Detailed Description

A set of one to three images, but usually two (the left camera image and the disparity map). One- and three-image modes can be enabled in the device configuration interface.

For backwards compatibility, for sets of at least two images the image at index 0 is always the left camera image, while the one at index 1 is either the disparity map if in disparity processing mode, or the right image otherwise.

All images must be of equal width and height, but are allowed to have different pixel formats. Please note that the class does not manage the pixel data but only keeps pointers. You thus need to ensure that the pixel data remains valid for as long as this object persists.

Definition at line 50 of file imageset.h.

#include <visiontransfer/imageset.h>

Classes
class	Pimpl

Public Types
enum	ImageFormat { FORMAT_8_BIT_MONO, FORMAT_8_BIT_RGB, FORMAT_12_BIT_MONO }
	Image formats that can be transferred. More...

enum	ImageFormat_Deprecated { FORMAT_8_BIT = FORMAT_8_BIT_MONO, FORMAT_12_BIT = FORMAT_12_BIT_MONO }

enum	ImageType { IMAGE_UNDEFINED, IMAGE_LEFT, IMAGE_DISPARITY, IMAGE_RIGHT, IMAGE_COLOR }
	Supported image types. More...

Public Member Functions
	ImageSet ()
	Default constructor creating an image set with no pixel data. More...

	ImageSet (const ImageSet &other)
	Copy constructor creating a shallow copy of the image set. More...

ImageSet &	operator= (ImageSet const &other)

void	setWidth (int w)
	Sets a new width for both images. More...

void	setHeight (int h)
	Sets a new width for both images. More...

void	setRowStride (int imageNumber, int stride)
	Sets a new row stride for the pixel data of one image. More...

void	setPixelFormat (int imageNumber, ImageFormat format)
	Sets the pixel format for the given image. More...

void	setPixelData (int imageNumber, unsigned char *pixelData)
	Sets the pixel data for the given image. More...

void	setQMatrix (const float *q)
	Sets the pointer to the disparity-to-depth mapping matrix q. More...

void	setSequenceNumber (unsigned int num)
	Sets the sequence number for this image set. More...

void	setTimestamp (int seconds, int microsec)
	Sets the time at which this image set has been captured. More...

void	setDisparityRange (int minimum, int maximum)
	Sets the value range for the disparity map contained in this image set. More...

void	setSubpixelFactor (int subpixFact)
	Sets the subpixel factor for this image set. More...

int	getWidth () const
	Returns the width of each image. More...

int	getHeight () const
	Returns the height of each image. More...

int	getRowStride (int imageNumber) const
	Returns the row stride for the pixel data of one image. More...

int	getRowStride (ImageType what) const
	Returns the row stride for the pixel data of one image. More...

ImageFormat	getPixelFormat (int imageNumber) const
	Returns the pixel format for the given image. More...

ImageFormat	getPixelFormat (ImageType what) const
	Returns the pixel format for the given image. More...

unsigned char *	getPixelData (int imageNumber) const
	Returns the pixel data for the given image. More...

unsigned char *	getPixelData (ImageType what) const
	Returns the pixel data for the given image. More...

const float *	getQMatrix () const
	Returns a pointer to the disparity-to-depth mapping matrix q. More...

unsigned int	getSequenceNumber () const
	Returns the sequence number for this image set. More...

void	getTimestamp (int &seconds, int &microsec) const
	Returns the time at which this image set has been captured. More...

void	getDisparityRange (int &minimum, int &maximum) const
	Gets the value range for the disparity map contained in this image set. If the image set does not contain any disparity data then the disparity range is undefined. More...

int	getSubpixelFactor () const
	Gets the subpixel factor for this image set. More...

void	writePgmFile (int imageNumber, const char *fileName) const
	Writes one image of the set to a PGM or PPM file. More...

void	copyTo (ImageSet &dest)
	Makes a deep copy of this image set. More...

int	getBytesPerPixel (int imageNumber) const
	Returns the number of bytes that are required to store one image pixel. More...

int	getBitsPerPixel (int imageNumber) const
	Returns the number of bits that are required to store one image pixel. More...

int	getBitsPerPixel (ImageType what) const

int	getNumberOfImages () const
	Returns the number of images in this set. More...

void	setNumberOfImages (int number)
	Sets the number of valid images in this set. More...

ImageType	getImageType (int imageNumber) const
	Returns the ImageType of the specified channel. More...

int	getIndexOf (ImageType what, bool throwIfNotFound=false) const
	Returns the index of a specific image type. More...

bool	hasImageType (ImageType what) const
	Returns whether a left camera image is included in the enabled data. More...

void	setIndexOf (ImageType what, int idx)
	Assign an image index to a specified ImageType, -1 to disable. More...

void	toOpenCVImage (int imageNumber, cv::Mat &dest, bool convertRgbToBgr=true)
	Converts one image of the set to an OpenCV image. More...

void	setExposureTime (int timeMicrosec)
	Sets the exposure time that was used for capturing the image set. More...

int	getExposureTime () const
	Gets the exposure time in microseconds that was used for capturing the image set. More...

void	setLastSyncPulse (int seconds, int microsec)
	Sets the timestamp of the last received sync pulse. More...

void	getLastSyncPulse (int &seconds, int &microsec) const
	Gets the timestamp of the last received sync pulse. More...

Static Public Member Functions
static int	getBitsPerPixel (ImageFormat format)

static int	getBytesPerPixel (ImageFormat format)
	Returns the number of bytes that are required to store one image pixel with the given pixel format. More...

Static Public Attributes
static const int	MAX_SUPPORTED_IMAGES = 4

Member Enumeration Documentation

◆ ImageFormat

enum visiontransfer::ImageSet::ImageFormat

Image formats that can be transferred.

Enumerator
FORMAT_8_BIT_MONO	8-bit greyscale format
FORMAT_8_BIT_RGB	8-bit RGB format
FORMAT_12_BIT_MONO	12-bit greyscale format plus 4 bits of padding (hence a total of 16 bits).

Definition at line 74 of file imageset.h.

◆ ImageFormat_Deprecated

enum visiontransfer::ImageSet::ImageFormat_Deprecated

Deprecated:: Please use the new format constants in ImageFormat.

Definition at line 89 of file imageset.h.

◆ ImageType

enum visiontransfer::ImageSet::ImageType

Supported image types.

Enumerator
IMAGE_COLOR	3rd color camera for devices where this is supported

Definition at line 97 of file imageset.h.

Constructor & Destructor Documentation

◆ ImageSet() [1/2]

visiontransfer::ImageSet::ImageSet ( )

Default constructor creating an image set with no pixel data.

Definition at line 466 of file imageset.cpp.

◆ ImageSet() [2/2]

visiontransfer::ImageSet::ImageSet ( const ImageSet & other )

Copy constructor creating a shallow copy of the image set.

Definition at line 471 of file imageset.cpp.

Member Function Documentation

◆ copyTo()

void visiontransfer::ImageSet::copyTo ( ImageSet & dest )

Makes a deep copy of this image set.

Definition at line 585 of file imageset.cpp.

◆ getBitsPerPixel()

int visiontransfer::ImageSet::getBitsPerPixel ( int imageNumber ) const

Returns the number of bits that are required to store one image pixel.

Parameters

imageNumber The number of the image (0 ... getNumberOfImages()-1).

Definition at line 593 of file imageset.cpp.

◆ getBytesPerPixel() [1/2]

int visiontransfer::ImageSet::getBytesPerPixel ( ImageFormat format )

static

Returns the number of bytes that are required to store one image pixel with the given pixel format.

Definition at line 658 of file imageset.cpp.

◆ getBytesPerPixel() [2/2]

int visiontransfer::ImageSet::getBytesPerPixel ( int imageNumber ) const

Returns the number of bytes that are required to store one image pixel.

Parameters

imageNumber The number of the image (0 ... getNumberOfImages()-1).

Definition at line 589 of file imageset.cpp.

◆ getDisparityRange()

void visiontransfer::ImageSet::getDisparityRange	(	int &	minimum,
		int &	maximum
	)		const

Gets the value range for the disparity map contained in this image set. If the image set does not contain any disparity data then the disparity range is undefined.

Parameters

minimum	Minimum disparity value.
maximum	Maximum disparity value.

Definition at line 573 of file imageset.cpp.

◆ getExposureTime()

int visiontransfer::ImageSet::getExposureTime ( ) const

Gets the exposure time in microseconds that was used for capturing the image set.

Returns: Exposure time in microseconds

Definition at line 635 of file imageset.cpp.

◆ getHeight()

int visiontransfer::ImageSet::getHeight ( ) const

Returns the height of each image.

Definition at line 533 of file imageset.cpp.

◆ getImageType()

ImageSet::ImageType visiontransfer::ImageSet::getImageType ( int imageNumber ) const

Returns the ImageType of the specified channel.

Definition at line 609 of file imageset.cpp.

◆ getIndexOf()

int visiontransfer::ImageSet::getIndexOf	(	ImageSet::ImageType	what,
		bool	throwIfNotFound = `false`
	)		const

Returns the index of a specific image type.

Parameters

what	ImageType of the desired channel.
throwIfNotFound	Throw a runtime error instead of returning -1.

Returns: Returns the index of the specified type, or -1 if not found.

Definition at line 613 of file imageset.cpp.

◆ getLastSyncPulse()

void visiontransfer::ImageSet::getLastSyncPulse	(	int &	seconds,
		int &	microsec
	)		const

Gets the timestamp of the last received sync pulse.

Parameters

seconds	The time stamp with a resolution of one second.
microsec	The fractional seconds part of the time stamp with a resolution of 1 microsecond.

Definition at line 643 of file imageset.cpp.

◆ getNumberOfImages()

int visiontransfer::ImageSet::getNumberOfImages ( ) const

Returns the number of images in this set.

Definition at line 601 of file imageset.cpp.

◆ getPixelData() [1/2]

unsigned char * visiontransfer::ImageSet::getPixelData ( ImageSet::ImageType what ) const

Returns the pixel data for the given image.

Parameters

what	ImageType of the desired channel.

This function will throw an exception when the ImageType is not present in this set (use hasImageType(what) to check).

Definition at line 557 of file imageset.cpp.

◆ getPixelData() [2/2]

unsigned char * visiontransfer::ImageSet::getPixelData ( int imageNumber ) const

Returns the pixel data for the given image.

Parameters

imageNumber Number of the image for which to receive the pixel data (0 ... getNumberOfImages()-1).

Please use getPixelData(ImageSet::ImageType) to access the data by their abstract role in lieu of their index in the set.

Definition at line 553 of file imageset.cpp.

◆ getPixelFormat() [1/2]

ImageSet::ImageFormat visiontransfer::ImageSet::getPixelFormat ( ImageSet::ImageType what ) const

Returns the pixel format for the given image.

Parameters

what	ImageType of the desired channel.

This function will throw an exception when the ImageType is not present in this set (use hasImageType(what) to check).

Definition at line 549 of file imageset.cpp.

◆ getPixelFormat() [2/2]

ImageSet::ImageFormat visiontransfer::ImageSet::getPixelFormat ( int imageNumber ) const

Returns the pixel format for the given image.

Parameters

imageNumber Number of the image for which to receive the pixel format (0 ... getNumberOfImages()-1).

Please use getPixelFormat(ImageSet::ImageType) to access the data by their abstract role in lieu of their index in the set.

Definition at line 545 of file imageset.cpp.

◆ getQMatrix()

const float * visiontransfer::ImageSet::getQMatrix ( ) const

Returns a pointer to the disparity-to-depth mapping matrix q.

Definition at line 561 of file imageset.cpp.

◆ getRowStride() [1/2]

int visiontransfer::ImageSet::getRowStride ( ImageSet::ImageType what ) const

Returns the row stride for the pixel data of one image.

Parameters

what	ImageType of the desired channel.

This function will throw an exception when the ImageType is not present in this set (use hasImageType(what) to check).

Definition at line 541 of file imageset.cpp.

◆ getRowStride() [2/2]

int visiontransfer::ImageSet::getRowStride ( int imageNumber ) const

Returns the row stride for the pixel data of one image.

Parameters

imageNumber Number of the image for which to obtain the row stride (0 ... getNumberOfImages()-1).

Please use getRowStride(ImageSet::ImageType) to access the data by their abstract role in lieu of their index in the set.

Definition at line 537 of file imageset.cpp.

◆ getSequenceNumber()

unsigned int visiontransfer::ImageSet::getSequenceNumber ( ) const

Returns the sequence number for this image set.

Definition at line 565 of file imageset.cpp.

◆ getSubpixelFactor()

int visiontransfer::ImageSet::getSubpixelFactor ( ) const

Gets the subpixel factor for this image set.

Definition at line 577 of file imageset.cpp.

◆ getTimestamp()

void visiontransfer::ImageSet::getTimestamp	(	int &	seconds,
		int &	microsec
	)		const

Returns the time at which this image set has been captured.

Parameters

seconds	The time stamp with a resolution of one second.
microsec	The fractional seconds part of the time stamp with a resolution of 1 microsecond.

Definition at line 569 of file imageset.cpp.

◆ getWidth()

int visiontransfer::ImageSet::getWidth ( ) const

Returns the width of each image.

Definition at line 529 of file imageset.cpp.

◆ hasImageType()

bool visiontransfer::ImageSet::hasImageType ( ImageSet::ImageType what ) const

Returns whether a left camera image is included in the enabled data.

Definition at line 617 of file imageset.cpp.

◆ setDisparityRange()

void visiontransfer::ImageSet::setDisparityRange	(	int	minimum,
		int	maximum
	)

Sets the value range for the disparity map contained in this image set.

Parameters

minimum	Minimum disparity value.
maximum	Maximum disparity value.

Definition at line 517 of file imageset.cpp.

◆ setExposureTime()

void visiontransfer::ImageSet::setExposureTime ( int timeMicrosec )

Sets the exposure time that was used for capturing the image set.

Parameters

timeMicrosec Exposure time measured in microseconds

Definition at line 631 of file imageset.cpp.

◆ setHeight()

void visiontransfer::ImageSet::setHeight ( int h )

Sets a new width for both images.

Definition at line 489 of file imageset.cpp.

◆ setIndexOf()

void visiontransfer::ImageSet::setIndexOf	(	ImageSet::ImageType	what,
		int	idx
	)

Assign an image index to a specified ImageType, -1 to disable.

Parameters

what	The ImageType to assign a new image index to.
idx	The index of the specified ImageType inside the data of this ImageSet (-1 to disable).

Definition at line 621 of file imageset.cpp.

◆ setLastSyncPulse()

void visiontransfer::ImageSet::setLastSyncPulse	(	int	seconds,
		int	microsec
	)

Sets the timestamp of the last received sync pulse.

Parameters

seconds	The time stamp with a resolution of one second.
microsec	The fractional seconds part of the time stamp with a resolution of 1 microsecond.

Definition at line 639 of file imageset.cpp.

◆ setNumberOfImages()

void visiontransfer::ImageSet::setNumberOfImages ( int number )

Sets the number of valid images in this set.

Definition at line 605 of file imageset.cpp.

◆ setPixelData()

void visiontransfer::ImageSet::setPixelData	(	int	imageNumber,
		unsigned char *	pixelData
	)

Sets the pixel data for the given image.

Parameters

imageNumber	Number of the image for which to set the pixel data (0 ... getNumberOfImages()-1).
pixelData	The pixel data that shall be set.

Definition at line 501 of file imageset.cpp.

◆ setPixelFormat()

void visiontransfer::ImageSet::setPixelFormat	(	int	imageNumber,
		ImageSet::ImageFormat	format
	)

Sets the pixel format for the given image.

Parameters

imageNumber	Number of the image for which to set the pixel format (0 ... getNumberOfImages()-1).
format	The pixel format that shall be set.

Definition at line 497 of file imageset.cpp.

◆ setQMatrix()

void visiontransfer::ImageSet::setQMatrix ( const float * q )

Sets the pointer to the disparity-to-depth mapping matrix q.

No data is copied. The data which q is pointing to has to remain valid for as long as this object exists.

Definition at line 505 of file imageset.cpp.

◆ setRowStride()

void visiontransfer::ImageSet::setRowStride	(	int	imageNumber,
		int	stride
	)

Sets a new row stride for the pixel data of one image.

Parameters

imageNumber	Number of the image for which to set the row stride (0 ... getNumberOfImages()-1).
stride	The row stride that shall be set.

Definition at line 493 of file imageset.cpp.

◆ setSequenceNumber()

void visiontransfer::ImageSet::setSequenceNumber ( unsigned int num )

Sets the sequence number for this image set.

Definition at line 509 of file imageset.cpp.

◆ setSubpixelFactor()

void visiontransfer::ImageSet::setSubpixelFactor ( int subpixFact )

Sets the subpixel factor for this image set.

Definition at line 521 of file imageset.cpp.

◆ setTimestamp()

void visiontransfer::ImageSet::setTimestamp	(	int	seconds,
		int	microsec
	)

Sets the time at which this image set has been captured.

Parameters

seconds	The time stamp with a resolution of one second.
microsec	The fractional seconds part of the time stamp with a resolution of 1 microsecond.

Definition at line 513 of file imageset.cpp.

◆ setWidth()

void visiontransfer::ImageSet::setWidth ( int w )

Sets a new width for both images.

Definition at line 485 of file imageset.cpp.

◆ toOpenCVImage()

void visiontransfer::ImageSet::toOpenCVImage	(	int	imageNumber,
		cv::Mat &	dest,
		bool	convertRgbToBgr = `true`
	)

inline

Converts one image of the set to an OpenCV image.

Parameters

imageNumber	The number of the image that shall be converted (0 ... getNumberOfImages()-1).
convertRgbToBgr	If true, then color images will converted from RGB to BGR in order to comply to OpenCV's convention.

For this method to be available, the OpenCV headers need to be included before including headers for libvisiontransfer.

Please note that only a shallow copy is performed. The ImageSet object must be kept alive for as long as the OpenCV image is in use.

Definition at line 39 of file imageset-opencv.h.

◆ writePgmFile()

void visiontransfer::ImageSet::writePgmFile	(	int	imageNumber,
		const char *	fileName
	)		const

Writes one image of the set to a PGM or PPM file.

Parameters

imageNumber	The number of the image that shall be written.
File	name of the PGM or PPM file that shall be created.

Definition at line 581 of file imageset.cpp.

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

visiontransfer/imageset.h
visiontransfer/imageset-opencv.h
visiontransfer/imageset.cpp

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Member Enumeration Documentation

◆ ImageFormat

◆ ImageFormat_Deprecated

◆ ImageType

Constructor & Destructor Documentation

◆ ImageSet() [1/2]

◆ ImageSet() [2/2]

Member Function Documentation

◆ copyTo()

◆ getBitsPerPixel()

◆ getBytesPerPixel() [1/2]

◆ getBytesPerPixel() [2/2]

◆ getDisparityRange()

◆ getExposureTime()

◆ getHeight()

◆ getImageType()

◆ getIndexOf()

◆ getLastSyncPulse()

◆ getNumberOfImages()

◆ getPixelData() [1/2]

◆ getPixelData() [2/2]

◆ getPixelFormat() [1/2]

◆ getPixelFormat() [2/2]

◆ getQMatrix()

◆ getRowStride() [1/2]

◆ getRowStride() [2/2]

◆ getSequenceNumber()

◆ getSubpixelFactor()

◆ getTimestamp()

◆ getWidth()

◆ hasImageType()

◆ setDisparityRange()

◆ setExposureTime()

◆ setHeight()

◆ setIndexOf()

◆ setLastSyncPulse()

◆ setNumberOfImages()

◆ setPixelData()

◆ setPixelFormat()

◆ setQMatrix()

◆ setRowStride()

◆ setSequenceNumber()

◆ setSubpixelFactor()

◆ setTimestamp()

◆ setWidth()

◆ toOpenCVImage()

◆ writePgmFile()