robokudo.utils.cv_helper
========================

.. py:module:: robokudo.utils.cv_helper


Attributes
----------

.. autoapisummary::

   robokudo.utils.cv_helper.LOGGER


Functions
---------

.. autoapisummary::

   robokudo.utils.cv_helper.crop_image
   robokudo.utils.cv_helper.crop_image_roi
   robokudo.utils.cv_helper.convert_ros_to_cv_image
   robokudo.utils.cv_helper.convert_cv_to_ros_image
   robokudo.utils.cv_helper.get_scaled_color_image_for_depth_image
   robokudo.utils.cv_helper.get_scale_coordinates
   robokudo.utils.cv_helper.get_hsv_for_rgb_color
   robokudo.utils.cv_helper.get_hsv_for_bgr_color
   robokudo.utils.cv_helper.draw_rectangle_around_center
   robokudo.utils.cv_helper.clamp_bounding_rect
   robokudo.utils.cv_helper.sanity_checks_bounding_rects
   robokudo.utils.cv_helper.adjust_roi
   robokudo.utils.cv_helper.adjust_image_roi
   robokudo.utils.cv_helper.adjust_mask


Module Contents
---------------

.. py:data:: LOGGER
   :value: None


.. py:function:: crop_image(image, xy: tuple, wh: tuple)

.. py:function:: crop_image_roi(image, roi: robokudo.types.cv.ImageROI)

.. py:function:: convert_ros_to_cv_image(ros_image)

   Convert a ros image to a CV image.


.. py:function:: convert_cv_to_ros_image(cv_image)

   Convert a CV image to a ROS image.


.. py:function:: get_scaled_color_image_for_depth_image(cas: robokudo.cas.CAS, color_image: numpy.typing.NDArray) -> numpy.typing.NDArray

   If the color2depth ratio is not 1,1, we will usually scale the color image to the same size
   the depth image has. This method will get check if a conversion is required and will return the
   correct size. This is usually called before o3d.geometry.RGBDImage.create_from_color_and_depth is called,
   so that depth and color image match.

   :param cas: The robokudo.cas.CAS where the COLOR2DEPTH_RATIO is stored.
   :param color_image: The color image to be adjusted
   :return: A resized copy of the color image if a resize necessary. Otherwise, the unchanged color_image
   is returned.


.. py:function:: get_scale_coordinates(color2depth_ratio: tuple, coordinates: tuple) -> tuple

.. py:function:: get_hsv_for_rgb_color(rgb: tuple) -> numpy.typing.NDArray

.. py:function:: get_hsv_for_bgr_color(bgr: tuple) -> numpy.typing.NDArray

.. py:function:: draw_rectangle_around_center(binary_image: numpy.typing.NDArray, x: int, y: int, width: int, height: int, value=255) -> numpy.typing.NDArray

   :param binary_image: a uint8 dtyped image
   :param x: target coordinate x for center point
   :param y: target coordinate y for center point
   :param width: width of the rectangle
   :param height: height of the rectangle
   :param value: Numerical value that shall be written to the rectangular area. Default=255


.. py:function:: clamp_bounding_rect(bounding_rect: cv2.boundingRect, image_width: int, image_height: int) -> cv2.boundingRect

.. py:function:: sanity_checks_bounding_rects(bounding_rect: cv2.boundingRect, image_width: int, image_height: int)

   Check basic rules of a boundingRect to reject bad ones. Might happen if projections are done on objects
   that are out-of-view etc.

   :param bounding_rect:
   :param image_width:
   :param image_height:
   :return: True if rules have been passed, False otherwise


.. py:function:: adjust_roi(image, roi, offset)

   Adjusts the ROI by a given offset while respecting image boundaries,
   keeping the same center point.

   :param image: The image (OpenCV format).
   :param roi: A tuple (x, y, width, height) representing the bounding box.
   :param offset: The amount by which to grow or shrink the ROI (can be negative).
   :return: A tuple (new_x, new_y, new_width, new_height) representing the adjusted ROI.


.. py:function:: adjust_image_roi(image, image_roi, offset)

   Adjusts the ImageROI's ROI by a given offset while respecting image boundaries,
   keeping the same center point. This method uses the adjust_roi function.

   :param image: The image this ROI is relative to. Necessary to respect the boundaries properly.
   :param image_roi: An object of type ImageROI.
   :param offset: The amount by which to grow or shrink the ROI (can be negative).
   :return: None. The ImageROI's ROI is adjusted in place.


.. py:function:: adjust_mask(mask, offset, fill_value=0)

   Adjusts the mask by a given offset. When expanding, the new areas are filled
   with the specified fill value.

   :param mask: The mask corresponding to the ROI (same dimensions as the ROI).
   :param offset: The amount by which to grow or shrink the mask (can be negative).
   :param fill_value: The value to fill new areas when expanding the mask.
   :return: The adjusted mask.