An RGB-D image that contains four channels for the RGB color and the depth. More...

#include <image.h>

Public Member Functions
	RGBDImage (const std::string &filename, const std::string &depthFilename, bool useDepthImages, bool convertToCIELab=true, bool useDepthFilling=false, bool calculateIntegralImage=true)
	Load the RGB color image and the according depth from two files on disk.
	RGBDImage (int width, int height)
	For the test case.
	RGBDImage (const RGBDImage &other)
	uses the attributes of another object to set its attributes
size_t	getSizeInMemory () const
void	fillDepth ()
	Simple depth filling.
void	reset ()
	resets all values to zero
const cuv::ndarray< float, cuv::host_memory_space > &	getColorImage () const
const cuv::ndarray< int, cuv::host_memory_space > &	getDepthImage () const
void	calculateDerivative ()
	Calculate the image derivative.
void	calculateIntegral ()
	Calculate the image integral.
void	dump (std::ostream &out) const
	Print the image color channels in a human-readable format to the output stream.
void	dumpDepth (std::ostream &out) const
	Print the image depth channel in a human-readable format to the output stream.
void	dumpDepthValid (std::ostream &out) const
	Print the image depth valid channel in a human-readable format to the output stream.
void	saveColor (const std::string &filename) const
	save (export) the image color channels to a file
void	saveDepth (const std::string &filename) const
	save (export) the image depth channels to a file
const std::string &	getFilename () const
int	getWidth () const
int	getHeight () const
bool	hasIntegratedDepth () const
bool	hasIntegratedColor () const
bool	inImage (int x, int y) const
void	setDepth (int x, int y, const Depth &depth)
	Sets a new depth at the given position.
Depth	getDepth (int x, int y) const
int	getDepthValid (int x, int y) const
void	setColor (int x, int y, unsigned int channel, float color)
	sets a new color value at the given position and color channel
float	getColor (int x, int y, unsigned int channel) const
void	resizeImage (int newWidth, int newHeight)
	resize an image to a new depth and height

Detailed Description

An RGB-D image that contains four channels for the RGB color and the depth.

The class provides convenience methods to convert the image between RGB and CIELab color space and to calculate image integrals.

Image loading and saving is implemented using the vigraimpex library.

The image is stored as compact matrix in row-major order using cuv::ndarray.

Definition at line 174 of file image.h.

Constructor & Destructor Documentation

curfil::RGBDImage::RGBDImage	(	const std::string &	filename,
		const std::string &	depthFilename,
		bool	useDepthImages,
		bool	convertToCIELab = `true`,
		bool	useDepthFilling = `false`,
		bool	calculateIntegralImage = `true`
	)

explicit

Load the RGB color image and the according depth from two files on disk.

See the README file for the required file format.

Member Function Documentation

void curfil::RGBDImage::calculateDerivative ( )

Calculate the image derivative.

This method is only allowed if the image is already integrated.

void curfil::RGBDImage::calculateIntegral ( )

Calculate the image integral.

This method is only allowed if the image is not already integrated.

void curfil::RGBDImage::dump ( std::ostream & out ) const

Print the image color channels in a human-readable format to the output stream.

Used for debugging purposes and the test case.

void curfil::RGBDImage::dumpDepth ( std::ostream & out ) const

Print the image depth channel in a human-readable format to the output stream.

Used for debugging purposes and the test case.

void curfil::RGBDImage::dumpDepthValid ( std::ostream & out ) const

Print the image depth valid channel in a human-readable format to the output stream.

Used for debugging purposes and the test case.

void curfil::RGBDImage::fillDepth ( )

Simple depth filling.

Depth values are replaced by right,left,top,bottom neighbors (in that order)

float curfil::RGBDImage::getColor	(	int	x,
		int	y,
		unsigned int	channel
	)		const

inline

Parameters

x	the x position in the image where 0 <= x < width
y	the y position in the image where 0 <= y < height
channel	the color channel where 0 <= channel < COLOR_CHANNELS

Returns: the color value at the given position and color channel

Definition at line 377 of file image.h.

const cuv::ndarray<float, cuv::host_memory_space>& curfil::RGBDImage::getColorImage ( ) const

inline

Returns: a constant reference on the underlying RGB color matrix

Definition at line 229 of file image.h.

Depth curfil::RGBDImage::getDepth	(	int	x,
		int	y
	)		const

inline

Returns: the depth value at the given position. Note: Can be an integrated value!

Definition at line 347 of file image.h.

const cuv::ndarray<int, cuv::host_memory_space>& curfil::RGBDImage::getDepthImage ( ) const

inline

Returns: a constant reference on the underlying depth matrix

Definition at line 236 of file image.h.

int curfil::RGBDImage::getDepthValid	(	int	x,
		int	y
	)		const

inline

Returns: the depth validity information. 0 or 1 if the image is not integrated.

Definition at line 354 of file image.h.

const std::string& curfil::RGBDImage::getFilename ( ) const

inline

Returns: the name of the file this image was loaded from

Definition at line 288 of file image.h.

int curfil::RGBDImage::getHeight ( ) const

inline

Returns: height of the image in pixels

Definition at line 302 of file image.h.

size_t curfil::RGBDImage::getSizeInMemory ( ) const

inline

Returns: total size in memory in bytes

Definition at line 210 of file image.h.

int curfil::RGBDImage::getWidth ( ) const

inline

Returns: width of the image in pixels

Definition at line 295 of file image.h.

bool curfil::RGBDImage::hasIntegratedColor ( ) const

inline

Returns: true if and only if the image color channel was integrated

Definition at line 316 of file image.h.

bool curfil::RGBDImage::hasIntegratedDepth ( ) const

inline

Returns: true if and only if the image depth channel was integrated

Definition at line 309 of file image.h.

bool curfil::RGBDImage::inImage	(	int	x,
		int	y
	)		const

inline

Returns: true if and only if the specified position lies in the image

Definition at line 323 of file image.h.

void curfil::RGBDImage::setColor	(	int	x,
		int	y,
		unsigned int	channel,
		float	color
	)

inline

sets a new color value at the given position and color channel

Parameters

x	the x position in the image where 0 <= x < width
y	the y position in the image where 0 <= y < height
channel	the color channel where 0 <= channel < COLOR_CHANNELS
color	the new color value

Definition at line 366 of file image.h.

void curfil::RGBDImage::setDepth	(	int	x,
		int	y,
		const Depth &	depth
	)

inline

Sets a new depth at the given position.

Be careful when the image is already integrated!

Definition at line 336 of file image.h.

The documentation for this class was generated from the following file:

src/curfil/image.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation