRtoBW(), moveBW16ToRGB(), moveYUV420To(), pixYUV(), UFuncStereo::processImages(), UFuncPiCam::run(), setSize(), testUImage(), toBGR(), toCromaBGR(), toHalf(), tone(), toRGB(), toRGBA(), toYUV(), UFuncV4lGst::useBuffer(), yuv422toBGR(), yuv422toBGRhalf(), yuv422toBW(), yuv422toRGB(), yuv422toRGBhalf(), yuv422toYUV(), yuv422toYUVhalf(), and UCamDevIeee1394::~UCamDevIeee1394().

bool UImage::setColorType ( int colorFormat )

Set image color format to one of PIX_PLANES_BW , PIX_PLANES_RGB, PIX_PLANES_BGR, PIX_PLANES_YUV, PIX_PLANES_YUV420, PIX_PLANES_YUV422, PIX_PLANES_BW16S. (16 bit signed integer per pixel), PIX_PLANES_BGGR (Bayer coded 1 plane image) PIX_PLANES_RGGB (Bayer coded 1 plane image) PIX_PLANES_BGRA (32 bit interger per pixel (1 plane image in openCV)) PIX_PLANES_RGBA (32 bit interger per pixel (1 plane image in openCV)) Returns true if one of these formats. There is no check to prohibit a BW image to be changed to RBG or the other way. The image data is unchanged.

References colFormat, img, PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_RGGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, and PIX_PLANES_YUV422.

bool UImage::setMaxSize43 ( )

Set size to the largest image that the buffer can hold when the width/height relation is 4/3. Returns true if this is possible (buffer can hold an image of 4x3 pixels)

References maxPixels(), roundi(), and setSize().

Referenced by clear(), GetNewNonCameraImage(), UHighGuiWindowHandle::makeImage(), and setROI().

void UImage::setName ( const char * imageName )

inline

Set image name used in save and in caption in UClient

References GetNewNonCameraImage(), MAX_IMG_NAME_SIZE, name, pixRGB(), and pixYUV().

Referenced by UFuncCog::calculateCOG(), UFuncKinect::callGotNewDataWithObject(), UFuncCropRow::CannyEdge(), UFuncKinect::decodeReplayLine(), UImagePool::decodeReplayLine(), UCamPool::decodeReplayLine(), UFuncCropRow::filterMask(), UFuncLinefinder::filterMask(), UFuncBallKL::findBall(), UFuncPiPi::findBall(), UFuncBall::findBall(), UFuncBall_improved::findBall(), UFunctionImgPool::handleImageGetCommand(), UFunctionImgPool::handlePoolPushCommand(), UFuncLinefinder::houghTest(), UImageLog::logImage(), UFuncPCLTest::MakeMap(), UFuncBallKL::maskColors(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), UFuncLinefinder::maskColors(), UNavPaint::paint(), UFuncTOF::processChannel8(), UFuncKinect::processDepthImages(), UFuncStereo::processImages(), UFuncTOF::processImages(), UFuncPTgrey::Receiver(), UFuncV4lGst::run(), and saveBMP().

void UImage::setNameAndExt	(	const char *	basename,
		const char *	ext = `NULL`
	)

Set name and extension inside image meta data. to the attributes 'name' and 'saveType'. If no name is provided and no name exist already then a name is created using the image number on the form img99999. If no type is provided, and non existing, then the type is set to 'png'. On return there is a valid name and extension in the name and saveType fields.

References imageNumber, MAX_EXT_SIZE, MAX_IMG_NAME_SIZE, name, and saveType.

Referenced by UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), pixYUV(), and setROI().

void UImage::setPix	(	unsigned int	line,
		unsigned int	column,
		UPixel	pix
	)

inline

Set a pixel to this value.

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())
pix	is the value to be set at this point

References getPixRef().

Referenced by UCalibrationComponents::doFindCodeCellIntensity(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), harris(), harris2(), harris3(), UImageAna::imageContour2(), UImagePoly::imageContour2(), UImAna::imageContourMaha(), UImageAna::imageContourMaha(), UImagePoly::imageContourMaha(), UCalibrate::MarkCornerDetections4(), UClientFuncImgGui::paintClustPixels(), UFuncFz::paintClustPixels(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UFuncStereo::processImages(), UClientFuncImgGui::showUVImage(), UResDisp::showUVImage(), testCameraHDR(), testEigenvector(), and testMatrixVecBig().

void UImage::setPixChar	(	unsigned int	line,
		unsigned int	column,
		char	pix
	)

inline

Set a pixel to this value (8-bit (char)).

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())
pix	is the value to be set at this point

References getCharRef().

Referenced by UFuncImSeg::findBestCoooccurrence().

void UImage::setPixel	(	int	x1,
		int	y1,
		UPixel	rgb,
		UImage *	image = `NULL`,
		int	procent = `0`
	)

Paint one pixel in mixtuer of provided color and same pixel in this image or provided image

Referenced by inRange().

void UImage::setPixInt	(	unsigned int	line,
		unsigned int	column,
		int	pix
	)

inline

Set a pixel to this value (32-bit int).

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())
pix	is the value to be set at this point

References getIntRef().

void UImage::setPixUChar	(	unsigned int	line,
		unsigned int	column,
		unsigned char	pix
	)

inline

Set a pixel to this value (8-bit unsigned).

Parameters

line	is row number starting at 0 counting down in image (less than height())
column	is coloumn starting at 0 counting positive right (less than width())
pix	is the value to be set at this point

References getUCharRef().

Referenced by UResObj3d::doGndPlaneMask(), and UResObj3d::makeGroundPlaneProfileImage().

bool UImage::setQuadPix	(	unsigned int	line,
		unsigned int	column,
		unsigned char	I11,
		unsigned char	I12,
		unsigned char	I21,
		unsigned char	I22,
		unsigned char	U,
		unsigned char	V
	)

Set four intensity pixels and one set of color pixels The line and column will be truncated to even numbers. NB! works correct if format is YUV420 only!

References colFormat, getUline(), getVline(), getYline(), height(), PIX_PLANES_YUV420, and width().

Referenced by getBufferSize().

void UImage::setROI	(	int	x,
		int	y,
		int	w,
		int	h
	)

inline

Set Region of Interest for image processing using filter and other methods.

References img, setMaxSize43(), and setNameAndExt().

bool UImage::setSize	(	const unsigned int	iHeight,
		const unsigned int	iWidth,
		const int	channels,
		const int	depth,
		const char *	colorType = `NULL`
	)

Initialize image size. Pixel depth is always unsigned byte.

Parameters

height	is height of image
width	is width of image (height * width * channels should be less than 8006003 = 1440000 (bytes)
channels	may be 1,2,3,4 - default is 3 (usually RGB).
depth	should be 8 (bits) if channels > 1, else 16 is OK
colorType	is a string with color type - valid types are: "BW", "RGB", "BGR", "YUV". "RGBA", "BGRA", "GRAY", "BW16S", "BGGR", "RGGB", "YUV420"

Returns: true if changes as requested

References getData(), img, maxBytes(), PIX_PLANES_BW, pu, pv, py, resizeBuffer(), and setColorType().

Referenced by UResObj3d::addGroundObjects(), UFuncKinect::callGotNewDataWithObject(), UImgProj::clearColMap(), UImgPolyProj::clearColMap(), UImgPolyProj::clearPathMap(), UImgProj::clearPathMap(), copyJustImage(), copyScaleDown(), UFuncStraightLine::crop(), UResObj3d::do3dVoxels(), UResObj3d::doGndPlaneMask(), UClientFuncLaserGui::doRepaint(), UFuncImSeg::findBestCoooccurrence(), UImageAna::findRoad(), UImageAna::findRoadCroma(), UImageAna::findRoadFill(), UCamDevGigE::frameToImage(), fromMat(), UFuncCropRow::handleCommand(), UFuncStraightLine::handleCommand(), UFunctionImgPool::handleImageGetCommand(), UClientFuncImage::handleImages(), initImage(), loadBMP(), loadPNG(), UResObj3d::makeGroundPlaneProfileImage(), UFuncPCLTest::MakeMap(), UProbGrid::makeProbGrid(), UProbGrid::makeProbGrid2(), UImagePoly::makeSimilarImage3(), UFuncBallKL::maskColors(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), UFuncLinefinder::maskColors(), moveBGGRtoBGR(), moveBGGRtoBW(), moveBGGRToHalfBGR(), moveBGGRtoRGB(), moveYUV420To(), moveYUV420ToHalf(), UCamDevGigE::openDeviceDefault(), UNavPaint::paint(), UResObj3d::paintGndPlane(), pixYUV(), UFuncTOF::processChannel8(), UFuncKinect::processDepthImages(), UFuncStereo::processImages(), UFuncTOF::processImages(), UCamPwc::readFramesThread(), UCamDevice::readFramesThread(), UFuncPTgrey::Receiver(), resize(), UFuncPiCam::run(), savePNG(), setMaxSize43(), UClientFuncImgGui::showUVImage(), UResDisp::showUVImage(), testCameraHDR(), testImageHandling(), testMatrixVecBig(), testOpenCv(), testOpticalFlow(), testOpticalFlowHarris(), testVideo(), testVideo2(), toBGR(), toBW(), toCromaBGR(), toRaibow(), toRaibowInv(), toRGB(), toRGBA(), toYUV(), unpackZLIB(), yuv422toBGR(), yuv422toBGRhalf(), yuv422toBW(), yuv422toRGB(), yuv422toRGBhalf(), yuv422toYUV(), yuv422toYUVhalf(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

bool UImage::setSizeOnly	(	const unsigned int	iHeight,
		const unsigned int	iWidth
	)

Change size only, i.e. keep depth, channels and color-mode. Returns true if space for new size. Do not change image content, and any existing image will be folded differently

References getData(), img, maxBytes(), pu, pv, py, and resizeBuffer().

Referenced by UFuncKinect::callGotNewDataWithObject(), copyToMaxRes(), UFuncImSeg::doLBPhistogramMatch(), UFunctionImgPool::handleImageGetCommand(), moveBWToHalf(), movePixToHalf(), UCamPwc::readFramesThread(), and UCamDevice::readFramesThread().

void UImage::shiftCols	(	int	cols,
		int	byteFill = `-1`
	)

Shift image this number of columns left or right. The shift is right if cols is positive. If byteFill is zero or positive the now empty part of the image is filled with this value.

References absi(), getChannels(), getLine(), height(), and width().

Referenced by getBufferSize(), and testImageShift().

void UImage::shiftRows	(	int	rows,
		int	byteFill = `-1`
	)

Shift image this number of rows up or down. The shift is down if rows is positive. If byteFill is zero or positive the now empty part of the image is filled with this value.

References absi(), getChannels(), getLine(), height(), and width().

Referenced by getBufferSize(), and testImageShift().

UPixel UImage::sobel	(	UPixel *	p1,
		UPixel *	p2,
		UPixel *	p3
	)

Get edge pixel in area up to 3 pixels left of the 3 rows of pixels provided in these pointers. The center is assumed to be p2[1]. Returns the Sobel value of this pixel.

References absi(), mini(), UPixel::p1, UPixel::p2, and UPixel::p3.

Referenced by edgeSobel(), and getBufferSize().

UPixel UImage::sobel	(	UPixel *	p1,
		UPixel *	p2,
		UPixel *	p3,
		UPixel *	pixRef,
		int	reducFactor
	)

Get edge pixel in area up to 3 pixels left of the 3 rows of pixels provided in these pointers. The center is assumed to be p2[1]. Returns a signed Sobel value added to the pixRef pixel value.

References maxi(), mini(), UPixel::p1, UPixel::p2, and UPixel::p3.

bool UImage::toBGR ( UImage * dest = NULL )

Convert to BGR (native opencv format) NB! can not convert a BW image. Returns true if converted.

References colFormat, copy(), copyMeta(), cvArr(), getData(), height(), isBayer(), isBGR(), isBW(), isRGB(), isYUV(), moveBGGRTo(), moveBW16ToRGB(), moveYUV420To(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_BW16S, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_YUV, PIX_PLANES_YUV420, PIX_PLANES_YUV422, UPixel::set(), setColorType(), setSize(), UPixel::setYUVto(), UPixel::u, UPixel::v, width(), UPixel::y, and yuv422toBGR().

Referenced by UFuncCog::calculateCOG(), UImgPush::fillShowBuffer(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), UClientFuncImgGui::gotNewImage(), UFuncRectify::handleCommand(), UCamRad::removeRadialError(), UHighGuiWindowHandle::showImage(), testImageHandlingRaw(), testMatrixVecBig(), testRadErr(), testVideo3(), toCromaBGR(), and updated().

bool UImage::toBW ( UImage * dest = NULL )

Convert this image to BW format. Changes the image format to one channel If the source is 16bit (BW16s) signed BW image, then the result is limited to +/- 128 and is shifted to range 0 to 255.

References colFormat, copy(), copyMeta(), cvArr(), getData(), getUCharRef(), height(), isBayer(), isBGR(), isBW(), isBW16s(), isBW16u(), isRGB(), isYUV(), maxi(), mini(), moveBGGRTo(), moveYUV420To(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_YUV420, PIX_PLANES_YUV422, UPixel::setRGBto(), setSize(), UPixel::setYUVto(), UPixel::u, updated(), UPixel::v, width(), UPixel::y, and yuv422toBW().

Referenced by UFuncCog::calculateCOG(), UFuncImSeg::doGrayLevelCooccurenceMatrix(), UFuncRectify::handleCommand(), UFuncCropRow::handleCommand(), UFuncImSeg::makeLBPimage(), UFuncStereo::processImages(), testOpenCv(), testVideo3(), and updated().

int UImage::toColFormatInt ( const char * col )

static

Convert color type string to integer value. Color format is not case sensitive. Does not change anything in image.

Parameters

col	is string representation BW, gray, RGB, BGR, BW16s, RGGB BGGR BGRA RGBA YUV YUV420.

Returns: the ordinal value.

References colFormat, PIX_PLANES_BAYER, PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_BW16S, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_RGGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, and PIX_PLANES_YUV422.

Referenced by UFunctionImgPool::handleImageGetCommand(), and tone().

bool UImage::toCromaBGR ( UImage * dest = NULL )

Conver image to an image, where the intensity is removed and replaced with BGR values, where the sum is always 256 (+/- 3) Returns true if converted.

References UPixel::asCromaBGR(), colFormat, copyMeta(), getData(), height(), isBayer(), isBGR(), isBW(), isRGB(), isYUV(), isYUV420(), moveYUV420To(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGR, PIX_PLANES_YUV420, PIX_PLANES_YUV422, UPixel::set(), setColorType(), setSize(), UPixel::setYUVto(), toBGR(), UPixel::u, UPixel::v, width(), and UPixel::y.

Referenced by UFuncFz::doClassify(), UClientFuncImgGui::showUVImage(), testCromaImage(), and updated().

bool UImage::toHalf ( )

Downscale image to half size, if image is YUV420 or one of the bayer formats, then the resulting image is in BGR format. Does nothing if format is YUV.

Returns: true

References colFormat, getUCharRef(), height(), isYUV(), moveBGGRToHalfBGR(), moveBWToHalf(), movePixToHalf(), moveYUV420ToHalf(), PIX_PLANES_BGGR, PIX_PLANES_BW, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGGB, PIX_PLANES_YUV420, PIX_PLANES_YUV422, setColorType(), width(), and yuv422toRGBhalf().

Referenced by getImageTime(), testVideo3(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

bool UImage::toMat ( )

make a cv:Mat copy og this image - to be used in opencv2 and 3 methods. This will make a separate copy of the image to a new buffer, and the new buffer will not be available on the for UImage operations until data is moved back with a fromMat() call. Only images with 1 and 3 channels can be converted (e.g. RGB and 8bit gray images)

Returns: true if conversion is sucessfull

References getChannels(), getData(), getDepth(), height(), mat, and width().

Referenced by getConvertBuffer(), and UFuncImSeg::makeLBPimage().

void UImage::tone	(	UPixel *	rgb,
		int	procent
	)

Tone full image towards provided color

References getLine(), height(), isBW(), UPixel::p1, UPixel::p2, UPixel::p3, and width().

Referenced by UFuncBallKL::findBall(), UFuncPiPi::findBall(), UFuncBall::findBall(), UFuncBall_improved::findBall(), harris(), harris2(), harris3(), inRange(), testEigenvector(), testImageHandling(), testMatrixVecBig(), and tone().

void UImage::tone	(	UPixel	rgb,
		int	procent
	)

inline

References setColorType(), toColFormatInt(), and tone().

bool UImage::toRaibow ( UImage * gray )

Make this image a rainbow RGB image from the BW image provided. 0 towards 255 in gray becomes white->red->green->mag->dark->black.

Parameters

gray	the gray sourceimage.

Returns: true if success.

References getData(), getUCharRef(), height(), setSize(), and width().

Referenced by getImageTime(), and UFuncStereo::processImages().

bool UImage::toRaibowInv ( UImage * gray )

Make this image a rainbow RGB image from the BW image provided. 255 towards 0 in gray becomes white->red->green->mag->dark->black.

Parameters

gray	the gray sourceimage.

Returns: true if success.

References getData(), getUCharRef(), height(), setSize(), and width().

Referenced by getImageTime().

bool UImage::toRGB ( UImage * dest = NULL )

Convert this image to RGB format.

Parameters

dest	is the destination image - may be the same image. true if converted

References colFormat, convertBuffer, copy(), copyJustImage(), copyMeta(), cvArr(), getData(), height(), isBGR(), isBW(), isRGB(), isYUV(), isYUV420(), moveBGGRTo(), moveBW16ToRGB(), moveYUV420To(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_BW16S, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGBA, PIX_PLANES_RGGB, PIX_PLANES_YUV, PIX_PLANES_YUV420, PIX_PLANES_YUV422, UPixel::set(), setColorType(), setSize(), UPixel::setYUVto(), UPixel::u, UPixel::v, width(), UPixel::y, and yuv422toRGB().

Referenced by UFuncGndAna::doAnalysis(), UFuncFz::doClassify(), UFuncKinect::GetXYZCoordinates(), UFuncRectify::handleCommand(), UFuncCropRow::handleCommand(), UFuncImgPoly::handleImgPolyCommand(), UFunctionCamPath::handlePathGetCommand(), UFuncLinefinder::houghTest(), UFuncKinect::makeObj3Dcloud(), UFuncBallKL::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), savePNG(), UResDisp::showUVImage(), testCameraSettings(), testMatrixVecBig(), testVideo(), updated(), UQtgui::updateImg(), and MainWindow::updateImg().

bool UImage::toRGBA ( UImage * dest = NULL )

Convert this image to RGBA (32 bit per pixel) format.

Parameters

dest	is the destination image - may be the same image. true if converted

References colFormat, convertBuffer, copy(), copyJustImage(), copyMeta(), cvArr(), getData(), height(), isBW(), isRGBA(), isYUV420(), moveBGGRTo(), moveBW16ToRGB(), moveYUV420To(), PIX_PLANES_BGGR, PIX_PLANES_BGR, PIX_PLANES_BGRA, PIX_PLANES_BW, PIX_PLANES_BW16S, PIX_PLANES_GBRG, PIX_PLANES_GRBG, PIX_PLANES_RGB, PIX_PLANES_RGGB, PIX_PLANES_YUV420, PIX_PLANES_YUV422, setColorType(), setSize(), width(), and yuv422toRGB().

Referenced by UFuncImSeg::meanShiftSegment(), and updated().

bool UImage::toYUV ( UImage * dest = NULL )

Convert from YUV format to RGB format. NB! can not convert a BW image. Returns true if converted

References colFormat, convertBuffer, copy(), copyJustImage(), copyMeta(), getData(), getUCharRef(), height(), img, isBayer(), isBGR(), isBW(), isRGB(), isYUV(), moveBGGRTo(), moveYUV420To(), UPixel::p1, UPixel::p2, UPixel::p3, PIX_PLANES_YUV, PIX_PLANES_YUV420, PIX_PLANES_YUV422, UPixel::RGBtoYUV(), UPixel::set(), setColorType(), setSize(), width(), and yuv422toYUV().

Referenced by UFuncFz::doClassify(), UFunctionCamGmk::handleGmkGetCommand(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncLinefinder::maskColors(), moveBGGRTo(), UClientFuncImgGui::showUVImage(), testImageHandling(), testMatrixVecBig(), and updated().

bool UImage::unpackZLIB	(	int	rows,
		int	cols,
		const char *	colFormat,
		char *	buffer,
		int	bufferCnt
	)

Unpack image data original image height and width must be provided along with color type - see setColorType(). The buffer must hold the packed image to unpack (assumed packed using packZLIB). bufferCnt is the length of the bufferdata to use.

References getChannels(), getData(), height(), imgBytes(), maxBytes(), setSize(), unpackZlib(), and width().

Referenced by isTooBig(), and testZlib().

void UImage::updated ( )

inline

Mark the image as updated, i.e. increase the used number, so that debug users can see the updated image. Further set the update time almost the same purpose. The 'used' count is a bit depricated.

References colourSaturate(), imgUpdated(), toBGR(), toBW(), toCromaBGR(), toRGB(), toRGBA(), and toYUV().

Referenced by UResObj3d::addGroundObjects(), UFuncCog::calculateCOG(), UFuncKinect::callGotNewDataWithObject(), UFuncCropRow::CannyEdge(), UFuncStraightLine::crop(), UFuncKinect::decodeReplayLine(), UImagePool::decodeReplayLine(), UCamPool::decodeReplayLine(), UResObj3d::do3dVoxels(), UFuncFz::doClassify(), UResObj3d::doGndPlaneMask(), UFuncImSeg::doGrayLevelCooccurenceMatrix(), UFuncImSeg::doLBPhistogramMatch(), UFuncLinefinder::filterMask(), UFuncBallKL::findBall(), UFuncPiPi::findBall(), UFuncBall::findBall(), UFuncBall_improved::findBall(), UFuncImSeg::findBestCoooccurrence(), fromMat(), UFuncStraightLine::GLR(), UFuncCropRow::handleCommand(), UFuncStraightLine::handleCommand(), UFunctionImage::handleImageGetCommand(), UFunctionImgPool::handleImageGetCommand(), UFunctionImgPool::handleImageSetCommand(), UFuncLinefinder::houghTest(), UResDisp::loadImgToPool(), UResObj3d::makeGroundPlaneProfileImage(), UFuncImSeg::makeLBPimage(), UFuncPCLTest::MakeMap(), UFuncBallKL::maskColors(), UFuncPiPi::maskColors(), UFuncBall::maskColors(), UFuncBall_improved::maskColors(), UFuncCropRow::maskColors(), UFuncLinefinder::maskColors(), UFuncImSeg::meanShiftSegment(), UFuncFz::paintColoredImage(), UResObj3d::paintGndPlane(), UResObj3d::paintPolygonInImage(), UFuncStraightLine::printLine(), UFuncTOF::processChannel8(), UFuncKinect::processDepthImages(), UFuncStereo::processImages(), UFuncTOF::processImages(), UFuncPTgrey::Receiver(), UCamRad::removeRadialError(), UFuncPiCam::run(), UResDisp::showUVImage(), UFuncStraightLine::threshold(), toBW(), UFuncV4lGst::useBuffer(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

void UImage::vLine	(	unsigned int	col,
		unsigned int	r1,
		unsigned int	r2,
		int	p1,
		int	p2,
		int	p3
	)

Paint vertical line in one or more of the image planes from row 'r1' to row 'r2'. paint with value p1, p2, p3 in the 3 planes, if a plane is -1 (negative) then plane is not changed.

References getLine(), height(), maxi(), mini(), UPixel::p1, UPixel::p2, UPixel::p3, and width().

Referenced by getBufferSize().

unsigned int UImage::width ( )

inline

Get image width in pixels.

References img.

bool UImage::yuv422toBGR	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an BGR image. NB source buffer must not be the same as the image buffer in this image

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_RGB, setColorType(), setSize(), UPixel::YUVtoBGR(), and UPixel::YUVtoRGB().

Referenced by toBGR().

bool UImage::yuv422toBGRhalf	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an BGR image in half resolution.

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_RGB, setColorType(), setSize(), and UPixel::YUVtoBGR().

bool UImage::yuv422toBW	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an BW image.

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_BW, setColorType(), and setSize().

Referenced by toBW().

bool UImage::yuv422toRGB	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an RGB image. NB source buffer must not be the same as the image buffer in this image

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_RGB, setColorType(), setSize(), and UPixel::YUVtoRGB().

Referenced by toRGB(), and toRGBA().

bool UImage::yuv422toRGBhalf	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an RGB image in half resolution.

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_RGB, setColorType(), setSize(), and UPixel::YUVtoRGB().

Referenced by toHalf().

bool UImage::yuv422toYUV	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an YUV image. NB source buffer must not be the same as the image buffer in this image

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_YUV, UPixel::set(), setColorType(), and setSize().

Referenced by toYUV().

bool UImage::yuv422toYUVhalf	(	uint8_t *	source,
		int	h,
		int	w
	)

Move a source YUV422 image buffer of known size to an YUV image in half resolution. NB source buffer must not be the same as the image buffer in this image

Parameters

source	is a buffer with the source values
h	is the source image height in rows
w	is source image width

Returns: true if successfull

References getLine(), PIX_PLANES_YUV, UPixel::set(), setColorType(), and setSize().

Member Data Documentation

unsigned int UImage::bufferBytes

protected

Size of allocated buffer to img.imageBuffer

Referenced by initImage(), maxBytes(), maxPixels(), resize(), resizeBuffer(), and UImage().

void* UImage::cam

Pointer to camera that took the image.

Referenced by copyMeta(), copyScaleDown(), UCamDevGigE::frameToImage(), GetNewNonCameraImage(), UFunctionCamPath::handlePathGetCommand(), UImage(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

int UImage::camDevice

Camera device number

int UImage::colFormat

protected

flag for color format. possible formats are PIX_PLANES_BW , PIX_PLANES_RGB, PIX_PLANES_BGR, PIX_PLANES_YUV. PIX_PLANES_YUV420, ...

Referenced by colourSaturate(), copyMeta(), copyScaleDown(), getColorType(), getColorTypeString(), getPix(), getPixInt(), getQuadPix(), isBayer(), isBGR(), isBW(), isBW16s(), isBW16u(), isRGB(), isRGBA(), isTooBig(), isYUV(), isYUV420(), isYUV422(), moveBGGRToHalfBGR(), moveYUV420To(), pixRGB(), pixYUV(), saveBMP(), savePNG(), setColorType(), setQuadPix(), toBGR(), toBW(), toColFormatInt(), toCromaBGR(), toHalf(), toRGB(), toRGBA(), toYUV(), and UImage().

UImage* UImage::convertBuffer

private

private format conversion buffer - created if needed

Referenced by getConvertBuffer(), moveBGGRtoBGR(), moveBGGRtoRGB(), savePNG(), toRGB(), toRGBA(), toYUV(), UImage(), and ~UImage().

unsigned int UImage::hdrSet

High dynamic range set number. 0 is a normal image not part of a set. 1 is a dark reference image (minimum shutter time) 2.. is images with increasing shutter time and/or gain, so hdrSet 2 should not be saturated and hdrSet = 3 shuld be usabel in saddows.

Referenced by copyMeta().

unsigned long UImage::imageNumber

Image serial number - from this camera

Referenced by UResObj3d::addGroundObjects(), UFuncKinect::callGotNewDataWithObject(), copyMeta(), copyScaleDown(), UFuncKinect::decodeReplayLine(), UImagePool::decodeReplayLine(), UCamPool::decodeReplayLine(), UResObj3d::do3dVoxels(), UResObj3d::doGndPlaneMask(), UFuncImSeg::doLBPhistogramMatch(), UFuncImgPoly::findAreaFromSeedRGB(), UCalibrate::findGmk(), UFunctionCamPath::findPath(), UCamDevGigE::frameToImage(), GetNewNonCameraImage(), UFunctionCamGmk::handleGmkGetCommand(), UFunctionImage::handleImageGetCommand(), UFunctionImgPool::handleImageGetCommand(), UFunctionImgPool::handleImageListCommand(), UClientFuncImage::handleImages(), UFunctionImgPool::handleImageSetCommand(), UFunctionCamPath::handlePathGetCommand(), UImgPush::imgUpdated(), UImageLog::logImage(), UFuncKinect::makeObj3Dcloud(), UCalibrate::MarkCornerDetections4(), UNavPaint::paint(), UResObj3d::paintGndPlane(), UFuncTOF::processChannel8(), UFuncStereo::processImages(), UFuncTOF::processImages(), UCamPwc::readFramesThread(), UCamDevice::readFramesThread(), UFuncPTgrey::Receiver(), UFuncPiCam::run(), UFuncKinect::run(), UFunctionImgBase::sendImage(), setNameAndExt(), testCameraSettings(), testImageHandling(), testImageLoadSave(), testMatrixVecBig(), UImage(), UQtgui::updateImg(), UFuncV4lGst::useBuffer(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

IplImage UImage::img

protected

Image structure from opencv library

Referenced by cvArr(), getChannels(), getData(), getDepth(), getHeight(), getIplImage(), getWidth(), getYline(), height(), initImage(), inRange(), maxPixels(), moveBGGRtoBW(), moveBGGRToHalfBGR(), moveBWToHalf(), moveYUV420ToHalf(), pixYUV(), resize(), resizeBuffer(), savePNG(), setColorType(), setROI(), setSize(), setSizeOnly(), toYUV(), UImage(), width(), and ~UImage().

UTime UImage::imgTime

Estimated time image were taken

Referenced by UResObj3d::addGroundObjects(), UFuncKinect::callGotNewDataWithObject(), UFuncCog::centerOfGravity(), copyMeta(), copyScaleDown(), UFuncKinect::decodeReplayLine(), UImagePool::decodeReplayLine(), UCamPool::decodeReplayLine(), UResObj3d::do3dVoxels(), UResObj3d::doGndPlaneMask(), UClientFuncLaserGui::doImage(), UFuncImgPoly::findAreaFromSeedRGB(), UFuncBallKL::findBall(), UFuncPiPi::findBall(), UFuncBall::findBall(), UFuncBall_improved::findBall(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UCalibrate::findGmk(), UFunctionCamPath::findPath(), UFuncCropRow::findPlants(), UFuncTracking::FirstImage(), UCamDevGigE::frameToImage(), getImageTime(), GetNewNonCameraImage(), UResCamIfImg::gotNewImage(), UFuncCropRow::handleCommand(), UFunctionImage::handleImageGetCommand(), UFunctionImgPool::handleImageGetCommand(), UClientFuncImage::handleImages(), UFunctionImgPool::handleImageSetCommand(), UFunctionCamPath::handlePathGetCommand(), UFuncLinefinder::houghTest(), UImgPush::imgUpdated(), UImageLog::logImage(), UFuncKinect::makeObj3Dcloud(), UNavPaint::paint(), UResObj3d::paintGndPlane(), UFuncTOF::processChannel8(), UFuncStereo::processImages(), UFuncTOF::processImages(), UCamPwc::readFramesThread(), UCamDevice::readFramesThread(), UFuncPTgrey::Receiver(), UFuncPiCam::run(), UClientFuncImgGui::saveImage(), UFunctionImgBase::sendImage(), UHighGuiWindowHandle::showImage(), testImageHandling(), testImageLoadSave(), testMatrixVecBig(), UFuncTracking::TrackObjects(), UImage(), UFuncV4lGst::useBuffer(), UCamDevGuppy::~UCamDevGuppy(), and UCamDevIeee1394::~UCamDevIeee1394().

UTime UImage::imgUpdateTime

protected

additional timestamp for other purposes than when image was taken

Referenced by UImgPush::fillBuffer(), UImgPush::fillShowBuffer(), getUpdatedTime(), and imgUpdated().

cv::Mat UImage::mat

Referenced by fromMat(), UFuncImSeg::makeLBPimage(), and toMat().

char UImage::name[MAX_IMG_NAME_SIZE]

Image name (base name - if any)

Referenced by UResObj3d::addGroundObjects(), copyMeta(), copyScaleDown(), UResObj3d::do3dVoxels(), UResObj3d::doGndPlaneMask(), UFuncImSeg::doLBPhistogramMatch(), UImgProj::doPolygonMap(), UImgPolyProj::doPolygonMap(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImAna::findRoadPoly(), UImageAna::findRoadPoly(), UImagePoly::findRoadPoly(), UClientFuncImgGui::getImage(), GetNewNonCameraImage(), UClientFuncImgGui::gotNewImage(), UFunctionCamGmk::handleGmkGetCommand(), UFunctionImgPool::handleImageGetCommand(), UFunctionImgPool::handleImageListCommand(), UClientFuncImage::handleImages(), UFunctionImgPool::handleImageSetCommand(), isTooBig(), loadBMP(), UResObj3d::makeGroundPlaneProfileImage(), UCalibrate::MarkCornerDetections4(), UResObj3d::paintGndPlane(), pixYUV(), saveBMP(), UClientFuncImgGui::saveImage(), UFunctionImgBase::sendImage(), setName(), setNameAndExt(), UClientFuncImgGui::setUVSource(), UClientFuncImgGui::showUVImage(), UResDisp::showUVImage(), testImageLoadSave(), testUImage(), UImage(), and UQtgui::updateImg().

UPosition UImage::pos

Position of robot (or camera) at capture time.

Referenced by copyMeta(), copyScaleDown(), UClientFuncLaserGui::doImage(), GetNewNonCameraImage(), testImageHandling(), testImageLoadSave(), testMatrixVecBig(), and UImage().

unsigned char* UImage::pu

protected

first value of U-pixels (YUV 420 planar only)

Referenced by getUline(), moveYUV420ToHalf(), setSize(), and setSizeOnly().

unsigned char* UImage::pv

protected

first value of V pixels (YUV 420 planar only)

Referenced by getVline(), moveYUV420ToHalf(), setSize(), and setSizeOnly().

unsigned char* UImage::py

protected

first value of Y-pixels (YUV 420 planar only)

Referenced by getYline(), setSize(), and setSizeOnly().

bool UImage::radialErrorRemoved

Flag to avoid that radial error is removed twice.

Referenced by copyMeta(), copyScaleDown(), UCalibrate::findGmk(), UClientFuncImage::handleImages(), UCamRad::removeRadialError(), UFunctionImgBase::sendImage(), and UImage().

float UImage::readDelay

Read delay is an indication of the validity of the image timestamp. If the delay is wery short (< 5ms) it is likely that the image were on stock before the timestamping and therefore older than could be expected from the timestamp.

Referenced by copyMeta(), UCamPwc::readFramesThread(), and UCamDevice::readFramesThread().

URotation UImage::rot

Orientation of robot (or camera) at image capture time

Referenced by copyMeta(), copyScaleDown(), UClientFuncLaserGui::doImage(), GetNewNonCameraImage(), testImageHandling(), testImageLoadSave(), testMatrixVecBig(), and UImage().