CvUtils.h File Reference

Core utilities for image and math operations using OpenCV. More...

#include <opencv2/core/mat.hpp>

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Functions
void	core::image::resizeRect (cv::Rect &rect, double scaleFactor)
	Resizes a rectangle by a given scale factor. More...
void	core::image::createQuadraticRect (cv::Rect &r, const cv::Rect &imageRect)
	Creates a quadratic rectangle based on an existing rectangle. More...
void	core::image::histogramEqualization (cv::Mat &frame)
	Performs histogram equalization on a given frame. More...
void	core::math::eulerAnglesFromRotationVector (const cv::Mat &rotationVector, cv::Vec3d &eulerAngles)
	Calculates Euler angles from a rotation vector. More...
cv::Mat	core::math::eulerAnglesToRotationMatrix (const cv::Vec3f &theta)
	Converts Euler angles to a rotation matrix. More...
cv::Point3d	core::math::rotatePoint (const cv::Point3d &point, const cv::Mat &rotationmatrix)
	Rotates a point using a given rotation matrix. More...
cv::Point	core::math::perspectiveTransformPoint (const cv::Point2f &pt, cv::Mat &transformation)
	Performs perspective transformation on a point. More...
cv::Point2d	core::math::findProjectedPoint (const cv::Mat &rotation_matrix, const cv::Mat &translation_vector, const cv::Mat camera_matrix, cv::Point3d model_point)
	Finds the projected point using rotation and translation matrices and a camera matrix. More...
int	core::math::getBlobIntersectionArea (const cv::Mat &blobImg, const std::vector< cv::Point > &contour1, const std::vector< cv::Point > &contour2)
	Calculates the intersection area of two blobs. More...
void	core::math::getBlobCorners (const std::vector< cv::Point > &blob, cv::Point &tl, cv::Point &tr, cv::Point &br, cv::Point &bl)
	Retrieves the corners of a blob. More...
float	core::math::getAngleBetween (cv::Point a_begin, cv::Point a_end, cv::Point b_begin, cv::Point b_end)
	Calculates the angle between two line segments. More...
cv::Point	core::math::getMean (const std::vector< cv::Point > &vec)
	Calculates the mean point of a vector of points. More...

Detailed Description

Core utilities for image and math operations using OpenCV.

Function Documentation

createQuadraticRect()

void core::image::createQuadraticRect	(	cv::Rect &	r,
		const cv::Rect &	imageRect
	)

Creates a quadratic rectangle based on an existing rectangle.

Parameters

r	Reference to the new quadratic rectangle.
imageRect	The existing rectangle to base the new rectangle on.

eulerAnglesFromRotationVector()

void core::math::eulerAnglesFromRotationVector	(	const cv::Mat &	rotationVector,
		cv::Vec3d &	eulerAngles
	)

Calculates Euler angles from a rotation vector.

Usage example: Vec3d eulerAngles; eulerAnglesFromRotationVector(rotationVector, eulerAngles);

Parameters

rotationVector	The input rotation vector.
eulerAngles	Output Euler angles (yaw, pitch, roll).

eulerAnglesToRotationMatrix()

cv::Mat core::math::eulerAnglesToRotationMatrix

(

const cv::Vec3f &

theta

)

Converts Euler angles to a rotation matrix.

Parameters

theta

The input Euler angles.

Returns

cv::Mat The output rotation matrix.

findProjectedPoint()

cv::Point2d core::math::findProjectedPoint	(	const cv::Mat &	rotation_matrix,
		const cv::Mat &	translation_vector,
		const cv::Mat	camera_matrix,
		cv::Point3d	model_point
	)

Finds the projected point using rotation and translation matrices and a camera matrix.

Parameters

rotation_matrix	Rotation matrix.
translation_vector	Translation vector.
camera_matrix	Camera matrix.
model_point	The 3D model point.

Returns

cv::Point2d The projected 2D point.

getAngleBetween()

float core::math::getAngleBetween	(	cv::Point	a_begin,
		cv::Point	a_end,
		cv::Point	b_begin,
		cv::Point	b_end
	)

Calculates the angle between two line segments.

Parameters

a_begin	Start point of the first line segment.
a_end	End point of the first line segment.
b_begin	Start point of the second line segment.
b
b_end	End point of the second line segment.

Returns

float The angle in radians between the two line segments.

getBlobCorners()

void core::math::getBlobCorners	(	const std::vector< cv::Point > &	blob,
		cv::Point &	tl,
		cv::Point &	tr,
		cv::Point &	br,
		cv::Point &	bl
	)

Retrieves the corners of a blob.

Parameters

blob	The vector of points defining the blob.
tl	Top-left corner of the blob.
tr	Top-right corner of the blob.
br	Bottom-right corner of the blob.
bl	Bottom-left corner of the blob.

getBlobIntersectionArea()

int core::math::getBlobIntersectionArea	(	const cv::Mat &	blobImg,
		const std::vector< cv::Point > &	contour1,
		const std::vector< cv::Point > &	contour2
	)

Calculates the intersection area of two blobs.

Parameters

blobImg	The image containing blobs.
contour1	The first contour.
contour2	The second contour.

Returns

int The area of intersection between the two contours.

getMean()

cv::Point core::math::getMean

(

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

vec

)

Calculates the mean point of a vector of points.

Parameters

vec	The vector containing the points.

Returns

cv::Point The mean point.

histogramEqualization()

void core::image::histogramEqualization

(

cv::Mat &

frame

)

Performs histogram equalization on a given frame.

Parameters

frame

Reference to the frame for histogram equalization.

perspectiveTransformPoint()

cv::Point core::math::perspectiveTransformPoint	(	const cv::Point2f &	pt,
		cv::Mat &	transformation
	)

Performs perspective transformation on a point.

Parameters

pt	The point for transformation.
transformation	The transformation matrix.

Returns

cv::Point The transformed point.

resizeRect()

void core::image::resizeRect	(	cv::Rect &	rect,
		double	scaleFactor
	)

Resizes a rectangle by a given scale factor.

Parameters

rect	Reference to the rectangle to resize.
scaleFactor	The scale factor for resizing.

rotatePoint()

cv::Point3d core::math::rotatePoint	(	const cv::Point3d &	point,
		const cv::Mat &	rotationmatrix
	)

Rotates a point using a given rotation matrix.

Parameters

point	The point to rotate.
rotationmatrix	The rotation matrix.

Returns

cv::Point3d The rotated point.