MIRA
ImgPainter.h
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1 /*
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38 
47 #ifndef _MIRA_IMGPAINTER_H_
48 #define _MIRA_IMGPAINTER_H_
49 
50 #include <opencv2/core/core.hpp>
51 
52 #include <platform/Platform.h>
53 
54 #include <Eigen/Core>
55 
56 #include <image/Color.h>
57 #include <geometry/Point.h>
58 
59 namespace mira {
60 
61 namespace ImgPainter {
62 
64 
70 void drawTransparentLine(cv::Mat& ioImg, const Point2i& a, const Point2i& b,
71  const Color::RGB& color, double alpha=0.5f);
72 
85 void drawCovariance(cv::Mat& ioImg, const Point2i& p, float a, float b, float c,
86  float sigma, const Color::RGB& color, int thickness=1);
87 
93 template <typename Derived>
94 inline void drawCovariance(cv::Mat& ioImg, const Point2i& p,
96  float sigma, const Color::RGB& color, int thickness=1)
97 {
98  drawCovariance(ioImg, p, S(0,0), S(1,0), S(1,1), sigma, color, thickness);
99 }
100 
112 void drawInvCovariance(cv::Mat& ioImg, const Point2i& p, float a, float b, float c,
113  float sigma, const Color::RGB& color, int thickness=1);
114 
120 template <typename Derived>
121 inline void drawInvCovariance(cv::Mat& ioImg, const Point2i& p,
122  const Eigen::MatrixBase<Derived>& Sinv,
123  float sigma, const Color::RGB& color, int thickness=1)
124 {
125  drawInvCovariance(ioImg, p, Sinv(0,0), Sinv(1,0), Sinv(1,1), sigma, color, thickness);
126 }
128 
129 }} // namespace
130 
131 #endif
General point class template.
Definition: Point.h:133
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
Class for 2D, 3D and N-dimensional points.
MIRA_BASE_EXPORT void drawTransparentLine(cv::Mat &ioImg, const Point2i &a, const Point2i &b, const Color::RGB &color, double alpha=0.5f)
Draws a line between the two given points using the specified color and the specified line thickness...
MIRA_BASE_EXPORT void drawCovariance(cv::Mat &ioImg, const Point2i &p, float a, float b, float c, float sigma, const Color::RGB &color, int thickness=1)
Draws a covariance ellipse into the specified image at position &#39;p&#39;.
This file contains color classes for the Img class.
The different color spaces.
Definition: Color.h:104
MIRA_BASE_EXPORT void drawInvCovariance(cv::Mat &ioImg, const Point2i &p, float a, float b, float c, float sigma, const Color::RGB &color, int thickness=1)
Draws a covariance ellipse into the specified image at position &#39;p&#39;.
typedef Mat
#define MIRA_BASE_EXPORT
This is required because on windows there is a macro defined called ERROR.
Definition: Platform.h:153
Platform dependent defines and macros.