This class implements Computer Vision utility functions. More...

Data Structures
struct	SmallerPatchSize
	This struct is a helper class allowing to determine the next smaller tracking patch for a given patch size. More...

struct	SmallerPatchSize< 15u >
	Specialization of the helper struct. More...

struct	SmallerPatchSize< 31u >
	Specialization of the helper struct. More...

struct	SmallerPatchSize< 5u >
	Specialization of the helper struct. More...

struct	SmallerPatchSize< 63u >
	Specialization of the helper struct. More...

struct	SmallerPatchSize< 7u >
	Specialization of the helper struct. More...

struct	SmallerPatchSize< 9u >
	Specialization of the helper struct. More...

Public Member Functions
template<>
void	randomizeFrame (Frame &frame, const uint8_t minValue, const uint8_t maxValue, const bool skipPaddingArea, RandomGenerator *randomGenerator)

template<>
void	randomizeFrame (Frame &frame, const float minValue, const float maxValue, const bool skipPaddingArea, RandomGenerator *randomGenerator)

Static Public Member Functions
static FrameType::PixelFormats	definedPixelFormats (const FrameType::PixelFormats &genericPixelFormats=FrameType::PixelFormats())
	Returns all defined pixel formats. More...

template<typename T , unsigned int tChannels>
static void	copyPixel (T const target, const T const source)
	Copies the pixel value from one pixel to another. More...

template<unsigned int tChannels>
static void	copyPixel (uint8_t const target, const uint8_t const source)
	Copies the pixel value from one pixel to another. More...

template<typename T , unsigned int tChannels>
static void	copyPixel (T const target, const T const source, const unsigned int targetIndex, const unsigned int sourceIndex)
	Copies the pixel value from one pixel to another. More...

template<unsigned int tChannels>
static void	copyPixel (uint8_t const target, const uint8_t const source, const unsigned int targetIndex, const unsigned int sourceIndex)
	Copies the pixel value from one pixel to another. More...

template<typename T , unsigned int tChannels>
static void	copyPixel (T const target, const T const source, const unsigned int xTarget, const unsigned int yTarget, const unsigned int xSource, const unsigned int ySource, const unsigned int targetWidth, const unsigned int sourceWidth, const unsigned int targetPaddingElements, const unsigned int sourcePaddingElements)
	Copies the pixel value from one pixel to another. More...

template<unsigned int tChannels>
static void	copyPixel (uint8_t const target, const uint8_t const source, const unsigned int xTarget, const unsigned int yTarget, const unsigned int xSource, const unsigned int ySource, const unsigned int targetWidth, const unsigned int sourceWidth, const unsigned int targetPaddingElements, const unsigned int sourcePaddingElements)
	Copies the pixel value from one pixel to another. More...

static Frame	visualizeDistortion (const PinholeCamera &pinholeCamera, const bool undistort, const unsigned int horizontalBins, const unsigned int verticalBins, Worker *worker=nullptr)
	Visualizes the distortion of a camera. More...

static void	randomizeFrame (Frame &frame, const bool skipPaddingArea=true, RandomGenerator *randomGenerator=nullptr, const bool limitedValueRange=false)
	Creates randomized data for a given frame. More...

template<typename T >
static void	randomizeFrame (Frame &frame, const T minValue, const T maxValue, const bool skipPaddingArea=true, RandomGenerator *randomGenerator=nullptr)
	Creates randomized data for a given frame while the randomized data will be in a specific value range. More...

static Frame	randomizedFrame (const FrameType &frameType, RandomGenerator *randomGenerator=nullptr, const bool limitedValueRange=false)
	Returns a randomized frame for a given frame type, the optional padding area will be filled with random (not binary) noise. More...

static Frame	randomizedBinaryMask (const unsigned int width, const unsigned int height, const uint8_t maskValue, RandomGenerator *randomGenerator=nullptr)
	Creates an 8 bit frame with a random binary mask, the optional padding area will be filled with random (not binary) noise. More...

static bool	isBorderZero (const Frame &frame)
	Returns whether all border pixels of an image are set to zero. More...

static int	mirrorOffset (const unsigned int index, const unsigned int elements)
	Deprecated. More...

static OCEAN_FORCE_INLINE int	mirrorOffset (const int index, const unsigned int elements)
	Returns the mirrored correction offset for a given index. More...

static OCEAN_FORCE_INLINE unsigned int	mirrorIndex (const int index, const unsigned int elements)
	Returns the mirrored index for a given index. More...

static bool	isPaddingMemoryIdentical (const Frame &frameA, const Frame &frameB)
	Returns whether the padding memory at the end of each image row is identical in two given frames. More...

static Frame	createCheckerboardImage (const unsigned int width, const unsigned int height, const unsigned int horizontalElements, const unsigned int verticalElements, const unsigned int paddingElements, const uint8_t bright=0xFFu, const uint8_t dark=0x00u)
	Creates an image with a checkerboard pattern with pixel format FORMAT_Y8 with a dark elements in the upper left corner. More...

Static Protected Member Functions
template<typename T >
static bool	isBorderZero (const Frame &frame)
	Returns whether all border pixels of an image are set to zero. More...

template<typename T >
static void	randomizMemory (T *data, const unsigned int widthElements, const unsigned int height, const unsigned int paddingElements, RandomGenerator &randomGenerator, const bool limitedValueRange)
	Randomizes a given memory block. More...

Detailed Description

This class implements Computer Vision utility functions.

Member Function Documentation

◆ copyPixel() [1/6]

template<typename T , unsigned int tChannels>

void Ocean::CV::CVUtilities::copyPixel	(	T *const	target,
		const T *const	source
	)

inlinestatic

Copies the pixel value from one pixel to another.

Parameters

target	The target pixel, must be valid
source	The source pixel, must be valid

Template Parameters

T	The data type of each pixel channel
tChannels	Specified the number of pixel channels, with range [1, infinity)

◆ copyPixel() [2/6]

template<typename T , unsigned int tChannels>

void Ocean::CV::CVUtilities::copyPixel	(	T *const	target,
		const T *const	source,
		const unsigned int	targetIndex,
		const unsigned int	sourceIndex
	)

inlinestatic

Copies the pixel value from one pixel to another.

Parameters

target	The target image, must be valid
source	The source image, must be valid
targetIndex	Index of the pixel inside the target frame, the index is determined for a pixel (x, y) by (y * width + x), frame channels are handled inside, with range [0, width * height - 1]
sourceIndex	Index of the pixel inside the source frame, the index is determined for a pixel (x, y) by (y * width + x), frame channels are handled inside, with range [0, width * height - 1]

Template Parameters

T	The data type of each pixel channel
tChannels	Specified the number of pixel channels, with range [1, infinity)

◆ copyPixel() [3/6]

template<typename T , unsigned int tChannels>

void Ocean::CV::CVUtilities::copyPixel	(	T *const	target,
		const T *const	source,
		const unsigned int	xTarget,
		const unsigned int	yTarget,
		const unsigned int	xSource,
		const unsigned int	ySource,
		const unsigned int	targetWidth,
		const unsigned int	sourceWidth,
		const unsigned int	targetPaddingElements,
		const unsigned int	sourcePaddingElements
	)

inlinestatic

Copies the pixel value from one pixel to another.

Parameters

target	The target image, must be valid
source	The source image, must be valid
xTarget	Horizontal target position, in pixel, with range [0, targetWidth - 1]
yTarget	Vertical target position, in pixel, with range [0, targetHeight - 1]
xSource	Horizontal source position, in pixel, with range [0, sourceWidth - 1]
ySource	Vertical source position, in pixel, with range [0, sourceHeight - 1]
targetWidth	Width of the target frame, in pixel, with range [1, infinity)
sourceWidth	Width of the source frame, in pixel, with range [1, infinity)
targetPaddingElements	The number of padding elements at the end of each target row, in elements, with range [0, infinity)
sourcePaddingElements	The number of padding elements at the end of each target row, in elements, with range [0, infinity)

Template Parameters

T	The data type of each pixel channel
tChannels	Specified the number of pixel channels, with range [1, infinity)

◆ copyPixel() [4/6]

template<unsigned int tChannels>

void Ocean::CV::CVUtilities::copyPixel	(	uint8_t *const	target,
		const uint8_t *const	source
	)

inlinestatic

Copies the pixel value from one pixel to another.

Parameters

target	The target pixel, must be valid
source	The source pixel, must be valid

Template Parameters

tChannels Specified the number of pixel channels, with range [1, infinity)

◆ copyPixel() [5/6]

template<unsigned int tChannels>

void Ocean::CV::CVUtilities::copyPixel	(	uint8_t *const	target,
		const uint8_t *const	source,
		const unsigned int	targetIndex,
		const unsigned int	sourceIndex
	)

inlinestatic

Copies the pixel value from one pixel to another.

Parameters

target	The target image, must be valid
source	The source image, must be valid
targetIndex	Index of the pixel inside the target frame, the index is determined for a pixel (x, y) by (y * width + x), frame channels are handled inside, with range [0, width * height - 1]
sourceIndex	Index of the pixel inside the source frame, the index is determined for a pixel (x, y) by (y * width + x), frame channels are handled inside, with range [0, width * height - 1]

Template Parameters

tChannels Specified the number of pixel channels, with range [1, infinity)

◆ copyPixel() [6/6]

template<unsigned int tChannels>

void Ocean::CV::CVUtilities::copyPixel	(	uint8_t *const	target,
		const uint8_t *const	source,
		const unsigned int	xTarget,
		const unsigned int	yTarget,
		const unsigned int	xSource,
		const unsigned int	ySource,
		const unsigned int	targetWidth,
		const unsigned int	sourceWidth,
		const unsigned int	targetPaddingElements,
		const unsigned int	sourcePaddingElements
	)

inlinestatic

Copies the pixel value from one pixel to another.

Parameters

target	The target image, must be valid
source	The source image, must be valid
xTarget	Horizontal target position, in pixel, with range [0, targetWidth - 1]
yTarget	Vertical target position, in pixel, with range [0, targetHeight - 1]
xSource	Horizontal source position, in pixel, with range [0, sourceWidth - 1]
ySource	Vertical source position, in pixel, with range [0, sourceHeight - 1]
targetWidth	Width of the target frame, in pixel, with range [1, infinity)
sourceWidth	Width of the source frame, in pixel, with range [1, infinity)
targetPaddingElements	The number of padding elements at the end of each target row, in elements, with range [0, infinity)
sourcePaddingElements	The number of padding elements at the end of each target row, in elements, with range [0, infinity)

Template Parameters

tChannels Specified the number of pixel channels, with range [1, infinity)

◆ createCheckerboardImage()

static Frame Ocean::CV::CVUtilities::createCheckerboardImage	(	const unsigned int	width,
		const unsigned int	height,
		const unsigned int	horizontalElements,
		const unsigned int	verticalElements,
		const unsigned int	paddingElements,
		const uint8_t	bright = `0xFFu`,
		const uint8_t	dark = `0x00u`
	)

static

Creates an image with a checkerboard pattern with pixel format FORMAT_Y8 with a dark elements in the upper left corner.

Parameters

width	The width of the resulting image, with range [horizontalElements, infinity), must be a multiple of 'horizontalElements'
height	The height of the resulting image, with range [verticalElements, infinity), must be a multiple of 'verticalElements'
horizontalElements	The number of horizontal checkerboard elements, with range [1, infinity)
verticalElements	The number of vertical checkerboard elements, with range [1, infinity)
paddingElements	The number of padding elements at the end of each image row, in elements, with range [0, infinity)
bright	The color value of the bright elements
dark	The color value of the dark elements

Returns: The resulting checkerboard image

◆ definedPixelFormats()

static FrameType::PixelFormats Ocean::CV::CVUtilities::definedPixelFormats ( const FrameType::PixelFormats & genericPixelFormats = FrameType::PixelFormats() )

static

Returns all defined pixel formats.

Parameters

genericPixelFormats Optional custom generic pixel formats which will be added to the resulting pixel formats

Returns: Ocean's defined pixel formats

◆ isBorderZero() [1/2]

static bool Ocean::CV::CVUtilities::isBorderZero ( const Frame & frame )

static

Returns whether all border pixels of an image are set to zero.

Parameters

frame The frame to test, must be valid

Returns: True, if so

◆ isBorderZero() [2/2]

template<typename T >

static bool Ocean::CV::CVUtilities::isBorderZero ( const Frame & frame )

staticprotected

Returns whether all border pixels of an image are set to zero.

Parameters

frame The frame to test, must be valid

Returns: True, if so

Template Parameters

T	The data type of the pixel elements

◆ isPaddingMemoryIdentical()

static bool Ocean::CV::CVUtilities::isPaddingMemoryIdentical	(	const Frame &	frameA,
		const Frame &	frameB
	)

static

Returns whether the padding memory at the end of each image row is identical in two given frames.

In case both frames do not have a padding memory, True is returned.

Parameters

frameA	The first frame top be compared, must be valid
frameB	The second frame to be compared, can have a different width as frameA, must be valid

Returns: True, if so

◆ mirrorIndex()

OCEAN_FORCE_INLINE unsigned int Ocean::CV::CVUtilities::mirrorIndex	(	const int	index,
		const unsigned int	elements
	)

static

Returns the mirrored index for a given index.

The mirrored index is calculated as follows:

                          |<----------------------- valid value range -------------------------->|

index:          -3, -2, -1, 0, 1, 2, 3, 4, 5, 6, 7,  ... elements - 3, elements - 2, elements - 1, elements + 0, elements + 1
mirrored index:  2   1   0  0  1  2  3  4  5  6  7       elements - 3  elements - 2  elements - 1  elements - 1  elements - 2

Parameters

index	The index for which the mirrored index will be returned, with range [-elements / 2, elements + elements / 2]
elements	The number of maximal elements, with range [1, infinity)

Returns: The resulting mirrored index, with range [0, elements - 1]

◆ mirrorOffset() [1/2]

OCEAN_FORCE_INLINE int Ocean::CV::CVUtilities::mirrorOffset	(	const int	index,
		const unsigned int	elements
	)

static

Returns the mirrored correction offset for a given index.

The correction offset is calculated as follows:

                          |<----------------------- valid value range -------------------------->|

index:          -3, -2, -1, 0, 1, 2, 3, 4, 5, 6, 7,  ... elements - 3, elements - 2, elements - 1, elements, elements + 1
result:          5   3   1  0  0  0  0  0  0  0  0                  0             0             0  -1        -3

Parameters

index	The index for which the correction offset will be returned, with range [-elements / 2, elements + elements / 2]
elements	The number of maximal elements, with range [1, infinity)

Returns: The resulting correction offset, with range (-infinity, infinity)

◆ mirrorOffset() [2/2]

int Ocean::CV::CVUtilities::mirrorOffset	(	const unsigned int	index,
		const unsigned int	elements
	)

inlinestatic

Deprecated.

Returns the mirrored correction offset for a given index.

Parameters

index	Index to return the correction offset for
elements	Number of maximal elements

Returns: The resulting correction offset, with range (-infinity, infinity)

◆ randomizedBinaryMask()

static Frame Ocean::CV::CVUtilities::randomizedBinaryMask	(	const unsigned int	width,
		const unsigned int	height,
		const uint8_t	maskValue,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Creates an 8 bit frame with a random binary mask, the optional padding area will be filled with random (not binary) noise.

The resulting mask may contain random padding elements.
The timestamp will be randomized as well.

Parameters

width	The width of the resulting frame in pixel, with range [1, infinity)
height	The height of the resulting frame in pixel, with range [1, infinity)
maskValue	The value of mask pixels, 0xFF - maskValue will be the value of non-mask pixels, with range [0x00, 0xFF]
randomGenerator	Random generator object to be used

◆ randomizedFrame()

static Frame Ocean::CV::CVUtilities::randomizedFrame	(	const FrameType &	frameType,
		RandomGenerator *	randomGenerator = `nullptr`,
		const bool	limitedValueRange = `false`
	)

static

Returns a randomized frame for a given frame type, the optional padding area will be filled with random (not binary) noise.

The resulting frame may contain random padding elements.
Integer pixel formats as well as float pixel formats will receive values in the range [0, 255] or [-128, 127] for each pixel and channel if 'limitedValueRange == true'
The timestamp will be randomized as well.

Parameters

frameType	The frame type for which the randomized frame will be created, may be invalid
randomGenerator	Optional explicit random generator to be used, nullptr to use any
limitedValueRange	True, to use a value range of [0, 255] and [-128, 127] independently of the actual element data type; False, to use the full value range

Returns: The randomized frame, invalid if frameType is invalid

◆ randomizeFrame() [1/4]

static void Ocean::CV::CVUtilities::randomizeFrame	(	Frame &	frame,
		const bool	skipPaddingArea = `true`,
		RandomGenerator *	randomGenerator = `nullptr`,
		const bool	limitedValueRange = `false`
	)

static

Creates randomized data for a given frame.

Integer pixel formats as well as float pixel formats will receive values in the range [0, 255] or [-128, 127] for each pixel and channel if 'limitedValueRange == true'

Parameters

frame	The frame to fill with randomized data, may be invalid
skipPaddingArea	True, to leave elements within the padding area untouched; False, to randomize the entire memory
randomGenerator	Optional explicit random generator to be used, nullptr to use any
limitedValueRange	True, to use a value range of [0, 255] and [-128, 127] independently of the actual element data type; False, to use the full value range

◆ randomizeFrame() [2/4]

template<>

void Ocean::CV::CVUtilities::randomizeFrame	(	Frame &	frame,
		const float	minValue,
		const float	maxValue,
		const bool	skipPaddingArea,
		RandomGenerator *	randomGenerator
	)

inline

◆ randomizeFrame() [3/4]

template<typename T >

static void Ocean::CV::CVUtilities::randomizeFrame	(	Frame &	frame,
		const T	minValue,
		const T	maxValue,
		const bool	skipPaddingArea = `true`,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Creates randomized data for a given frame while the randomized data will be in a specific value range.

The pixel format of the frame must be generic (a pixel format with zipped channel layout).

Parameters

frame	The frame to fill with randomized data, may be invalid
minValue	The minimal random value, with range (-infinity, maxValue]
maxValue	The maximal random value, with range [minValue, infinity)
skipPaddingArea	True, to leave elements within the padding area untouched; False, to randomize the entire memory
randomGenerator	Optional explicit random generator to be used, nullptr to use any

Template Parameters

T	The data type of each pixel element, e.g., 'unsigned char' or 'float'

◆ randomizeFrame() [4/4]

template<>

void Ocean::CV::CVUtilities::randomizeFrame	(	Frame &	frame,
		const uint8_t	minValue,
		const uint8_t	maxValue,
		const bool	skipPaddingArea,
		RandomGenerator *	randomGenerator
	)

inline

◆ randomizMemory()

template<typename T >

static void Ocean::CV::CVUtilities::randomizMemory	(	T *	data,
		const unsigned int	widthElements,
		const unsigned int	height,
		const unsigned int	paddingElements,
		RandomGenerator &	randomGenerator,
		const bool	limitedValueRange
	)

staticprotected

Randomizes a given memory block.

Parameters

data	The memory block to randomize, must be valid
widthElements	The width of the memory block, in elements, with range [1, infinity)
height	The height of the memory block, in pixels, with range [1, infinity)
paddingElements	The number of padding elements at the end of each block row, in elements, with range [0, infinity)
randomGenerator	The random generator to be used
limitedValueRange	True, to use a value range of [0, 255] and [-128, 127] independently of the actual element data type; False, to use the full value range

Template Parameters

T	The data type of each element

◆ visualizeDistortion()

static Frame Ocean::CV::CVUtilities::visualizeDistortion	(	const PinholeCamera &	pinholeCamera,
		const bool	undistort,
		const unsigned int	horizontalBins,
		const unsigned int	verticalBins,
		Worker *	worker = `nullptr`
	)

static

Visualizes the distortion of a camera.

Parameters

pinholeCamera	The pinhole camera profile for which the distortion/undistortion is visualized
undistort	True, to visualize the undistorted frame, otherwise the distorted frame is visualized
horizontalBins	Number of horizontal bins, with range [1, pinholeCamera.width() / 2u)
verticalBins	Number of vertical bins, with range [1, pinholeCamera.height() / 2u)
worker	Optional worker object to distribute the computation

Returns: Resulting distortion frame

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

CVUtilities.h

Data Structures

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Detailed Description

Member Function Documentation

◆ copyPixel() [1/6]

◆ copyPixel() [2/6]

◆ copyPixel() [3/6]

◆ copyPixel() [4/6]

◆ copyPixel() [5/6]

◆ copyPixel() [6/6]

◆ createCheckerboardImage()

◆ definedPixelFormats()

◆ isBorderZero() [1/2]

◆ isBorderZero() [2/2]

◆ isPaddingMemoryIdentical()

◆ mirrorIndex()

◆ mirrorOffset() [1/2]

◆ mirrorOffset() [2/2]

◆ randomizedBinaryMask()

◆ randomizedFrame()

◆ randomizeFrame() [1/4]

◆ randomizeFrame() [2/4]

◆ randomizeFrame() [3/4]

◆ randomizeFrame() [4/4]

◆ randomizMemory()

◆ visualizeDistortion()