imgops Namespace Reference

Namespace containing functions related to GENERAL operations on images or other large binary operations. More...

Functions
int	GetSLToOpenCVMatType (const sl::MAT_TYPE slType)
	Provides an easy method of mapping sl::Mat types to cv::Mat types.
sl::MAT_TYPE	GetCVToOpenSLMatType (const int cvType)
	Provides an easy method of mapping cv::Mat types to sl::Mat types.
cv::Mat	ConvertSLMatToCVMat (sl::Mat &slInputMat)
	Convert a ZEDSDK sl::Mat object into an OpenCV cv::Mat object. This copies the mat from GPU memory to CPU memory.
cv::cuda::GpuMat	ConvertSLMatToGPUMat (sl::Mat &slInputMat)
	Convert a ZEDSDK sl::Mat object into an OpenCV cv::cuda::GpuMat object. Keeps all Mat memory in GPU VRAM for faster processing.
sl::Mat	ConvertCVMatToSLMat (cv::Mat &cvInputMat)
	Convert an OpenCV cv::Mat object into a ZEDSDK sl::Mat object. This copies the mat from CPU memory to GPU memory.
sl::Mat	ConvertGPUMatToSLMat (cv::cuda::GpuMat &cvInputMat)
	Convert an OpenCV cv::Mat object into a ZEDSDK sl::Mat object. This copies the mat from CPU memory to GPU memory.
void	SplitPointCloudColors (cv::Mat &cvInputPointCloud, cv::Mat &cvOutputColors)
	Given a cv::Mat containing X, Y, Z, and BGRA values for each pixel in the third dimension, repackage the colors values and store them in a new mat.
void	CustomBilateralFilter (cv::Mat &cvInputFrame, ushort usDiameter, double dSigmaColor, double dSigmaSpace)
	Custom implementation of bilateral filter (since openCV is slow)
void	ColorReduce (cv::Mat &cvFrame, int nDiv=64)
	Given an image and a divisor, divide the precision of the elements.

Detailed Description

Namespace containing functions related to GENERAL operations on images or other large binary operations.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-31

Function Documentation

GetSLToOpenCVMatType()

int imgops::GetSLToOpenCVMatType ( const sl::MAT_TYPE  slType )

inline

Provides an easy method of mapping sl::Mat types to cv::Mat types.

Parameters

slType

- The data type/layout of the sl mat object.

Returns

int - The integer representing the cv mat type that maps to the given sl mat type.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-31

    {
        // Create instance variables.
        int nOpenCVType = -1;
 
        // Map sl to cv mat type.
        switch (slType)
        {
            case sl::MAT_TYPE::F32_C1: nOpenCVType = CV_32FC1; break;
            case sl::MAT_TYPE::F32_C2: nOpenCVType = CV_32FC2; break;
            case sl::MAT_TYPE::F32_C3: nOpenCVType = CV_32FC3; break;
            case sl::MAT_TYPE::F32_C4: nOpenCVType = CV_32FC4; break;
            case sl::MAT_TYPE::U16_C1: nOpenCVType = CV_16SC1; break;
            case sl::MAT_TYPE::U8_C1: nOpenCVType = CV_8UC1; break;
            case sl::MAT_TYPE::U8_C2: nOpenCVType = CV_8UC2; break;
            case sl::MAT_TYPE::U8_C3: nOpenCVType = CV_8UC3; break;
            case sl::MAT_TYPE::U8_C4: nOpenCVType = CV_8UC4; break;
            default: break;
        }
 
        // Return new type.
        return nOpenCVType;
    }

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GetCVToOpenSLMatType()

sl::MAT_TYPE imgops::GetCVToOpenSLMatType ( const int  cvType )

inline

Provides an easy method of mapping cv::Mat types to sl::Mat types.

Parameters

slType

- The data type/layout of the cv mat object.

Returns

int - The integer representing the sl mat type that maps to the given cv mat type.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-31

    {
        // Create instance variables.
        sl::MAT_TYPE slMatType = sl::MAT_TYPE::U8_C1;
 
        // Map sl to cv mat type.
        switch (cvType)
        {
            case CV_32FC1: slMatType = sl::MAT_TYPE::F32_C1; break;
            case CV_32FC2: slMatType = sl::MAT_TYPE::F32_C2; break;
            case CV_32FC3: slMatType = sl::MAT_TYPE::F32_C3; break;
            case CV_32FC4: slMatType = sl::MAT_TYPE::F32_C4; break;
            case CV_16SC1: slMatType = sl::MAT_TYPE::U16_C1; break;
            case CV_8UC1: slMatType = sl::MAT_TYPE::U8_C1; break;
            case CV_8UC2: slMatType = sl::MAT_TYPE::U8_C2; break;
            case CV_8UC3: slMatType = sl::MAT_TYPE::U8_C3; break;
            case CV_8UC4: slMatType = sl::MAT_TYPE::U8_C4; break;
        }
 
        // Return new type.
        return slMatType;
    }

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ConvertSLMatToCVMat()

cv::Mat imgops::ConvertSLMatToCVMat ( sl::Mat &  slInputMat )

inline

Convert a ZEDSDK sl::Mat object into an OpenCV cv::Mat object. This copies the mat from GPU memory to CPU memory.

Parameters

input

- The ZEDSDK Mat to be converted.

Returns

cv::Mat - The resultant OpenCV mat object.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-31

    {
        // Since cv::Mat data requires a uchar* pointer, we get the uchar1 pointer from sl::Mat (getPtr<T>())
        // cv::Mat and sl::Mat will share a single memory structure.
        return cv::Mat(slInputMat.getHeight(),
                       slInputMat.getWidth(),
                       GetSLToOpenCVMatType(slInputMat.getDataType()),
                       slInputMat.getPtr<sl::uchar1>(sl::MEM::CPU),
                       slInputMat.getStepBytes(sl::MEM::CPU));
    }

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ConvertSLMatToGPUMat()

cv::cuda::GpuMat imgops::ConvertSLMatToGPUMat ( sl::Mat &  slInputMat )

inline

Convert a ZEDSDK sl::Mat object into an OpenCV cv::cuda::GpuMat object. Keeps all Mat memory in GPU VRAM for faster processing.

Parameters

slInputMat

- The ZEDSDK Mat to be converted.

Returns

cv::cuda::GpuMat - The resultant OpenCV mat object.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-31

    {
        // Since cv::Mat data requires a uchar* pointer, we get the uchar1 pointer from sl::Mat (getPtr<T>())
        // cv::Mat and sl::Mat will share a single memory structure
        return cv::cuda::GpuMat(slInputMat.getHeight(),
                                slInputMat.getWidth(),
                                GetSLToOpenCVMatType(slInputMat.getDataType()),
                                slInputMat.getPtr<sl::uchar1>(sl::MEM::GPU),
                                slInputMat.getStepBytes(sl::MEM::GPU));
    }

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ConvertCVMatToSLMat()

sl::Mat imgops::ConvertCVMatToSLMat ( cv::Mat &  cvInputMat )

inline

Convert an OpenCV cv::Mat object into a ZEDSDK sl::Mat object. This copies the mat from CPU memory to GPU memory.

Parameters

input

- The OpenCV Mat to be converted.

Returns

sl::Mat - The resultant ZEDSDK mat object.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-03

    {
        // Copy and convert the Mat and return.
        return sl::Mat(cvInputMat.rows, cvInputMat.cols, GetCVToOpenSLMatType(cvInputMat.type()), cvInputMat.data, cvInputMat.step, sl::MEM::CPU);
    }

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ConvertGPUMatToSLMat()

sl::Mat imgops::ConvertGPUMatToSLMat ( cv::cuda::GpuMat &  cvInputMat )

inline

Convert an OpenCV cv::Mat object into a ZEDSDK sl::Mat object. This copies the mat from CPU memory to GPU memory.

Parameters

input

- The OpenCV GPU Mat to be converted.

Returns

sl::Mat - The resultant ZEDSDK mat object.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-03

    {
        // Copy and convert the Mat and return.
        return sl::Mat(cvInputMat.rows, cvInputMat.cols, GetCVToOpenSLMatType(cvInputMat.type()), cvInputMat.data, cvInputMat.step, sl::MEM::GPU);
    }

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SplitPointCloudColors()

void imgops::SplitPointCloudColors ( cv::Mat &  cvInputPointCloud, cv::Mat &  cvOutputColors  )

inline

Given a cv::Mat containing X, Y, Z, and BGRA values for each pixel in the third dimension, repackage the colors values and store them in a new mat.

Parameters

cvInputPointCloud	- The input point cloud containing X, Y, Z, and BGRA values for each pixel.
cvOutputColors	- The output colored image made from the BGRA values in the point cloud. Third dimension length is 4 (B, G, R, A)

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-05

    {
        // Initialize output color mat if necessary.
        if (cvOutputColors.empty())
        {
            // Fill mat with zeros, same size as input point cloud, but with 4 char values in third dimension.
            cvOutputColors = cv::Mat(cvInputPointCloud.rows, cvInputPointCloud.cols, CV_8UC4, cv::Scalar(0));
        }
        // Check if the given mat has the correct dimensions.
        else if (cvOutputColors.rows != cvInputPointCloud.rows || cvOutputColors.cols != cvInputPointCloud.cols || cvOutputColors.channels() != 4)
        {
            // Submit logger error.
            LOG_ERROR(logging::g_qSharedLogger,
                      "SplitPointCloudColors: The given point cloud cv::Mat and output colors cv::Mat do not have the same dimensions! Dimensions are: (height = {} and "
                      "{}) (width = {} and {}) (channels = {} and {})",
                      cvInputPointCloud.rows,
                      cvOutputColors.rows,
                      cvInputPointCloud.cols,
                      cvOutputColors.cols,
                      cvInputPointCloud.channels(),
                      cvOutputColors.channels());
        }
        // Attempt to split colors from point cloud normally.
        else
        {
            // Loop through the color values of the point cloud and convert them to four char values instead of a float32.
            for (int nY = 0; nY < cvInputPointCloud.rows; ++nY)
            {
                for (int nX = 0; nX < cvInputPointCloud.cols; ++nX)
                {
                    // Get the current color value for the current pixel. Reinterpret case doesn't convert number, just copies bits.
                    unsigned int unColor = *reinterpret_cast<unsigned int*>(&cvInputPointCloud.at<cv::Vec4f>(nY, nX)[3]);
                    // Separate float32 BGRA values into four char values. Uses bitshift right and bitwise AND mask.
                    unsigned char ucB = (unColor >> 0) & 0xFF;
                    unsigned char ucG = (unColor >> 8) & 0xFF;
                    unsigned char ucR = (unColor >> 16) & 0xFF;
                    unsigned char ucA = (unColor >> 24) & 0xFF;
 
                    // Store char color values in the output mat.
                    cvOutputColors.at<cv::Vec4b>(nY, nX) = cv::Vec4b(ucB, ucG, ucR, ucA);
                }
            }
        }
    }

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CustomBilateralFilter()

void imgops::CustomBilateralFilter ( cv::Mat &  cvInputFrame, ushort  usDiameter, double  dSigmaColor, double  dSigmaSpace  )

inline

Custom implementation of bilateral filter (since openCV is slow)

Parameters

cvInputFrame	- cv::Mat of the image to filter
usDiameter	- Diameter of kernel for aggregation of pixel values
dSigmaColor	- Std.Dev for color weights
dSigmaSpace	- Std.Dev for spatial weights

Author

Kai Shafe (kasq5.nosp@m.m@um.nosp@m.syste.nosp@m.m.ed.nosp@m.u)

Date

2023-10-17

    {
        int rows = cvInputFrame.rows;
        int cols = cvInputFrame.cols;
 
        for (int y = 0; y < rows; y++)
        {
            for (int x = 0; x < cols; x++)
            {
                double sumIntensity = 0.0;
                double sumWeight    = 0.0;
 
                uchar centerPixel   = cvInputFrame.at<uchar>(y, x);
 
                for (int j = -usDiameter; j <= usDiameter; j++)
                {
                    for (int i = -usDiameter; i <= usDiameter; i++)
                    {
                        int neighborX = x + i;
                        int neighborY = y + j;
 
                        // Bound check
                        if (neighborX >= 0 && neighborX < cols && neighborY >= 0 && neighborY < rows)
                        {
                            uchar neighborPixel = cvInputFrame.at<uchar>(neighborY, neighborX);
 
                            // Calculate the spatial weight (Gaussian)
                            double spatialWeight = std::exp(-(i * i + j * j) / (2 * dSigmaSpace * dSigmaSpace));
 
                            // Calculate the intensity weight (Gaussian)
                            uchar colorDistance    = std::abs(centerPixel - neighborPixel);
                            double intensityWeight = std::exp(-(colorDistance * colorDistance) / (2 * dSigmaColor * dSigmaColor));
 
                            // Calculate the bilateral weight
                            double bilateralWeight = spatialWeight * intensityWeight;
 
                            sumIntensity += bilateralWeight * neighborPixel;
                            sumWeight += bilateralWeight;
                        }
                    }
                }
 
                // Calculate the filtered pixel value
                uchar filteredPixel          = sumIntensity / sumWeight;
                cvInputFrame.at<uchar>(y, x) = filteredPixel;
            }
        }
    }

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ColorReduce()

void imgops::ColorReduce ( cv::Mat &  cvFrame, int  nDiv = 64  )

inline

Given an image and a divisor, divide the precision of the elements.

Parameters

cvFrame	- The frame to alter.
nDiv	- The amount that the precision should be decreased.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-18

    {
        // Number of lines.
        int nLines = cvFrame.rows;
        // Number of elements per line.
        int nElements = cvFrame.cols * cvFrame.channels();
 
        // Loop through each row of the image.
        for (int nI = 0; nI < nLines; nI++)
        {
            // Get the address of row j.
            uchar* chData = cvFrame.ptr<uchar>(nI);
 
            // Loop through the elements and decrease precision.
            for (int nJ = 0; nJ < nElements; nJ++)
            {
                // Process each pixel.
                chData[nJ] = chData[nJ] / nDiv * nDiv + nDiv / 2;
            }
        }
    }

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