ntk Namespace Reference

Classes
class	RGBDCalibration
class	RGBDImage
class	RGBDProcessor
class	KinectProcessor
class	NiteProcessor
class	EulerAngles
class	Pose3D
class	Face
class	Mesh
class	MeshGenerator
class	Ptr
class	exception
class	Rect3_
Typedefs
typedef Rect3_< float >	Rect3f
Functions
void	compute_color_encoded_depth (const cv::Mat1f &depth_im, cv::Mat3b &color_depth_im, double *i_min_val, double *i_max_val)
template<typename CvScalarType , typename EScalarType >
void	toEigen (const cv::Point3_< CvScalarType > &p, Eigen::Matrix< EScalarType, 3, 1 > &ep)
template<typename CvScalarType , typename EScalarType >
void	toEigen (const cv::Vec< CvScalarType, 3 > &p, Eigen::Matrix< EScalarType, 3, 1 > &ep)
template<typename CvScalarType , typename EScalarType >
void	toEigen (const cv::Vec< CvScalarType, 3 > &p, Eigen::Matrix< EScalarType, 4, 1 > &ep)
template<typename CvScalarType , typename EScalarType >
void	toEigen (const cv::Point3_< CvScalarType > &p, Eigen::Matrix< EScalarType, 4, 1 > &ep)
template<typename CvScalarType , typename EigenScalarType , int H, int W>
void	toOpencv (const Eigen::Matrix< EigenScalarType, H, W > &ep, cv::Mat_< CvScalarType > &mat)
template<typename CvScalarType , typename EScalarType , int H, int W>
void	toEigen (const cv::Mat_< CvScalarType > &mat, Eigen::Matrix< EScalarType, H, W > &ep)
template<typename EScalarType >
cv::Vec3f	toVec3f (const Eigen::Matrix< EScalarType, 3, 1 > &v)
template<typename EScalarType >
cv::Vec3f	toVec3f (const Eigen::Matrix< EScalarType, 4, 1 > &v)
Eigen::Vector2d	toEigenVector2d (const cv::Point2f &v)
Eigen::Vector3d	toEigenVector3d (const cv::Vec3f &v)
Eigen::Vector4d	toEigenVector4d (const cv::Vec3f &v)
Vec3f	getP3D (const Mat1f &depth_yml, const Pose3D &pose, int r, int c)
Vec3f	estimate_normal_from_depth (const Mat1f &depth_yml, const Pose3D &pose, int r, int c)
Vec3f	camera_eye_vector (const Pose3D &pose, int r, int c)
cv::Vec3f	compute_axis_angle_rotation (const cv::Vec3f &src, const cv::Vec3f &dst)
cv::Vec3f	estimate_normal_from_depth (const cv::Mat1f &depth_yml, const Pose3D &pose, int r, int c)
template<typename _Tp , typename _Up >
Ptr< _Tp >	dynamic_Ptr_cast (const Ptr< _Up > &ptr)
template<class T >
ntk::Ptr< T >	toPtr (T *ptr)
cv::Mat4b	toMat4b (const cv::Mat3b &im)
cv::Mat3b	toMat3b (const cv::Mat4b &im)
void	apply_mask (cv::Mat1b &im, const cv::Mat1b &mask)
void	apply_mask (cv::Mat3b &im, const cv::Mat1b &mask)
void	apply_mask (cv::Mat1f &im, const cv::Mat1b &mask)
void	read_from_yaml (cv::FileNode node, bool &b)
void	write_to_yaml (cv::FileStorage &output_file, const std::string &name, bool b)
void	read_from_yaml (cv::FileNode node, int &i)
void	write_to_yaml (cv::FileStorage &output_file, const std::string &name, int i)
void	read_from_yaml (cv::FileNode node, double &b)
void	write_to_yaml (cv::FileStorage &output_file, const std::string &name, double b)
void	write_to_yaml (FileStorage &output_file, const std::string &name, const cv::Rect &r)
void	read_from_yaml (FileNode node, cv::Rect &r)
void	write_to_yaml (FileStorage &output_file, const std::string &name, const cv::Vec3f &v)
void	write_to_yaml (FileStorage &output_file, const std::string &name, const cv::Vec2f &v)
void	read_from_yaml (FileNode node, cv::Vec3f &v)
void	read_from_yaml (FileNode node, cv::Vec2f &v)
void	write_to_yaml (cv::FileStorage &output_file, const std::string &name, const cv::Mat &matrix)
void	read_from_yaml (cv::FileNode node, cv::Mat &matrix)
void	writeMatrix (FileStorage &output_file, const std::string &name, const cv::Mat &matrix)
void	readMatrix (FileStorage &input_file, const std::string &name, cv::Mat &matrix)
void	imwrite_yml (const std::string &filename, const cv::Mat &image)
cv::Mat1f	imread_Mat1f_raw (const std::string &filename)
void	imwrite_Mat1f_raw (const std::string &filename, const cv::Mat1f &m)
cv::Mat	imread_yml (const std::string &filename)
cv::Mat3b	toMat3b (const cv::Mat1b &image)
cv::Mat1b	normalize_toMat1b (const cv::Mat1f &image)
void	imwrite_normalized (const std::string &filename, const cv::Mat1f &image)
void	imshow_normalized (const std::string &window_name, const cv::Mat1f &image)
double	overlap_ratio (const cv::Rect_< float > &r1, const cv::Rect_< float > &r2)
void	adjustRectToImage (cv::Rect &rect, const cv::Size &image_size)
ntk::Rect3f	bounding_box (const std::vector< cv::Point3f > &points)
cv::Point2f	box_center (const cv::Rect_< float > &bbox)
template<class ScalarType >
cv::Vec3d	toVec3d (const cv::Mat_< ScalarType > &m)
template<class ScalarType >
cv::Vec2f	toVec2f (const cv::Mat_< ScalarType > &m)
template<class ScalarType1 , class ScalarType2 >
void	copyMatWithCast (cv::Mat_< ScalarType1 > &dest, const cv::Mat_< ScalarType2 > &src)
void	read_from_yaml (cv::FileNode node, cv::Vec3f &v)
void	write_to_yaml (cv::FileStorage &output_file, const std::string &name, const cv::Vec3f &v)
void	read_from_yaml (cv::FileNode node, cv::Rect &v)
void	write_to_yaml (cv::FileStorage &output_file, const std::string &name, const cv::Rect &v)
void	writeMatrix (cv::FileStorage &output_file, const std::string &name, const cv::Mat &matrix)
void	readMatrix (cv::FileStorage &input_file, const std::string &name, cv::Mat &matrix)
cv::Mat	getCvByteImage (int width, int height)
cv::Mat	getCvFloatImage (int width, int height)
cv::Mat	getCvColorByteImage (int width, int height)
cv::Mat	getCvColorFloatImage (int width, int height)
bool	is_yx_in_range (const cv::Mat &image, int y, int x)
void	normalize (cv::Vec3f &v)
cv::Vec3b	bgr_to_rgb (const cv::Vec3b &v)

---

Detailed Description

This file is part of the nestk library.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Author: Nicolas Burrus <nicolas.burrus@uc3m.es>, (C) 2010 Author: Jorge Garcia Bueno <jgarcia@ing.uc3m.es>, (C) 2010

This file is part of the nestk library.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Author: Nicolas Burrus <nicolas.burrus@uc3m.es>, (C) 2010

---

Typedef Documentation

typedef Rect3_<float> ntk::Rect3f

---

Function Documentation

void ntk::adjustRectToImage	(	cv::Rect &	rect,
		const cv::Size &	image_size
	)

void ntk::apply_mask	(	cv::Mat3b &	im,
		const cv::Mat1b &	mask
	)

void ntk::apply_mask	(	cv::Mat1b &	im,
		const cv::Mat1b &	mask
	)

void ntk::apply_mask	(	cv::Mat1f &	im,
		const cv::Mat1b &	mask
	)

cv::Vec3b ntk::bgr_to_rgb

(

const cv::Vec3b &

v

)

[inline]

ntk::Rect3f ntk::bounding_box

(

const std::vector< cv::Point3f > &

points

)

cv::Point2f ntk::box_center

(

const cv::Rect_< float > &

bbox

)

[inline]

cv::Vec3f ntk::camera_eye_vector	(	const Pose3D &	pose,
		int	r,
		int	c
	)

Estimate the line of sight for the given pixel.

cv::Vec3f ntk::compute_axis_angle_rotation	(	const cv::Vec3f &	src,
		const cv::Vec3f &	dst
	)

Return the angle axis rotation (using Rodrigues representation) transforming vector src into vector dst.

void ntk::compute_color_encoded_depth	(	const cv::Mat1f &	depth,
		cv::Mat3b &	color_dept,
		double *	min_val = 0,
		double *	max_val = 0
	)

Compute a false color image from a depth map. Optional min/max values can be provided to force the value range.

template<class ScalarType1 , class ScalarType2 >

void ntk::copyMatWithCast	(	cv::Mat_< ScalarType1 > &	dest,
		const cv::Mat_< ScalarType2 > &	src
	)

template<typename _Tp , typename _Up >

Ptr<_Tp> ntk::dynamic_Ptr_cast

(

const Ptr< _Up > &

ptr

)

[inline]

cv::Vec3f ntk::estimate_normal_from_depth	(	const cv::Mat1f &	depth_yml,
		const Pose3D &	pose,
		int	r,
		int	c
	)

Estimate a normal vector from neighborhood depth measurements.

Vec3f ntk::estimate_normal_from_depth	(	const Mat1f &	depth_yml,
		const Pose3D &	pose,
		int	r,
		int	c
	)

cv::Mat ntk::getCvByteImage	(	int	width,
		int	height
	)			[inline]

cv::Mat ntk::getCvColorByteImage	(	int	width,
		int	height
	)			[inline]

cv::Mat ntk::getCvColorFloatImage	(	int	width,
		int	height
	)			[inline]

cv::Mat ntk::getCvFloatImage	(	int	width,
		int	height
	)			[inline]

Vec3f ntk::getP3D	(	const Mat1f &	depth_yml,
		const Pose3D &	pose,
		int	r,
		int	c
	)			[inline]

cv::Mat1f ntk::imread_Mat1f_raw

(

const std::string &

filename

)

Read a float image from raw binary file. Only works for Little Endian platforms.

cv::Mat ntk::imread_yml

(

const std::string &

filename

)

void ntk::imshow_normalized	(	const std::string &	window_name,
		const cv::Mat1f &	image
	)

void ntk::imwrite_Mat1f_raw	(	const std::string &	filename,
		const cv::Mat1f &	m
	)

Write a float image to binary file. Only works for Little Endian platforms.

void ntk::imwrite_normalized	(	const std::string &	filename,
		const cv::Mat1f &	image
	)

void ntk::imwrite_yml	(	const std::string &	filename,
		const cv::Mat &	image
	)

bool ntk::is_yx_in_range	(	const cv::Mat &	image,
		int	y,
		int	x
	)			[inline]

void ntk::normalize

(

cv::Vec3f &

v

)

[inline]

cv::Mat1b ntk::normalize_toMat1b

(

const cv::Mat1f &

image

)

double ntk::overlap_ratio	(	const cv::Rect_< float > &	r1,
		const cv::Rect_< float > &	r2
	)

void ntk::read_from_yaml	(	FileNode	node,
		cv::Rect &	r
	)

void ntk::read_from_yaml	(	FileNode	node,
		cv::Vec3f &	v
	)

void ntk::read_from_yaml	(	FileNode	node,
		cv::Vec2f &	v
	)

void ntk::read_from_yaml	(	cv::FileNode	node,
		cv::Mat &	matrix
	)

void ntk::read_from_yaml	(	cv::FileNode	node,
		bool &	b
	)

void ntk::read_from_yaml	(	cv::FileNode	node,
		int &	i
	)

void ntk::read_from_yaml	(	cv::FileNode	node,
		double &	b
	)

void ntk::read_from_yaml	(	cv::FileNode	node,
		cv::Vec3f &	v
	)

void ntk::read_from_yaml	(	cv::FileNode	node,
		cv::Rect &	v
	)

void ntk::readMatrix	(	FileStorage &	input_file,
		const std::string &	name,
		cv::Mat &	matrix
	)

void ntk::readMatrix	(	cv::FileStorage &	input_file,
		const std::string &	name,
		cv::Mat &	matrix
	)

template<typename CvScalarType , typename EScalarType , int H, int W>

void ntk::toEigen	(	const cv::Mat_< CvScalarType > &	mat,
		Eigen::Matrix< EScalarType, H, W > &	ep
	)			[inline]

template<typename CvScalarType , typename EScalarType >

void ntk::toEigen	(	const cv::Vec< CvScalarType, 3 > &	p,
		Eigen::Matrix< EScalarType, 4, 1 > &	ep
	)			[inline]

template<typename CvScalarType , typename EScalarType >

void ntk::toEigen	(	const cv::Point3_< CvScalarType > &	p,
		Eigen::Matrix< EScalarType, 3, 1 > &	ep
	)			[inline]

template<typename CvScalarType , typename EScalarType >

void ntk::toEigen	(	const cv::Point3_< CvScalarType > &	p,
		Eigen::Matrix< EScalarType, 4, 1 > &	ep
	)			[inline]

template<typename CvScalarType , typename EScalarType >

void ntk::toEigen	(	const cv::Vec< CvScalarType, 3 > &	p,
		Eigen::Matrix< EScalarType, 3, 1 > &	ep
	)			[inline]

Eigen::Vector2d ntk::toEigenVector2d

(

const cv::Point2f &

v

)

[inline]

Eigen::Vector3d ntk::toEigenVector3d

(

const cv::Vec3f &

v

)

[inline]

Eigen::Vector4d ntk::toEigenVector4d

(

const cv::Vec3f &

v

)

[inline]

cv::Mat3b ntk::toMat3b

(

const cv::Mat1b &

image

)

cv::Mat3b ntk::toMat3b

(

const cv::Mat4b &

im

)

cv::Mat4b ntk::toMat4b

(

const cv::Mat3b &

im

)

template<typename CvScalarType , typename EigenScalarType , int H, int W>

void ntk::toOpencv	(	const Eigen::Matrix< EigenScalarType, H, W > &	ep,
		cv::Mat_< CvScalarType > &	mat
	)			[inline]

template<class T >

ntk::Ptr<T> ntk::toPtr

(

T *

ptr

)

template<class ScalarType >

cv::Vec2f ntk::toVec2f

(

const cv::Mat_< ScalarType > &

m

)

template<class ScalarType >

cv::Vec3d ntk::toVec3d

(

const cv::Mat_< ScalarType > &

m

)

template<typename EScalarType >

cv::Vec3f ntk::toVec3f

(

const Eigen::Matrix< EScalarType, 3, 1 > &

v

)

[inline]

template<typename EScalarType >

cv::Vec3f ntk::toVec3f

(

const Eigen::Matrix< EScalarType, 4, 1 > &

v

)

[inline]

void ntk::write_to_yaml	(	FileStorage &	output_file,
		const std::string &	name,
		const cv::Rect &	r
	)

void ntk::write_to_yaml	(	cv::FileStorage &	output_file,
		const std::string &	name,
		int	i
	)

void ntk::write_to_yaml	(	FileStorage &	output_file,
		const std::string &	name,
		const cv::Vec3f &	v
	)

void ntk::write_to_yaml	(	FileStorage &	output_file,
		const std::string &	name,
		const cv::Vec2f &	v
	)

void ntk::write_to_yaml	(	cv::FileStorage &	output_file,
		const std::string &	name,
		const cv::Rect &	v
	)

void ntk::write_to_yaml	(	cv::FileStorage &	output_file,
		const std::string &	name,
		const cv::Vec3f &	v
	)

void ntk::write_to_yaml	(	cv::FileStorage &	output_file,
		const std::string &	name,
		const cv::Mat &	matrix
	)

void ntk::write_to_yaml	(	cv::FileStorage &	output_file,
		const std::string &	name,
		double	b
	)

void ntk::write_to_yaml	(	cv::FileStorage &	output_file,
		const std::string &	name,
		bool	b
	)

void ntk::writeMatrix	(	FileStorage &	output_file,
		const std::string &	name,
		const cv::Mat &	matrix
	)

void ntk::writeMatrix	(	cv::FileStorage &	output_file,
		const std::string &	name,
		const cv::Mat &	matrix
	)

Obsolete. Use write_to_yaml. This is provided for API compatility.