Display-related utility functions built on opencv (cv2) libraries. More...

Collaboration diagram for Display via OpenCV:

Namespaces
	display_cv
	Display helper routines using OpenCV.

Classes
class	plotfig

Functions
def	bgr (bgr, ratio=None, window_name="Image")
	Display bgr image using the OpenCV. More...

def	binary (bIm, ratio=None, window_name="Binary")
	Display binary image using OpenCV display routines. More...

def	close (window_name)
	Close a given window by name. More...

def	depth (depIm, depth_clip=0.08, ratio=None, window_name="OpenCV Display")
	Display depth image using OpenCV window. More...

def	display_dep (depth, depth_clip=0.08, ratio=None, window_name="OpenCV Display")
	Display depth image using OpenCV window. More...

def	display_rgb_dep (rgb, depth, depth_clip=0.08, ratio=None, window_name="OpenCV Display")

def	getline_rgb (I, isClosed=False, window_name="Image")
	Quick and dirty equivalent implementation to Matlab's getline. More...

def	getlinemask_rgb (I, window_name="Image")
	Quick and dirty polyline input to mask output. More...

def	getpts_rgb (I, window_name="Image")
	Quick and dirty equivalent implementation to Matlab's getpts. More...

def	gray (gim, ratio=None, window_name="Image")
	Display grayscale image using the OpenCV. More...

def	images (list images, ratio=None, window_name="OpenCV Display")
	Display a set of images horizontally concatenated (side-by-side). More...

def	markers_rgb (I, thePts, ptColor=(255, 255, 255), ptMarkType=cv2.MARKER_CROSS, ptSize=20, ptThickness=1, ptLineType=8, window_name="Marked Image")

def	polyline_rgb (I, polyPts, isClosed=False, lineColor=(255, 255, 255), lineThickness=2, window_name="Poly+Image")
	Annotate image with sequential line segments from mouse input (open or closed path). More...

def	rgb (rgb, ratio=None, window_name="Image")
	Display rgb image using the OpenCV. More...

def	rgb_binary (cIm, bIm, ratio=None, window_name="Color+Binary")
	Display an RGB and binar image side-by-side using OpenCV API. More...

def	rgb_depth (rgb, depth, depth_clip=0.08, ratio=None, window_name="OpenCV Display")
	Display rgb and depth images side-by-side using OpenCV. More...

def	rgbd_wait_for_confirm (Callable rgb_dep_getter, color_type="rgb", window_name="display", instruction="Press \'c\' key to select the frames. Press \'q\' to return None", capture_click=False, ratio=None)
	Get imagery from callable, present to user, and process on user input. More...

def	trackpoint (rgb, p, ratio=None, window_name="Image")
	Display rgb image with trackpoint overlay. More...

def	trackpoint_binary (bIm, p, ratio=None, window_name="Image")
	Display binary image with trackpoint overlay. More...

def	trackpoint_gray (gIm, p, ratio=None, window_name="Image")
	Display grayscale image with trackpoint overlay. More...

def	trackpoints (rgb, p, ratio=None, window_name="Image")
	Display rgb image with multiple trackpoints overlaid. More...

def	wait (dur=0)
	Wait specified duration (ms) for keypress. More...

Detailed Description

Display-related utility functions built on opencv (cv2) libraries.

Function Documentation

◆ bgr()

def ivapy.display_cv.bgr	(	bgr,
		ratio = `None`,
		window_name = `"Image"`
	)

Display bgr image using the OpenCV.

The bgr frame will be resized to a visualization size prior to visualization. Args: bgr (np.ndarray, (H, W, 3)): The bgr image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ binary()

def ivapy.display_cv.binary	(	bIm,
		ratio = `None`,
		window_name = `"Binary"`
	)

Display binary image using OpenCV display routines.

The binary frame will be resized as indicated prior to visualization.

Parameters

[in]	bIm	Binary image as a numpy H x W ndarray.
[in]	ratio	Resize ratio of image to display (float, optional). Default is None = no resizing.
[in]	window_name	Window display name (Default = "Binary").

◆ close()

def ivapy.display_cv.close ( window_name )

Close a given window by name.

Parameters

[in] window_name Named window to close.

◆ depth()

def ivapy.display_cv.depth	(	depIm,
		depth_clip = `0.08`,
		ratio = `None`,
		window_name = `"OpenCV Display"`
	)

Display depth image using OpenCV window.

The depth frame will be scaled to have the range 0-255. There will be no color bar for the depth

Args: depIm (np.ndarray, (H, W)): The depth map depth_clip (float in [0, 1]): The depth value clipping percentage. The top and bottom extreme depth value to remove. Default to 0.0 (no clipping) ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ display_dep()

def ivapy.display_cv.display_dep	(	depth,
		depth_clip = `0.08`,
		ratio = `None`,
		window_name = `"OpenCV Display"`
	)

Display depth image using OpenCV window.

The depth frame will be scaled to have the range 0-255. There will be no color bar for the depth

Args: depth (np.ndarray, (H, W)): The depth map depth_clip (float in [0, 1]): The depth value clipping percentage. The top and bottom extreme depth value to remove. Default to 0.0 (no clipping) ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ display_rgb_dep()

def ivapy.display_cv.display_rgb_dep	(	rgb,
		depth,
		depth_clip = `0.08`,
		ratio = `None`,
		window_name = `"OpenCV Display"`
	)

Display the rgb and depth image using the OpenCV

The depth frame will be scaled to have the range 0-255.
The rgb and the depth frame will be resized to a visualization size and then concatenate together horizontally 
Then the concatenated image will be displayed in a same window.

There will be no color bar for the depth

Args:
    rgb (np.ndarray, (H, W, 3)): The rgb image
    depth (np.ndarray, (H, W)): The depth map
    depth_clip (float in [0, 1]): The depth value clipping percentage. The top and bottom extreme depth value to remove. Default to 0.0 (no clipping)
    ratio (float, Optional): Allow resizing the images before display.  Defaults to None, which means will perform no resizing
    window_name (sting, Optional): The window name for display. Defaults to \"OpenCV display\"

◆ getline_rgb()

def ivapy.display_cv.getline_rgb	(	I,
		isClosed = `False`,
		window_name = `"Image"`
	)

Quick and dirty equivalent implementation to Matlab's getline.

Parameters

[in]	I	Image to display.
[in]	window_name	Name of existing window to use.
[in]	isClosed	Return as closed polygon.

◆ getlinemask_rgb()

def ivapy.display_cv.getlinemask_rgb	(	I,
		window_name = `"Image"`
	)

Quick and dirty polyline input to mask output.

Closed path.

Parameters

[in]	I	Image to display.
[in]	window_name	Name of existing window to use.

◆ getpts_rgb()

def ivapy.display_cv.getpts_rgb	(	I,
		window_name = `"Image"`
	)

Quick and dirty equivalent implementation to Matlab's getpts.

Parameters

[in]	I	Image to display.
[in]	window_name	Name of existing window to use.
[in]	isClosed	Return as closed polygon.

◆ gray()

def ivapy.display_cv.gray	(	gim,
		ratio = `None`,
		window_name = `"Image"`
	)

Display grayscale image using the OpenCV.

The rgb frame will be resized to a visualization size prior to visualization. Args: rgb (np.ndarray, (H, W, 3)): The rgb image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ images()

def ivapy.display_cv.images	(	list	images,
			ratio = `None`,
			window_name = `"OpenCV Display"`
	)

Display a set of images horizontally concatenated (side-by-side).

Args: images (list): A list of the OpenCV images (bgr) of the same size window_name (str, Optional): The window name for display. Defaults to "OpenCV display"

◆ markers_rgb()

def ivapy.display_cv.markers_rgb	(	I,
		thePts,
		ptColor = `(255,255,255)`,
		ptMarkType = `cv2.MARKER_CROSS`,
		ptSize = `20`,
		ptThickness = `1`,
		ptLineType = `8`,
		window_name = `"Marked Image"`
	)

◆ polyline_rgb()

def polyline_rgb	(	I,
		polyPts,
		isClosed = `False`,
		lineColor = `(255,255,255)`,
		lineThickness = `2`,
		window_name = `"Poly+Image"`
	)

Annotate image with sequential line segments from mouse input (open or closed path).

Parameters

[in]	I
[in]	polyPts
[in]	isClosed
[in]	lineColor
[in]	lineThickness
[in]	window_name

◆ rgb()

def ivapy.display_cv.rgb	(	rgb,
		ratio = `None`,
		window_name = `"Image"`
	)

Display rgb image using the OpenCV.

The rgb frame will be resized to a visualization size prior to visualization. Args: rgb (np.ndarray, (H, W, 3)): The rgb image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ rgb_binary()

def ivapy.display_cv.rgb_binary	(	cIm,
		bIm,
		ratio = `None`,
		window_name = `"Color+Binary"`
	)

Display an RGB and binar image side-by-side using OpenCV API.

The images will be resized as indicated by the ratio and concatenated horizontally. The concatenated image is what gets displayed in the window.

Parameters

[in]	cIm	Color image (RGB).
[in]	bIm	Binary image (0/1 or logical)
[in]	ratio	Resizing ratio.
[in]	window_name	Window name for display.

◆ rgb_depth()

def ivapy.display_cv.rgb_depth	(	rgb,
		depth,
		depth_clip = `0.08`,
		ratio = `None`,
		window_name = `"OpenCV Display"`
	)

Display rgb and depth images side-by-side using OpenCV.

Depth frame will be scaled to range [0,255]. The rgb and the depth images will be resized to visualization size, then concatenated horizontally. The concatenated image will be displayed in a window. There will be no color bar for the depth

Args: rgb (np.ndarray, (H, W, 3)): The rgb image depth (np.ndarray, (H, W)): The depth map depth_clip (float in [0, 1]): The depth value clipping percentage. The top and bottom extreme depth value to remove. Default to 0.0 (no clipping) ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ rgbd_wait_for_confirm()

def ivapy.display_cv.rgbd_wait_for_confirm	(	Callable	rgb_dep_getter,
			color_type = `"rgb"`,
			window_name = `"display"`,
			instruction = `"Press \'c\' key to select the frames. Press \'q\' to return None"`,
			capture_click = `False`,
			ratio = `None`
	)

Get imagery from callable, present to user, and process on user input.

An interface function for letting the user select the desired frame from the given sensor source. The function will display the color and the depth information received from the source, and then wait for the user to confirm via keyboard.

NOTE: can't distinguish different keys for now. So only support "press any key to confirm"

Parameters

[in]	color_dep_getter	(Callable): RGBD source. \ Expect to get the sensor information in the np.ndarray format via: \ rgb, depth = color_dep_getter() \ When there is no more info, expected to return None
[in]	color_type	(str): Color type. RGB or BGR.
[in]	window_name	(str, optional): Window name
[in]	instruction	(str, optional): Instruction text printed to user for selection. Defaults to None.
[in]	ratio	(float, optional): Image rescaling before display. \ Default is None, no resizing.
[out]	rgb	[np.ndarray]: RGB image confirmed/chosen by user
[out]	depth	[np.ndarray]: Depth image confirmed/chosen by the user

◆ trackpoint()

def ivapy.display_cv.trackpoint	(	rgb,
		p,
		ratio = `None`,
		window_name = `"Image"`
	)

Display rgb image with trackpoint overlay.

The rgb frame will be resized to a visualization size prior to visualization.

Args: rgb (np.ndarray, (H, W, 3)): The rgb image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ trackpoint_binary()

def ivapy.display_cv.trackpoint_binary	(	bIm,
		p,
		ratio = `None`,
		window_name = `"Image"`
	)

Display binary image with trackpoint overlay.

The rgb frame will be resized to a visualization size prior to visualization. Args: rgb (np.ndarray, (H, W, 3)): The rgb image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ trackpoint_gray()

def ivapy.display_cv.trackpoint_gray	(	gIm,
		p,
		ratio = `None`,
		window_name = `"Image"`
	)

Display grayscale image with trackpoint overlay.

The rgb frame will be resized to a visualization size prior to visualization. Args: rgb (np.ndarray, (H, W, 3)): The rgb image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ trackpoints()

def ivapy.display_cv.trackpoints	(	rgb,
		p,
		ratio = `None`,
		window_name = `"Image"`
	)

Display rgb image with multiple trackpoints overlaid.

The rgb frame will be resized to a visualization size prior to visualization. Args: rgb (np.ndarray, (H, W, 3)): The rgb image ratio (float, Optional): Allow resizing the images before display. Defaults to None, which means will perform no resizing window_name (sting, Optional): The window name for display. Defaults to "OpenCV display"

◆ wait()

def ivapy.display_cv.wait ( dur = 0 )

Wait specified duration (ms) for keypress.

Usually forces display refresh.

Much like Matlab, this wait also serves as a trigger to udpate visuals for OpenCV. Otherwise, processing of main loop will continue and pre-empty graphics refreshes.

Parameters

[in] dur [0 ms] Optional duration in ms of waiting for keypress.

Namespaces

Classes

Functions

Detailed Description

Function Documentation

◆ bgr()

◆ binary()

◆ close()

◆ depth()

◆ display_dep()

◆ display_rgb_dep()

◆ getline_rgb()

◆ getlinemask_rgb()

◆ getpts_rgb()

◆ gray()

◆ images()

◆ markers_rgb()

◆ polyline_rgb()

◆ rgb()

◆ rgb_binary()

◆ rgb_depth()

◆ rgbd_wait_for_confirm()

◆ trackpoint()

◆ trackpoint_binary()

◆ trackpoint_gray()

◆ trackpoints()

◆ wait()