nrt Namespace Reference

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Reserved namespace for NRT core classes and functions.

Namespaces
namespace	exception
	Reserved namespace for NRT-related exceptions.
namespace	function_existence_helper
	A set of type trait class to check if two types can be used in an arithmetic operation, or compared.
Classes
class	AnyMessage
	Generic opaque message that can contain any message data. More...
class	Blackboard
	The Blackboard handles communication of Message objects between Module objects. More...
class	BlackboardManager
	The BlackboardManager component can be inserted into an nrt::Manager hierarchy to expose Blackboard options. More...
class	BlackboardUsageMessage
	A Message sent at regular intervals by each Blackboard to report on CPU, callback, etc usage. More...
class	GUIdataMessage
	Inform the Blackboard master of any GUIdata changes. More...
class	CreateNamespaceMessage
	Request a new namespace to be created. More...
class	RenameNamespaceMessage
	Rename (move) an existing namespace. More...
class	CreateConnectorMessage
	Create a Connector in an existing Namespace. More...
class	DeleteConnectorMessage
	Delete an existing connector. More...
class	ModifyConnectorTopicMessage
	Change a connector's topic of topicfilter. More...
class	SystemProfilerMessage
	SystemProfiler summary data. More...
class	MessagePosterConnector
	MessagePosterConnector class defines a connector for a MessagePoster. More...
class	MessageCheckerConnector
	MessageCheckerConnector class defines a connector for a MessageChecker. More...
class	MessageSubscriberConnector
	MessageSubscriberConnector class defines a connector for a MessageSubscriber. More...
class	BlackboardUID
	Type for Blackboard unique ID data. More...
struct	ConnectorUID
	Type for Connector unique ID data. More...
class	ConnectorBase
	Base class for Connector. More...
class	MessageTypesCreator
	Simple class used to contain common types for a given message. More...
class	MessagePosting
	A Posting port is a unique binding of a sent Message type and a returned Message type to a port class. More...
class	MessagePosting< Port, Msg, void >
	Specialization of MessagePosting for void return type. More...
class	MessagePosting< Port, nrt::Message< T >, void >
	Specialization of MessagePosting for void return type and nrt::Message<T> message. More...
class	MessageChecking
	A Checking is a unique binding of a Message type to a port class. More...
class	MessageSubscription
	A Subscription is a unique binding of a received Message type and a returned Message type to a port class. More...
class	MessageSubscription< Port, Msg, void >
	Specialization of MessageSubscription for void return type. More...
class	MessageSubscription< Port, nrt::Message< T >, void >
	Specialization of MessageSubscription for void return type and nrt::Message<T> message. More...
struct	SimpleMessagePosting< T, false >
	Simple CRTP struct for a MessagePosting associated with a nrt::Message<T> and void return type. More...
struct	SimpleMessagePosting< T, true >
	Simple CRTP struct for a MessagePosting associated with a T (should derive from MessageBase) and void return type. More...
struct	SimpleMessageSubscription< T, false >
	Simple CRTP struct for a MessageSubscription, used by split subscribers. More...
struct	SimpleMessageSubscription< T, true >
	Simple CRTP struct for a MessageSubscription, used by split subscribers. More...
struct	ModuleUID
	Type for Module unique ID data. More...
class	ModuleBase
	Base class for Module. More...
class	MessagePoster
	Generic variadic class template definition of MessagePoster. More...
class	MessagePoster<>
	Special case to terminate variadic template inheritance recursion. More...
class	MessagePosterCoreBase
	Base class for a MessagePoster. More...
class	MessagePosterCore
	Module objects which derive from MessagePoster will be allowed to post Message objects. More...
class	SplitMessagePoster
	Split message poster, implemented by MessagePoster ports that use splittable CompositeMessage messages. More...
class	MessageChecker
	Generic variadic MessageChecker class template. More...
class	MessageChecker<>
	Special case to terminate recursion. More...
class	MessageCheckerCoreBase
	Base class for MessageChecker. More...
class	MessageCheckerCore
	Module objects which derive from MessageChecker will be allowed to post Message objects. More...
class	MessageSubscriber
	Variadic-template MessageSubscriber class. More...
class	MessageSubscriber<>
	Variadic-template MessageSubscriber class. More...
class	MessageSubscriberCoreBase
	Base class for a MessageSubscriber. More...
class	MessageSubscriberCore
	Core class for the variadic MessageSubscriber template. More...
class	SplitMessageSubscriber< T, true >
	Subscriber helper class for split subscriptions. More...
class	SplitMessageSubscriber< T, false >
	Subscriber helper class for split subscriptions. More...
class	MessageBase
	Base class for a message that can be passed from one Module to other(s) (via a Blackboard) More...
class	Message
	Generic message template that contains one value. More...
class	MessageData< Field, Tail...>
	Generic message data template used in messages that contain multiple fields/values. More...
class	CompositeMessage
	A composite message with multiple fields. More...
class	TriggerMessage
	An empty message used to trigger events. More...
class	MessageCheckerResults
	Class that holds the results of MessageChecker<Checking>::check() More...
class	MessagePosterResults
	The results of a post() More...
class	MessagePoster< Posting, Tail...>
	MessagePoster class. More...
class	MessageChecker< Checking, Tail...>
	Module objects which derive from nrt::MessageChecker<Checking> will be allowed to check() for Message objects. More...
class	MessageSubscriber< Subscription, Tail...>
	Module objects which derive from nrt::MessageSubscriber<Subscription> will subscribe to matching Postings. More...
class	Module
	Base class for a Module. More...
class	BBNickTrigger
class	BlackboardNetHandler
	Blackboard network handler interface. More...
class	CPUTimer
	Utility class for monitoring user/system cpu usage plus wall-clock time. More...
class	GenericLog
	A generic logging class. More...
struct	StandardErrorOutputPolicy
	Output to standard error stream. More...
struct	StandardOutputOutputPolicy
	Output to standard output stream. More...
struct	InfoLevelPolicy
	Info-level log output policy. More...
struct	DebugLevelPolicy
	Debug-level log output policy. More...
struct	WarnLevelPolicy
	Warning-level log output policy. More...
struct	FatalLevelPolicy
	Fatal-level log output policy. More...
struct	EventLogEntry
	An entry in an nrt::EventLog. More...
class	Event
	Event is a simple proxy class for an event, similar to lock classes for mutex. More...
struct	EventLogSummary
	Parsed summary from an EventLog. More...
class	EventLog
	A simple event logger. More...
class	SystemProfiler
	Simple system profiler (shared event logger) More...
class	AutoMap
	A table used to create using Ids and store a value for each Id. More...
class	BottomlessThreadPool
	A thread pool with an unlimited number of threads. More...
class	BoundedBuffer
	Thread-safe synchronized producer/consumer queue. More...
class	BoundedSet
	Thread-safe synchronized producer/consumer queue with element replacement policy. More...
class	ConcurrentQueue
	A thread safe queue with blocking and waiting. More...
class	GenericBagCore
struct	getReferenceType
	Gets the correct return type for some requested type. More...
class	OptionalBase< T, true >
	Reference template specialization for OptionalBase. More...
class	OptionalBase< T, false >
	Value template specialization for OptionalBase. More...
class	FunctionWrapper
	Wraps up an std::function in a move copyable struct. More...
struct	ThreadJoiner
	Convenience RAII wrapper around a container of threads to call join() on all of them. More...
class	WorkStealingQueue
	A light wrapper around std::deque used to allow different threads to "steal" work. More...
class	Factory
	A generic factory. More...
class	GenericBag< FirstT, OtherT...>
	A class for holding a bag of unique, unordered components. More...
class	StreamableGenericBag< FirstT, OtherT...>
	A GenericBag class that requires that each of its elements support streaming IO. More...
class	IdTable
	A table used to store linked value and id types supporting lookups on both. More...
class	IteratorRange
	A rudimentary implementation of an iterator range. More...
class	KeyTable
	A table used to create using Ids. More...
class	Optional
	A class for representing optional values. More...
class	Semaphore
	A semaphore. More...
class	Singleton
	A generic singleton class to enforce a single instance of a class. More...
class	SynchroQueue
	SynchroQueue is a thread-safe synchronized producer/consumer queue. More...
class	ThreadPool
	The ThreadPool class is used to run a potentially large set of jobs on a fixed number of threads. More...
class	BoundedThreadPool
	A bounded thread pool with a shared work queue. More...
class	BoundedLocalQueueThreadPool
	A bounded thread pool with thread local work queues. More...
class	UnboundedThreadPool
	An unbounded thread pool with a shared work queue. More...
class	UnboundedLocalQueueThreadPool
	An unbounded thread pool with thread local work queues. More...
class	Circle
	A simple representation of a circle. More...
class	Dims
	A generic dimensions class. More...
class	Line
	A 2D line segment. More...
class	Point
	A N-Dimensional Point Class. More...
class	Point2D
	A 2-Dimensional Point Class. More...
class	Point3D
	A 3-Dimensional Point Class. More...
class	Polygon
	A 2D polygon representation. More...
class	Rectangle
	A basic rectangle class. More...
class	RotatedRectangle
	A 2D rotated rectangle containing a center point, dimensions, and an angle. More...
struct	FrameRange
	A simple struct to hold a range of frames indicating the bounds of a movie. More...
class	GenericImage
	A container that acts as a smart "union" of a few popular Image types. More...
class	Image
	The standard Image class used to store pixel data. More...
class	ImageSet
	A set of images, often used as a dyadic pyramid. More...
class	Layout
	Represents tiled layouts of arbitrary numbers of images of different sizes. More...
struct	PixRGB
	A pixel class to hold red-green-blue color components. More...
struct	PixHSV
	A pixel class to hold hue-saturation-value color components. More...
struct	PixGray
	A pixel class to hold a single scalar value. More...
struct	PixRGBA
	A pixel class to hold red-green-blue-alpha color components. More...
struct	PixRGBD
	A pixel class to hold red-green-blue-depth color components and depth information. More...
class	Allocator
	A C++ STL compatible allocator using nrt::allocate. More...
class	AlignedAllocator
	A c++ STL compatible allocator that always performs aligned allocation. More...
class	Array
	The Array class is an efficient way to store memory and pass it between functions. More...
class	Array2D
	A shared, copy-on-write 2D addressable storage class for holding arbitrary types. More...
class	DynamicArray
	A dynamic-length version of the Array class. More...
class	Component
	A component of a model hierarchy. More...
class	Manager
	Manager of an entire model of Components. More...
class	ParameterBase
	Base class for Parameter. More...
struct	ParameterPosting
	Simple CRTP struct for a Posting associated with a Parameter. See Module.H for details on posting. More...
struct	ParameterChecking
	Simple CRTP struct for a Checking associated with a Parameter. See Module.H for details on checking. More...
struct	ParameterSubscription
	Simple CRTP struct for a Subscription associated with a Parameter. See Module.H for details on subscription. More...
class	ParameterMessageSubscriber
	Subscriber helper class for parameter. More...
class	Parameter
	A changeable parameter for a Component. More...
struct	ParameterCategory
	A category to which multiple ParameterDefs can belong. More...
class	ParameterDefBase
	Base class for a Paramater definition. More...
class	ParameterDef
	A Parameter Definition. More...
class	ParameterSummary
	ParameterSummary provides a summary about a parameter that can be used by a GUI and across Blackboards. More...
struct	NotATypeError
	A type to indicate an error in metaprogramming. More...
struct	pixel_traits
	This specialization of pixel_traits shows up when PixType is not a Pixel type. More...
struct	pixel_traits< PixType, true >
	This specialization of pixel_traits shows up when PixType is indeed a Pixel type. More...
struct	promote
	Specialization of nrt::promote for when we can't promote. More...
struct	promote< T1, T2, true >
	Specialization of nrt::promote for when a promotion will occur. More...
struct	promote< void, T2, false >
	Specialization of nrt::promote when first type is void, promoted type is the second type. More...
struct	promote< T1, void, false >
	Specialization of nrt::promote when second type is void, promoted type is the first type. More...
struct	promote< void, void, false >
	Specialization of nrt::promote when both types are void. More...
class	Range
	A generic range class. More...
class	Serializable
	Base class for an object that can be serialized (for transfer over the wire) using boost::serialization. More...
struct	T2Type
	Type-to-type class. More...
class	Timer
	A simple timer class. More...
class	CentralTimer
	The NRT central timer. More...
struct	nrt_traits
	NRT type traits definition. More...
class	trivial_type
	A type trait class to specify whether a custom class is 'trivial,' e.g., can be malloc'd. More...
class	ValidValuesSpecBase
	Base class for specifying a set of valid values for a type. More...
class	ValidValuesSpecNone
	Open/None valid values spec, anything that T can take is valid. More...
class	ValidValuesSpecList
	Finite list valid values spec, everything listed at construction is valid, anything else is not. More...
class	DynamicLoader
	A class to open shared object (.so) files and load functions contained in them. More...
struct	ModuleManifest
	Encapsulates the manifest meta-information about an NRT Module. More...
class	GraphicsMessage
	A message that contains a bunch of graphics Shape objects grouped under a tag name. More...
class	PixelPainter
	The PixelPainter class is a small optimization for drawing on Images. More...
class	SimpleFont
	A simple font class. More...
class	DisplayImageSink
	An ImageSink that can display Images in Gtk various Gtk windows. More...
class	ImageSinkType
	ImageSinkType is the base class of all ImageSink implementations. More...
class	InfoImageSink
class	NoneImageSink
	An ImageSink that simply ignores any Images sent to out() More...
class	VideoSink
	An ImageSinkType for writing to video files. More...
class	VideoWriterBase
	A base class for video writers. More...
class	ImageSourceBase
	ImageSourceBase is the base class of all ImageSource implementations. More...
class	SeekableImageSourceType
	A pure virtual base class for seekable ImageSourceTypes. More...
class	ImageFilesSource
	A SeekableImageSourceType for opening sequences of images. More...
class	ImageSource
	A Component that can stream images from a variety of sources. More...
class	NoneImageSource
	An ImageSourceType that always returns empty GenericImages. More...
class	OpenNIImageSource
	An image source for capturing image data from an OpenNI compatible device. More...
class	RandomImageSource
	An ImageSourceType to generate uniformly distributed random images. More...
class	VideoReaderBase
	A base class for video readers. More...
class	VideoSource
	A SeekableImageSourceType for streaming video files. More...
class	ImagePyramid
	An ImagePyramid represents a stack of various scales of a single Image. More...
class	PyramidReichardt
	A Reichardt motion pyramid. More...
struct	Correspondence
	A struct for representing correspondence between two points. More...
class	SourceCloud
	A base class for any PointCloud class that has a concept of an "Source" point cloud. More...
class	TargetCloud
	A base class for any PointCloud class that has a concept of a "Target" point cloud. More...
class	DenseData
	A class for representing dense (one entry per geometry) data. More...
class	LookupCache
	A class for caching arbitrary templated function call results. More...
class	PointCloud2DataRefBase< true, Types...>
	A container for holding references to the data associated with a point cloud point. More...
class	PointCloud2DataRefBase< false, Types...>
	A container for holding constant references to the data associated with a point cloud point. More...
struct	SparseFieldCore
	Base class for marking a field as sparse. More...
struct	SparseField
	Used to wrap a field and mark it as sparse. More...
struct	StripSparse
	Strips sparse attribute, if present, from a type. More...
class	SparseData
	A class for representing Sparse (one or less entries per geometry) More...
class	FeatureBase
	Base class for all feature computation methods. More...
class	PointNormal
	An SSE capable point normal class. More...
class	Normals
	A class for computing 3d point normals. More...
class	DuplicateRemovalFilter
	A filter that removes all points which are considered to be "duplicates". More...
class	FilterBase
	Filter interface that all filters must inherit from. More...
class	PassThroughFilter
	A filter that passes through points that satisfy some criterion. More...
class	RandomRemovalFilter
	A filter that removes points from a point cloud. More...
class	VoxelFilter
	A filter that downsamples an input point cloud into a uniform grid. More...
class	PointCloud2
	A class for representing point clouds. More...
class	PointCloud2Data
	A container for holding the data associated with a point cloud point. More...
class	PointSSE
	An SSE capable point class for representing geometry. More...
class	StandardConvergenceCriteria
	A standard convergence criteria. More...
class	CorrespondenceEstimationNearestNeighbor
	Determines point correspondences by looking for nearest neighbors. More...
class	CorrespondenceRejectionBase
	Base class for all correspondence rejction methods. More...
class	CorrespondenceRejectionDistance
	Rejects correspondences based on some threshold distance. More...
class	CorrespondenceRejectionRANSAC
	Rejects correspondences based on some threshold distance. More...
class	Registration
	A class for registering point clouds. More...
class	TransformationEstimationBase
	Base class for all transformation estimation methods. More...
class	TransformationEstimationLM
	Estimates a rigid transform using Levenberg Marquardt. More...
class	TransformationEstimationPointToPlane
class	TransformationEstimationPointToPlaneLLS
class	TransformationEstimationSVD
	Estimates a rigid transform using singular value decomposition. More...
class	ModelBase
	Interface for all sample concensus methods. More...
class	ModelPlane
	A model for performing plane fitting. More...
class	ModelRegistration
	A model for performing point cloud registration. More...
class	RandomSampleConcensus
	Interface for all sample concensus methods. More...
class	SampleConcensusBase
	Interface for all sample concensus methods. More...
class	Search
	A class for searching point clouds. More...
class	UKF
	An Unscented Kalman Filter. More...
class	GaussianPDF
	A Gaussian representation of a given StateDefinition. More...
class	GaussianPDFOld
	Gaussian representation of a variable. More...
class	ParticlePDF
	Particle representation of a variable. More...
class	StateDef
	A Simple class to represent possibly complex and nested state information with dual access. More...
class	StateAccessor< Head, Tail...>
	Helper of StateDef which provides access to elements by their type. More...
class	StateDefinition
	A State Definition is a collection of State Field Groups used in a probability distribution. More...
class	StateVector
	A StateVector is a wrapper around an Eigen::Vector which provides methods to access elements by a StateDefinition. More...
Typedefs
typedef boost::archive::binary_oarchive	oarchive
	The default output archive type for NRT.
typedef boost::archive::binary_iarchive	iarchive
	The default input archive type fo NRT.
typedef nrt::Message< std::map < std::string, nrt::real > >	NamedRealMapMessage
	A message to specify uniquely-named real values.
typedef boost::int8_t	int8
typedef boost::uint8_t	uint8
typedef uint8	byte
typedef boost::uint16_t	uint16
typedef boost::int16_t	int16
typedef boost::uint32_t	uint32
typedef boost::int32_t	int32
typedef boost::uint64_t	uint64
typedef boost::int64_t	int64
typedef unsigned short int	ushort
typedef unsigned int	uint
typedef unsigned long int	ulong
typedef double	real
typedef std::chrono::high_resolution_clock	Clock
	The standard clock used by NRT (high-resolution clock from std::chrono)
typedef nrt::Clock::time_point	Time
	Typedef for the NRT standard time point.
typedef nrt::Clock::duration	Duration
	Standard NRT duration.
typedef std::chrono::duration < double >	DurationSeconds
	Duration in seconds.
typedef Factory< ImageSinkType, std::string, std::function < std::shared_ptr < ImageSinkType >)>, std::map < std::string, std::string > >	ImageSinkFactory
typedef Factory< std::function < void(GenericImage const, std::string const &)> , std::string, std::function < std::function< void(GenericImage const, std::string const &)> )>, std::map< std::string, std::string > >	ImageWriterFactory
	A Singleton Factory used to keep track of image writers used by writeImage().
typedef Factory < std::shared_ptr < VideoWriterBase > , std::string, std::function < std::shared_ptr < VideoWriterBase >)> >	VideoWriterFactory
	A Singleton Factory used to keep track of video writers used by VideoSink.
typedef Factory < ImageSourceBase, std::string, std::function< std::shared_ptr < ImageSourceBase > )>, std::map< std::string, std::string > >	ImageSourceFactory
	ImageSource factory.
typedef Factory< std::function < GenericImage(std::string const &)>, std::string, std::function< std::function < GenericImage(std::string const &)>)>, std::map < std::string, std::string > >	ImageReaderFactory
	A Singleton Factory used to keep track of image readers used by readImage().
typedef Factory < std::shared_ptr < VideoReaderBase > , std::string, std::function < std::shared_ptr < VideoReaderBase > )>, std::map< std::string, std::string > >	VideoReaderFactory
	A Singleton Factory used to keep track of video writers used by VideoSink.
typedef DynamicArray< std::size_t >	Indices
	A way of describing a set of indices in a point cloud.
typedef float	POINTCLOUD2_BASE_TYPE
typedef Eigen::Vector3d	Vector3
Enumerations
enum	ConnectorType { Intra, Border }
	Type of connector. More...
enum	ConnectorFlavor { Poster, Checker, Subscriber }
	Flavor of Connector. More...
enum	MessageCheckerPolicy { Any, Unseen, AnyBlock, UnseenBlock }
	Policy flag that can be passed to check() to indicate what to check for and how. More...
enum	ModuleParamPort { Poster, Checker, Subscriber }
	Module Parameter port type, used to create ports in Modules for Parameters. More...
enum	ImageInitPolicy { Zeros, None }
	Initialization policy for the pixels inside an Image, used during construction of the Image. More...
enum	ImageFlags { SafeAccess = 1, UniqueAccess = 2 }
	Flags to control the behavior of Images. More...
enum	LayoutDir { H, V }
	Direction of a Layout. More...
enum	OnlineChangePolicy { NoOnlineChanges }
	Enum to allow or not online changes of Parameter values.
enum	ParameterState { Create, Modify, Read, Destroy }
	State of a parameter, received with a ParameterSummary. More...
enum	TextAnchor { TOP_LEFT, TOP_RIGHT, BOTTOM_LEFT, BOTTOM_RIGHT }
	Where text should be anchored with respect to an anchor point location. More...
enum	ConvolutionBoundaryStrategy { ZERO, CLEAN, REPLICATE }
	Convolution boundary strategies. More...
Functions
template<typename T >
std::unique_ptr< T >	make_unique (T *const object)
	Wrap an std::unique_ptr around the given object pointer.
template<class Msg >
std::string const	MessageType ()
	Free function to statically identify the message type and return it as string.
template<>
std::string const	MessageType< void > ()
	Specialization for void messages.
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (ModuleParamChangedOutput, ModuleParamChangedMessage, void,"Module Param Changed")
	NRT_MACRO_DEFINE_ENUM_CLASS (BoundedSetInsertPolicy,(Preserve)(Replace))
template<class T , size_t S>
std::ostream &	operator<< (std::ostream &out, nrt::Point< T, S > const &p)
	Human-readable output to a stream: outputs x1,x2,x3,...,xN.
template<class PixType , class BinaryOperation >
PixType	accumulate (nrt::Image< PixType > const &img, PixType init=PixType(0), BinaryOperation op=std::plus< PixType >())
	Accumulate the values of all pixels in the Image.
template<class PixType , class UnaryOperator >
void	transformInPlace (nrt::Image< PixType > &lhs, UnaryOperator op)
	Apply the given unary operator to each pixel in lhs, storing the returned value back into that pixel.
template<class PixType1 , class PixType2 , class BinaryOperator >
void	transformInPlace (nrt::Image< PixType1 > &lhs, nrt::Image< PixType2 > const &rhs, BinaryOperator op)
	Apply the given binary operator to each pixel in lhs and rhs, and store the result in lhs's pixel.
template<class PixType , class UnaryOperator >
nrt::Image< PixType >	transform (nrt::Image< PixType > const &lhs, UnaryOperator op)
	Apply the given unary operator to each pixel in lhs, storing the result in a new Image.
template<class PromoteType , class PixType , class UnaryOperator >
nrt::Image< PromoteType >	transform (nrt::Image< PixType > const &lhs, UnaryOperator op)
	Apply the given unary operator to each pixel in lhs, storing the result in a new Image of type PixelType.
template<class PixType1 , class PixType2 , class BinaryOperator >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_arithmetic, nrt::Image < typename nrt_traits < PixType1, PixType2 > ::promote_type > >::type	transform (nrt::Image< PixType1 > const &lhs, nrt::Image< PixType2 > const &rhs, BinaryOperator op)
	Apply the given binary function to each pixel in lhs and rhs, storing the result in a new Image.
template<class PixType , class UnaryOperator >
nrt::Image< PixType >	channel_transform (nrt::Image< PixType > const &lhs, UnaryOperator op)
	Apply the given unary operator to each channel of each pixel in lhs, storing the result in a new Image.
template<class PromoteType , class PixType , class UnaryOperator >
nrt::Image< PromoteType >	channel_transform (nrt::Image< PixType > const &lhs, UnaryOperator op)
	Apply given unary operator to each channel of each pixel in lhs, storing result in a new Image of type PixelType.
template<class PixType1 , class PixType2 , class BinaryOperator >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_arithmetic, nrt::Image < typename nrt_traits < PixType1, PixType2 > ::promote_type > >::type	channel_transform (nrt::Image< PixType1 > const &lhs, nrt::Image< PixType2 > const &rhs, BinaryOperator op)
	Apply the given binary function to each channel of each pixel in lhs and rhs, storing the result in a new Image.
template<class PixType , class UnaryFunction >
void	for_each (nrt::Image< PixType > const &img, UnaryFunction op)
	Run the given unary function on each pixel in img.
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha< T1 > >::type &	operator+= (PixelWithAlpha< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithAlpha< typename promote< T1, T2 >::type >	operator+ (PixelWithAlpha< T1 > const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator+ (PixelWithAlpha< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator+ (T1 const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha< T1 > >::type &	operator-= (PixelWithAlpha< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithAlpha< typename promote< T1, T2 >::type >	operator- (PixelWithAlpha< T1 > const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator- (PixelWithAlpha< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator- (T1 const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha< T1 > >::type &	operator*= (PixelWithAlpha< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithAlpha< typename promote< T1, T2 >::type >	operator* (PixelWithAlpha< T1 > const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator* (PixelWithAlpha< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator* (T1 const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha< T1 > >::type &	operator/= (PixelWithAlpha< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithAlpha< typename promote< T1, T2 >::type >	operator/ (PixelWithAlpha< T1 > const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator/ (PixelWithAlpha< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithAlpha < typename promote< T1, T2 > ::type > >::type	operator/ (T1 const &lhs, PixelWithAlpha< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth< T1 > >::type &	operator+= (PixelWithDepth< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithDepth< typename promote< T1, T2 >::type >	operator+ (PixelWithDepth< T1 > const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator+ (PixelWithDepth< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator+ (T1 const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth< T1 > >::type &	operator-= (PixelWithDepth< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithDepth< typename promote< T1, T2 >::type >	operator- (PixelWithDepth< T1 > const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator- (PixelWithDepth< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator- (T1 const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth< T1 > >::type &	operator*= (PixelWithDepth< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithDepth< typename promote< T1, T2 >::type >	operator* (PixelWithDepth< T1 > const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator* (PixelWithDepth< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator* (T1 const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth< T1 > >::type &	operator/= (PixelWithDepth< T1 > &lhs, T2 const rhs)
template<class T1 , typename T2 >
PixelWithDepth< typename promote< T1, T2 >::type >	operator/ (PixelWithDepth< T1 > const &lhs, PixelWithDepth< T2 > const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T2 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator/ (PixelWithDepth< T1 > const &lhs, T2 const &rhs)
template<class T1 , typename T2 >
std::enable_if < std::is_arithmetic< T1 > ::value, PixelWithDepth < typename promote< T1, T2 > ::type > >::type	operator/ (T1 const &lhs, PixelWithDepth< T2 > const &rhs)
GenericImage	operator+ (GenericImage const &lhs, GenericImage const &rhs)
	Pointwise addition of two GenericImage images: GenericImage + GenericImage.
template<class PixType2 , NRT_ENABLE_IF_PIXEL(PixType2) >
GenericImage	operator+ (GenericImage const &lhs, PixType2 const &rhs)
	Addition of a constant to every pixel in a GenericImage: GenericImage + T.
template<class PixType1 , NRT_ENABLE_IF_PIXEL(PixType1) >
GenericImage	operator+ (PixType1 const &lhs, GenericImage const &rhs)
	Addition of a constant to every pixel in a GenericImage: T + GenericImage.
GenericImage	operator- (GenericImage const &lhs, GenericImage const &rhs)
	Pointwise subtraction of two GenericImage objects: GenericImage - GenericImage.
template<class PixType2 , NRT_ENABLE_IF_PIXEL(PixType2) >
GenericImage	operator- (GenericImage const &lhs, PixType2 const &rhs)
	Subtraction of a constant from every pixel in a GenericImage: GenericImage - T.
template<class PixType1 , NRT_ENABLE_IF_PIXEL(PixType1) >
GenericImage	operator- (PixType1 const &lhs, GenericImage const &rhs)
	Subtraction of every pixel of a GenericImage from a constant: T - GenericImage.
GenericImage	operator* (GenericImage const &lhs, GenericImage const &rhs)
	Pointwise product of two GenericImage images: GenericImage * GenericImage.
template<class PixType2 , NRT_ENABLE_IF_PIXEL(PixType2) >
GenericImage	operator* (GenericImage const &lhs, PixType2 const &rhs)
	Product of everypixel of a GenericImage by a constant: GenericImage * T.
template<class PixType1 , NRT_ENABLE_IF_PIXEL(PixType1) >
GenericImage	operator* (PixType1 const &lhs, GenericImage const &rhs)
	Product of everypixel of a GenericImage by a constant: T * GenericImage.
GenericImage	operator/ (GenericImage const &lhs, GenericImage const &rhs)
	Pointwise division of two GenericImage images: GenericImage / GenericImage.
template<class PixType2 , NRT_ENABLE_IF_PIXEL(PixType2) >
GenericImage	operator/ (GenericImage const &lhs, PixType2 const &rhs)
	Division of every pixel of a GenericImage by a constant: GenericImage / T.
template<class PixType1 , NRT_ENABLE_IF_PIXEL(PixType1) >
GenericImage	operator/ (PixType1 const &lhs, GenericImage const &rhs)
	Division of a constant by every pixel of a GenericImage: T / GenericImage.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator+= (Image< PixType1 > &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image += Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator+= (Image< PixType1 > &lhs, T const &rhs)
	Operator to compute Image += constant.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_arithmetic, Image < typename nrt_traits < PixType1, PixType2 > ::promote_type > >::type	operator+ (Image< PixType1 > const &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image + Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator+ (Image< PixType1 > const &lhs, T const &rhs)
	Operator to compute Image + constant.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator+ (T const &lhs, Image< PixType1 > const &rhs)
	Operator to compute constant + Image.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator-= (Image< PixType1 > &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image -= Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator-= (Image< PixType1 > &lhs, T const &rhs)
	Operator to compute Image -= constant.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_arithmetic, Image < typename nrt_traits < PixType1, PixType2 > ::promote_type > >::type	operator- (Image< PixType1 > const &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image - Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator- (Image< PixType1 > const &lhs, T const &rhs)
	Operator to compute Image - constant.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator- (T const &lhs, Image< PixType1 > const &rhs)
	Operator to compute constant - Image.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator*= (Image< PixType1 > &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image *= Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator*= (Image< PixType1 > &lhs, T const &rhs)
	Operator to compute Image *= constant.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_arithmetic, Image < typename nrt_traits < PixType1, PixType2 > ::promote_type > >::type	operator* (Image< PixType1 > const &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image * Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator* (Image< PixType1 > const &lhs, T const &rhs)
	Operator to compute Image * constant.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator* (T const &lhs, Image< PixType1 > const &rhs)
	Operator to compute constant * Image.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator/= (Image< PixType1 > &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image /= Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_assign_arithmetic, Image < PixType1 > >::type &	operator/= (Image< PixType1 > &lhs, T const &rhs)
	Operator to compute Image /= constant.
template<class PixType1 , class PixType2 >
std::enable_if< nrt_traits < PixType1, PixType2 > ::has_arithmetic, Image < typename nrt_traits < PixType1, PixType2 > ::promote_type > >::type	operator/ (Image< PixType1 > const &lhs, Image< PixType2 > const &rhs)
	Operator to compute Image / Image.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator/ (Image< PixType1 > const &lhs, T const &rhs)
	Operator to compute Image / constant.
template<class PixType1 , class T >
std::enable_if< nrt_traits < PixType1, T > ::has_arithmetic, Image < typename nrt_traits < PixType1, T >::promote_type > >::type	operator/ (T const &lhs, Image< PixType1 > const &rhs)
	Operator to compute constant / Image.
template<class T >
Layout< T >	hcat (nrt::Image< T > p1, nrt::Image< T > p2)
	Convenience free functions for horizontal Layout concatenation.
template<class T >
Layout< T >	hcat (nrt::Image< T > p1, Layout< T > const &p2)
	Horizontally concatenate an Image and a Layout.
template<class T >
Layout< T >	hcat (Layout< T > const &p1, nrt::Image< T > p2)
	Horizontally concatenate a Layout and an Image.
template<class T >
Layout< T >	hcat (Layout< T > const &p1, Layout< T > const &p2)
	Horizontally concatenate two Layout objects.
template<class T >
Layout< T >	hcat (Layout< T > const &p1, Layout< T > const &p2, Layout< T > const &p3)
	Horizontally concatenate three Layout objects.
template<class T >
Layout< T >	hcat (nrt::ImageSet< T > const imgs)
	Horizontally concatenate a set of Image objects.
template<class T >
std::enable_if< sizeof(T)!=sizeof(nrt::byte), std::istream >::type &	operator>> (std::istream &in, PixRGB< T > &pix)
	Stream in as a PixRGB(r,g,b)
template<class T >
std::enable_if< sizeof(T)!=sizeof(nrt::byte), std::istream >::type &	operator>> (std::istream &in, PixRGBA< T > &pix)
	Stream in as a PixRGBA(r,g,b,a)
void *	allocate (size_t nbytes)
	Allocate nbytes of memory, throwing an exception in case of failure.
void	deallocate (void *mem)
	Deallocate the given memory region.
void	allocation_release_free_mem ()
	Released any cached free memory blocks (e.g. to conserve memory)
void	allocation_allow_caching (bool on)
	Turn on/off caching of memory blocks of commonly-used sizes.
void	allocation_debug_print (bool print)
	Turn on/off memory-allocation debugging statements.
void	allocation_show_stats (int verbosity=0, const char *pfx=0, const size_t units=0)
	Print current stats for whatever memory allocator is in use.
void	allocation_set_stats_units (const size_t units)
	Set the units to be used by default in invt_allocation_show_stats()
	NRT_DECLARE_MESSAGE (TimeStampMessage)
template<class T >
void	paramValToString (T const &val, std::string &result)
	Machine-readable conversion of T to a string, for use in nrt::Parameter.
template<class T >
void	paramStringToVal (std::string const &valstring, T &result)
	Machine-readable conversion from string to T, for use in nrt::Parameter.
template<class Q >
void	paramValToString (std::vector< Q > const &val, std::string &result)
	Machine-readable output to a string, for use in nrt::Parameter: outputs [Element1, Element2, ...].
template<class Q >
void	paramStringToVal (std::string const &valstring, std::vector< Q > &result)
	Machine-readable input from a string, for use in nrt::Parameter: reads [Element1, Element2, ...].
template<class K , class V >
void	paramValToString (std::map< K, V > const &val, std::string &result)
	Machine-readable output to a string, for use in nrt::Parameter: outputs [Key1:Value1, Key2:Value2, ...].
template<class K , class V >
void	paramStringToVal (std::string const &valstring, std::map< K, V > &result)
	Machine-readable input from a string, for use in nrt::Parameter: reads [Key1:Value1, Key2:Value2, ...].
template<>
void	paramValToString< bool > (bool const &val, std::string &result)
	Machine-readable conversion of bool to a string, for use in nrt::Parameter.
template<>
void	paramStringToVal< bool > (std::string const &valstring, bool &result)
	Machine-readable conversion from string to bool, for use in nrt::Parameter.
template<>
void	paramValToString< std::string > (std::string const &val, std::string &result)
	Machine-readable conversion of string to a string, for use in nrt::Parameter.
template<>
void	paramStringToVal< std::string > (std::string const &valstring, std::string &result)
	Machine-readable conversion from string to string, for use in nrt::Parameter.
template<class dest_type , class source_type >
std::enable_if< not_subranged < dest_type, source_type > ::value, dest_type >::type	clamped_convert (source_type source)
	Perform a clamped-conversion from one type to another.
std::string	demangle (std::string mangledName)
	Demangle a mangled name.
template<class T >
std::string	demangledName ()
	Get the demangled type name of T.
template<class T >
std::string	demangledName (T const &t)
	Get the demangled type name of variable t.
template<typename Elem , typename Tupl , size_t i>
std::__add_ref< typename std::enable_if< std::is_same < Elem, typename std::tuple_element< i, Tupl > ::type >::value, typename std::__add_ref< Elem >::type > ::type >::type	tget (Tupl &t)
	Add access to std::tuple elements by type.
template<typename Elem , typename Tupl , size_t i>
std::__add_c_ref< typename std::enable_if< std::is_same < Elem, typename std::tuple_element< i, Tupl > ::type >::value, typename std::__add_c_ref< Elem >::type > ::type >::type	tget (Tupl const &t)
	Const version of nrt::tget()
void	warnAndRethrowException ()
	Convenience function to catch an exception, issue some NRT_WARNING (depending on type), and rethrow it.
void	warnAndIgnoreException ()
	Convenience function to catch an exception, issue some NRT_WARNING (depending on type), and ignore it.
Time	now ()
	Now represented in nrt::Time.
Duration	forev ()
	Forever duration.
Duration	zeroduration ()
	Zero duration.
template<typename Function , typename... Args>
std::future< typename std::result_of< Function(Args...)> ::type >	async (std::launch policy, Function &&fn, Args &&...args)
template<typename Function , typename... Args>
std::future< typename std::result_of< Function(Args...)> ::type >	async (Function &&fn, Args &&...args)
template<typename __CallerType , typename __ReturnType , typename... __ArgTypes>
__AUTO_BIND_FUNCTION_TYPE < __ReturnType(__ArgTypes...)>	auto_bind (__ReturnType(__CallerType::*function_ptr)(__ArgTypes...), __CallerType *const caller)
template<typename __ReturnType , typename... __ArgTypes>
__AUTO_BIND_FUNCTION_TYPE < __ReturnType(__ArgTypes...)>	auto_bind (__ReturnType(*function_ptr)(__ArgTypes...))
template<typename __OutputFunctionType , typename __ReturnType , typename... __InputArgTypes, typename... __Appends>
auto	auto_bind (const __AUTO_BIND_FUNCTION_TYPE< __ReturnType(__InputArgTypes...)> &function, __Appends...appends)-> decltype(auto_bind(typename details
template<typename... __OutputArgTypes, typename __ReturnType , typename... __InputArgTypes, typename... __Appends>
static __AUTO_BIND_FUNCTION_TYPE < __ReturnType(__OutputArgTypes...)>	auto_bind (const details::container< __OutputArgTypes...> &container, const __AUTO_BIND_FUNCTION_TYPE< __ReturnType(__InputArgTypes...)> &function, __Appends...appends)
std::future< void >	groupAsync (std::vector< std::function< void()> > const &jobs)
	The groupAsync method is a way to spawn multiple threads simultaneously.
double	lngamma (double x)
	Compute log of Gamma.
double	normalPDF (double x, double mu, double var)
	Find the value of a normal PDF at x.
double	normalCDF (double x, double mu, double var)
	Find the value of a normal CDF at x.
double	vonMisesPDF (double x, double mu, double k)
	Find the value of a von Mises distribution at x.
template<class T >
T	clamped (T const &val, T const &min, T const &max)
	Clamp a value to within a min-max range.
std::string	replaceEnvVars (std::string const &str)
std::vector< std::string >	splitString (std::string const &string, char const delimiter)
	Split the string by the given delimiter.
std::string	joinStrings (std::vector< std::string > const &strings, std::string const &delimiter)
	Join a vector of strings with the given delimiter.
std::string	trimString (std::string const &s)
	Trim whitespace from both ends of a string.
std::string	lTrimString (std::string const &s)
	Trim whitespace from the left side of a string.
std::string	rTrimString (std::string const &s)
	Trim whitespace from the right side of a string.
std::string	sformat (const char *fmt,...) __attribute__((format(__printf__
	Create a string using printf style arguments.
std::string std::string	urlDecode (std::string const &str)
	Decode url-encoded strings.
template<typename T1 , typename T2 >
Eigen::Matrix< T1, Eigen::Dynamic, 1 >	arrayToEigenVector (Array< T2 > const input)
	Convert from nrt::Array to Eigen vector.
template<typename T1 , typename T2 >
Array< T1 >	eigenVectorToArray (Eigen::Matrix< T2, Eigen::Dynamic, 1 > const &input)
	Cpnvert from Eigen vector to nrt::Array.
template<typename T1 , typename T2 >
Eigen::Matrix< T1, Eigen::Dynamic, 1 >	imageToEigenVector (Image< PixGray< T2 > > const input)
	Convert from nrt::Image to Eigen vector.
template<typename T1 , typename T2 >
Image< PixGray< T1 > >	eigenVectorToImage (Eigen::Matrix< T2, Eigen::Dynamic, 1 > const &input)
	Convert from Eigen vector to nrt::Image.
template<typename T1 , typename T2 >
Eigen::Matrix< T1, Eigen::Dynamic, Eigen::Dynamic >	imageToEigenMatrix (Image< PixGray< T2 > > const input)
	Convert from nrt::Image to Eigen matrix.
template<typename T1 , typename T2 >
Image< PixGray< T1 > >	eigenMatrixToImage (Eigen::Matrix< T2, Eigen::Dynamic, Eigen::Dynamic > const &input)
	Convert from Eigen matrix to nrt::Image.
	NRT_MACRO_DEFINE_ENUM_CLASS (ImageRendererResizePolicy,(stretch)(best)(actual)(preserve))
template<class PixType >
void	paste (Image< PixType > &destination, Image< PixType > const source, Point2D< int32 > const &pos)
	Paste a source Image into the destination at the given position.
template<class PixType >
Image< PixType > const	concatX (Image< PixType > const left, Image< PixType > const right, PixType const bgColor=PixType(0))
	Horizontally concatenate two Images.
template<class PixType >
Image< PixType > const	concatY (Image< PixType > const top, Image< PixType > const bottom, PixType const bgColor=PixType(0))
	Vertically concatenate two Images.
template<class PixType >
Image< PixType > const	crop (Image< PixType > const source, Rectangle< int32 > const &rect)
	Extract a sub-image from the source Image.
template<class PixType >
ImageSet< PixType > const	crop (ImageSet< PixType > const source, Rectangle< int32 > const &rect)
	Extract a sub-ImageSet from the source ImageSet.
GenericImage const	crop (GenericImage const source, Rectangle< int32 > const &rect)
	Extract a sub-image from the source Image, GenericImage version.
template<class PixType >
Image< PixType > const	cropAndFill (Image< PixType > const source, Rectangle< int32 > const &rect, PixType const bgColor=PixType(0))
	Extract a subImage from the source Image.
GenericImage const	cropAndFill (GenericImage const source, Rectangle< int32 > const &rect, PixRGB< float > const bgColor=PixRGB< float >(0.0F))
	Extract a subImage from the source Image, GenericImage version.
template<class PixType >
Image< PixType > const	warpedCrop (Image< PixType > const source, Rectangle< int32 > const &rect, Eigen::AffineCompact2f const &m, PixType const bgColor=PixType(0))
	Extract a warped sub-image from the source Image using the provided warping matrix.
template<class T , template< typename > class PixDest, class U , template< typename > class PixOutline>
void	drawLine (Image< PixDest< T > > &image, Line< int32 > const &line, PixOutline< U > const &outlineColor, uint thickness=1)
	Draw a Line in the Image.
template<class T , class U >
void	drawLineAA (Image< T > &image, Line< int32 > const &line, U const &outlineColor)
	Draw an antialiased Line in the Image.
template<class T , template< typename > class SourceColorT, class U , template< typename > class OutlineColorT, class V = byte, template< typename > class FillColorT = PixRGBA>
void	drawPolygon (Image< SourceColorT< T >> &image, Polygon< int32 > const &polygon, OutlineColorT< U > const &outlineColor, uint thickness=1, FillColorT< V > const &fillColor=PixRGBA< byte >(0, 0, 0, 0))
	Draw a Polygon in the image.
template<class T , class U >
void	drawPolygonAA (Image< T > &image, Polygon< int32 > const &polygon, U const &outlineColor)
	Draw an antialiased Polygon in the image.
template<class T , template< typename > class PixDest, class U , template< typename > class PixFill>
void	drawDisk (Image< PixDest< T > > &dst, Circle< int32 > const &circle, PixFill< U > const &fillColor)
	Draw a Disk (filled-in circle)
template<class T , class U >
void	drawCircle (Image< T > &image, Circle< int32 > const &circle, U const &outlineColor, uint thickness=1)
	Draw a Circle in the image.
template<class T , class U , class V = PixRGBA<byte>>
void	drawEllipse (Image< T > &image, Point2D< int32 > const &center, const float radiusx, const float radiusy, const float skew, U const &outlineColor, uint thickness=1, V const &fillColor=PixRGBA< byte >(0, 0, 0, 0))
	Draw a Ellipse in the image.
template<class T , template< typename > class SourceColorT, class U , template< typename > class OutlineColorT, class V = byte, template< typename > class FillColorT = PixRGBA>
void	drawRectangle (Image< SourceColorT< T >> &image, Rectangle< int32 > const &rect, OutlineColorT< U > const &outlineColor, uint thickness=1, FillColorT< V > const &fillColor=PixRGBA< byte >(0, 0, 0, 0))
	Draw a Rectangle in the Image.
template<class T , class OutlineColorT >
void	drawCross (Image< T > &image, Point2D< int32 > const &center, OutlineColorT const &outlineColor, uint32 radius, uint32 thickness=1, float angle=0)
	Draw a cross in the Image.
template<class T , class OutlineColorT >
void	DrawArrow (Image< T > &image, int32 xs, int32 ys, int32 xe, int32 ye, uint32 thickness=1, OutlineColorT const &outlineColor=PixRGB< byte >(0, 0, 255), float headSizeRatio=0.35f, float headAngle=15.0f)
	Draw an arrow in the Image.
template<class T , class OutlineColorT >
void	drawGrid (Image< T > &image, const int32 spacingX, const int32 spacingY, const uint32 thickX=1, const uint32 thickY=1, OutlineColorT const &outlineColor=PixRGB< byte >(0, 0, 0))
	Draw a Grid in the image.
template<class T , class OutlineColorT >
void	drawGrid (Image< T > &image, const uint32 nx, const uint32 ny, const uint32 thickness=1, OutlineColorT const &outlineColor=PixRGB< byte >(0, 0, 0))
	Draw a regular Grid in the image.
template<class T , template< typename > class PixDest, class U = byte, template< typename > class FGColorT = PixRGB, class V = byte, template< typename > class BGColorT = PixRGB>
void	drawText (Image< PixDest< T > > &image, Point2D< int32 > const &pt, std::string const &text, FGColorT< U > const &foreground=FGColorT< U >(255), BGColorT< U > const &background=BGColorT< V >(0), SimpleFont const &font=SimpleFont::FIXED(10), TextAnchor const anchor=TextAnchor::TOP_LEFT, bool transparentBG=false)
	Write some text in an Image using a SimpleFont.
template<class T >
Image< PixGray< T > >	binomialKernel (int const size)
	Create a 1D binomial distribution kernel (shape of size-by-1).
template<class T >
Image< PixGray< T > >	gaborFilter (const float stddev, const float period, const float phase, const float theta, const float bg, const float ampl)
template<class T >
Image< PixGray< T > >	gaborFilter (const float scale, const float theta)
template<class T >
Image< PixGray< T > >	morphologyKernel (int size, bool const disk)
	Create a Morphological kernel with a given size.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	lowPass3x (Image< PixType > const &src)
	Low-pass filter, coeff * [0.25 0.5 0.25], applied in X only.
template<typename promo >
GenericImage	lowPass3x (GenericImage const &src)
	Low-pass filter, coeff * [0.25 0.5 0.25], applied in X only, GenericImage version.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	lowPass3y (Image< PixType > const &src)
	Low-pass filter, coeff * [0.25 0.5 0.25], applied in Y only.
template<typename promo >
GenericImage	lowPass3y (GenericImage const &src)
	Low-pass filter, coeff * [0.25 0.5 0.25], applied in Y only, GenericImage version.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	lowPass3 (Image< PixType > const &src)
	Low-pass filter, coeff * [0.25 0.5 0.25], applied separably in X and Y.
template<typename promo >
GenericImage	lowPass3 (GenericImage const &src)
	Low-pass filter, coeff * [0.25 0.5 0.25], applied separably in X and Y, GenericImage version.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass5x (nrt::Image< PixType > const &src)
	Low-pass filter, Anderson's 5x5 separable, applied in X.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass5y (nrt::Image< PixType > const &src)
	Low-pass filter, Anderson's 5x5 separable, applied in Y.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass9x (nrt::Image< PixType > const &src)
	Low-pass filter, 9x9 separable, applied in X.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass9y (nrt::Image< PixType > const &src)
	Low-pass filter, 9x9 separable, applied in Y.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass9 (nrt::Image< PixType > const &src, bool const go_x=true, bool const go_y=true)
	Low-pass filter, 9x9 separable.
template<class T >
Image< T >	dilate (Image< T > const &img, Image< T > const &se, Point2D< int > origin)
template<class PixType >
Image< PixType >	dilate (Image< PixType > const &img, int seSize=3, Point2D< int > origin=Point2D< int >(-1,-1))
	Dilate the img with a square structuring element.
template<class T >
Image< T >	erode (Image< T > const &img, Image< T > const &se, Point2D< int > origin)
template<class PixType >
Image< PixType >	erode (Image< PixType > const &img, int seSize=3, Point2D< int > origin=Point2D< int >(-1,-1))
	Erode the img with a square structuring element.
template<class T >
Image< T >	open (const Image< T > &img, const Image< T > &se, Point2D< int > origin)
template<class PixType >
Image< PixType >	open (Image< PixType > const &img, int seSize=3, Point2D< int > origin=Point2D< int >(-1,-1))
	Open (erode and then dilate) img with a square structuring element.
template<class T >
Image< T >	close (const Image< T > &img, const Image< T > &se, Point2D< int > origin)
template<class PixType >
Image< PixType >	close (Image< PixType > const &img, int seSize=3, Point2D< int > origin=Point2D< int >(-1,-1))
	Close (dilate and then erode) img with a square structuring element.
template<class T >
Image< PixGray< T > >	gaborKernel (float const scale, float const theta)
	Create a Gabor kernel with a a given scale and angle (in radians)
template<class T >
Image< PixGray< T > >	gaborKernel (const float stddev, const float period, const float phase, const float theta, const float bg=0.0f, const float ampl=1.0f)
	Create a Gabor kernel.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	lowPass (int const N, Image< PixType > const &src)
	Low-pass filter, NxN applied in X and Y.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	lowPassX (int const N, Image< PixType > const &src)
	Low-pass filter, Nx1 separable, applied in X.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	lowPassY (int const N, Image< PixType > const &src)
	Low-pass filter, 1xN separable, applied in Y.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	centerSurround (Image< PixType > const center, Image< PixType > const surround, bool const rectify=false)
	Compute center-surround difference, returning the absolute value if rectify==true.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	orientedFilter (Image< PixType > const src, float const k, float const theta, float const intensity=1.0, bool const fastMath=false)
	Oriented filter along theta (deg), spatial freq k.
template<NRT_MACRO_PROMOTE_PIX(double) >
std::tuple< Image< DestType > , Image< DestType > > const	sobelFilter3 (Image< PixType > const src, ConvolutionBoundaryStrategy strategy=nrt::ConvolutionBoundaryStrategy::REPLICATE)
	Filter the Image with a 3x3 Sobel edge-detecting filter.
template<NRT_MACRO_PROMOTE_PIX(double) >
std::tuple< Image< DestType > , Image< DestType > > const	sobelFilter5 (Image< PixType > const src, ConvolutionBoundaryStrategy strategy=nrt::ConvolutionBoundaryStrategy::REPLICATE)
	Filter the Image with a 5x5 Sobel edge-detecting filter.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	integralImage (Image< PixType > const src)
	Compute an integral image.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	integralSquaresImage (Image< PixType > const src)
	Compute an integral squares image.
template<class PixType >
Image< PixType >	median3x (Image< PixType > const &in)
	Apply a 3-point median filter in the x direction.
template<class PixType >
Image< PixType >	median3y (Image< PixType > const &in)
	Apply a 3-point median filter in the y direction.
template<class PixType >
Image< PixType >	median3 (Image< PixType > const &in, bool go_x=true, bool go_y=true)
	Apply a 3-point median filter in the x and/or y directions;.
template<class PixType >
Image< PixType >	dilate (Image< PixType > const &img, Image< PixType > const &se, Point2D< int > origin=Point2D< int >(-1,-1))
	Dilate the img with a custom structuring element.
template<class PixType >
Image< PixType >	erode (Image< PixType > const &img, Image< PixType > const &se, Point2D< int > origin=Point2D< int >(-1,-1))
	Erode the img with a custom structuring element.
template<class PixType >
Image< PixType >	open (Image< PixType > const &img, Image< PixType > const &se, Point2D< int > origin=Point2D< int >(-1,-1))
	Open (erode and then dilate) img with a custom structuring element.
template<class PixType >
Image< PixType >	close (Image< PixType > const &img, Image< PixType > const &se, Point2D< int > origin=Point2D< int >(-1,-1))
	Close (dilate and then erode) img with struct element se with a given origin.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	xFilter (Image< PixType > const src, Image< DestType > const hFilt, ConvolutionBoundaryStrategy const boundary)
	Convolve a horizontal 1-D filter with the input Image using the given boundary strategy.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	yFilter (Image< PixType > const src, Image< DestType > const vFilt, ConvolutionBoundaryStrategy const boundary)
	Convolve a vertical 1-D filter with the input Image using the given boundary strategy.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	separableFilter (Image< PixType > const src, Image< DestType > const hFilter, Image< DestType > const vFilter, ConvolutionBoundaryStrategy const boundary)
	Convolve horizontal and vertical separable filters with the input Image using the given boundary strategy.
template<NRT_MACRO_PROMOTE_PIX(double) >
Image< DestType > const	separableFilter (Image< PixType > const src, Image< DestType > const filter, ConvolutionBoundaryStrategy const boundary)
	Convolve a single separable filter (either 1xN or Nx1) with the input Image using the given boundary strategy.
void	writeImage (GenericImage const img, std::string const &filename)
	Write the image file found at the given filename.
void	writePNM (GenericImage const img, std::string const &filename)
GenericImage const	readImage (std::string const &filename)
	Read the image file found at the given filename.
GenericImage const	readPFZ (std::string const &filename)
GenericImage const	readPNM (std::string const &filename)
template<class PixType >
Image< PixType >	copyIpl2Image (IplImage const *const iplimage)
	Copy an OpenCV IplImage to an nrt::Image.
template<class PixType >
IplImage *	copyImage2Ipl (Image< PixType > const img)
	Copy an nrt::Image to an OpenCV IplImage.
template<class PixType >
Image< PixType >	copyCvMat2Image (cv::Mat iplimage)
	Copy a cv::Mat to an nrt::Image.
template<class PixType >
cv::Mat	copyImage2CvMat (Image< PixType > const img)
	Copy an nrt::Image to a cv::Mat.
template<typename promo = int, typename srcType , typename dstType = typename nrt::promote<srcType, promo>::type>
nrt::Image< nrt::PixGray < dstType > >	getIntegralImage (nrt::Image< nrt::PixGray< srcType > > const im)
	Generate an Integral Image from a grayscale Image.
template<typename promo = int, typename srcType , typename dstType = typename nrt::promote<srcType, promo>::type>
nrt::Image< nrt::PixGray < dstType > >	getIntegralImage (nrt::Image< nrt::PixGray< srcType > > const im, std::function< dstType(srcType const &)> evalFxn)
	Generate an Integral Image from a grayscale Image.
template<typename promo = int, typename srcType , typename dstType = typename nrt::promote<srcType, promo>::type>
dstType	getIIValue (nrt::Image< nrt::PixGray< srcType >> integralImage, nrt::Rectangle< nrt::int32 > rect)
	Compute the sum of values inside a rectangular region of an Image using an Integral Image.
template<class PixType >
void	inplaceAttenuateBorders (Image< PixType > &a, int size)
	Progressive attenuation of borders by "size" pixels.
template<class PixType >
void	inplaceRectify (Image< PixType > &dst)
	Half-wave rectify an Image.
template<class PixType >
void	inplaceNormalize (Image< PixType > &dst, PixType const &mi, PixType const &ma)
	Normalize pixel values to range [mi .. ma].
template<class PixType >
void	inplaceNormalize (Image< PixType > &dst, PixType const &mi, PixType const &ma, PixType &oldmi, PixType &oldma)
	Normalize pixel values to range [mi .. ma], also get old range back into [oldmi.. oldma].
template<NRT_MACRO_PROMOTE_PIX(void) >
Image< DestType > const	normalize (Image< PixType > const src, DestType const &mi, DestType const &ma)
	Normalize pixel values to range [mi .. ma].
template<NRT_MACRO_PROMOTE_PIX(void) >
Image< DestType >	normalize (Image< PixType > const src, DestType const &mi, DestType const &ma, PixType &oldmi, PixType &oldma)
	Normalize pixel values to range [mi .. ma], also get old range back into [oldmi.. oldma].
template<class promo = void>
GenericImage const	normalize (GenericImage const src, double const &mi, double const &ma)
	Normalize pixel values to range [mi .. ma], GenericImage version.
template<NRT_MACRO_PROMOTE_PIX(float) >
Image< DestType > const	zmuv (Image< PixType > const src)
	Normalize pixel values to zero mean, unit variance (ZMUV)
template<class PixType >
void	inplaceZmuv (Image< PixType > &src)
	Normalize pixel values to zero mean, unit variance (ZMUV)
template<class PixType >
Point2D< int >	findMaxLocation (Image< PixType > const &src)
	Find the maximum location in the image.
template<class PixType >
Point2D< int >	findMinLocation (Image< PixType > const &src)
	Find the minimum location in the image.
template<NRT_MACRO_PROMOTE_PIX(double) >
DestType const	mean (Image< PixType > const &im)
	Get the average of all input pixels.
template<NRT_MACRO_PROMOTE_PIX(double) >
DestType const	stdev (Image< PixType > const &im)
	Compute standard deviation of pixel values over image.
template<NRT_MACRO_PROMOTE_PIX(double) >
DestType const	variance (Image< PixType > const &im)
	Compute variance of pixel values over image.
template<NRT_MACRO_PROMOTE_PIX(double) >
DestType const	sum (Image< PixType > const &im)
	Returns the sum of all input pixels.
template<class promo = float, class T >
nrt::promote< T, promo >::type const	normalizedCrossCorrelation (Image< nrt::PixGray< T > > const &im1, Image< nrt::PixGray< T > > const &im2)
	Returns the normalized cross-correlation between two images of same dims, images should have zero mean.
template<NRT_MACRO_PROMOTE_PIX(void) >
ImagePyramid< DestType >	gaussianPyramid (Image< PixType > const source, size_t const numOctaves, size_t const firstOctave=0, size_t const filterSize=5)
	Create a gaussian pyramid from an input Image.
template<NRT_MACRO_PROMOTE_PIX(double) >
ImagePyramid< DestType >	laplacianPyramid (Image< PixType > const source, size_t const numOctaves, size_t const firstOctave=0, size_t const filterSize=5)
	Create a laplacian pyramid from an input Image.
template<NRT_MACRO_PROMOTE_PIX(void) >
ImagePyramid< DestType >	orientedPyramid (Image< PixType > const source, size_t const numOctaves, size_t const firstOctave, int const filterSize, float theta, float intensity, bool const fastMath=false)
	Create an oriented pyramid from an input Image.
template<NRT_MACRO_PROMOTE_PIX(double) >
ImagePyramid< DestType >	orientedPyramid (ImagePyramid< PixType > const laplacian, int filterSize, float theta, float intensity, bool const fastMath=false)
	Create an oriented pyramid from an already constructed Laplacian pyramid.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
Image< DestType >	rescaleBilinear (Image< PixType > const &src, Dims< int32 > const &dims)
	Scale to new width & height using bilinear interpolation.
template<typename promo = void>
GenericImage	rescaleBilinear (GenericImage const &src, Dims< int32 > const &dims)
	Scale to new width & height using bilinear interpolation - GenericImage version.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	decimateX (nrt::Image< PixType > const &src, int factor=2)
	Decimate in X (take one every 'factor' pixels).
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	decimateY (nrt::Image< PixType > const &src, int const factor=2)
	Decimate in Y (take one every 'factor' pixels).
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	decimateXY (nrt::Image< PixType > const &src, int const xfactor=2, int const yfactor=-1)
	Decimate in X and Y (take one every 'factor' pixels).
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	downSize (nrt::Image< PixType > const &src, nrt::Dims< int > const &dims, int const filterWidth=9)
	Downsize using alternating lowpass/decimate operations.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass5xDecX (nrt::Image< PixType > const &src, int const factor=2)
	Low-pass filter, Anderson's 5x5 separable, applied in X, and X decimated by factor.
template<NRT_MACRO_PROMOTE_PIX_NO_DEFAULT_PROMO >
nrt::Image< DestType >	lowPass5yDecY (nrt::Image< PixType > const &src, int const factor=2)
	Low-pass filter, Anderson's 5x5 separable, applied in Y, and Y decimated by factor.
template<class PixType >
Image< PixType >	flipVertical (const Image< PixType > &src)
	Flip an image vertically, so that the top row becomes the bottom row.
template<class PixType >
Image< PixType >	flipHorizontal (const Image< PixType > &src)
	Flip an image horizontally, so that the left column becomes the right column.
template<NRT_MACRO_PROMOTE_PIX(void) >
Image< DestType >	shiftImage (Image< PixType > const src, float const dx, float const dy)
	Shift an image by a non-integer displacement (float dx, float dy)
template<class PixType >
Image< PixType >	shiftClean (Image< PixType > const src, int const dx, int const dy, PixType bgval=PixType(0))
	Shift an image by an integer displacement (int dx, int dy), without wraparound.
template<NRT_MACRO_PROMOTE_PIX(void) >
Image< DestType >	rotate (Image< PixType > const src, Point2D< int32 > const p, const float angRad)
	Rotate an Image about the point p by the angle angRad(in Radians)
template<NRT_MACRO_PROMOTE_PIX(void) >
Image< DestType >	rotate (Image< PixType > const src, const float angRad)
	Rotate an Image about its center by the angle angRad(in Radians)
PointCloud2::Geometry	computeCentroid (PointCloud2 const input)
	Computes a 3D centroid from the geometry in a point cloud.
PointCloud2::Geometry	computeCentroid (PointCloud2 const input, Indices const subset)
	Computes a 3D centroid from the geometry in a point cloud subset.
PointCloud2::Matrix3	computeCovariance (PointCloud2 const input, bool normalize=false)
	Computes the covariance matrix for 3d geometry in a point cloud.
PointCloud2::Matrix3	computeCovariance (PointCloud2 const input, PointCloud2::Geometry const &centroid, bool normalize=false)
	Computes the covariance matrix for 3d geometry in a point cloud.
PointCloud2::Matrix3	computeCovariance (PointCloud2 const input, Indices const subset, bool normalize=false)
	Computes the covariance matrix for 3d geometry in a point cloud subset.
PointCloud2::Matrix3	computeCovariance (PointCloud2 const input, Indices const subset, PointCloud2::Geometry const &centroid, bool normalize=false)
	Computes the covariance matrix for 3d geometry in a point cloud subset.
std::pair < PointCloud2::Matrix3, PointCloud2::Geometry >	computeCovarianceAndCentroid (PointCloud2 const input)
	Computes the normalized covariance and centroid in one step.
std::pair < PointCloud2::Matrix3, PointCloud2::Geometry >	computeCovarianceAndCentroid (PointCloud2 const input, Indices const subset)
	Computes the normalized covariance and centroid in one step for a subset.
void	solvePlaneParameters (PointCloud2::Matrix3 const &covariance, PointCloud2::Geometry const &point, Optional< PointCloud2::Vector4 & > planeParameters=OptionalEmpty, Optional< PointCloud2::Vector3 & > variation=OptionalEmpty, Optional< PointCloud2::Matrix3 & > eigenVectors=OptionalEmpty)
PointCloud2	demeanPointCloud (PointCloud2 const input, PointCloud2::Geometry const &centroid)
	Subtracts a centroid from a point cloud.
template<class Field >
PointCloud2	demeanPointCloud (PointCloud2 const input, Field const &centroid)
	Subtracts a centroid from a specific field in a point cloud.
PointCloud2	transformPointCloud (PointCloud2 const input, PointCloud2::AffineTransform const &transform)
	Apply a transformation, creating a new point cloud.
PointCloud2	transformPointCloud (PointCloud2 const input, Indices const indices, PointCloud2::AffineTransform const &transform)
	Apply a transformation to a subset, creating a new point cloud.
void	transformPointCloudInPlace (PointCloud2 &input, PointCloud2::AffineTransform const &transform)
	Apply a transformation in place.
void	transformPointCloudInPlace (PointCloud2 &input, Indices const indices, PointCloud2::AffineTransform const &transform)
	Apply a transformation in place to a subset.
PointCloud2	transformPointCloudWithNormals (PointCloud2 const input, PointCloud2::AffineTransform const &transform)
	Apply a transformation to the geometry and rotation to the normals, creating a new point cloud.
void	transformPointCloudWithNormalsInPlace (PointCloud2 &input, PointCloud2::AffineTransform const &transform)
	Apply a transformation to the geometry and rotation to the normals, in place.
template<class T >
std::size_t	cloudHash ()
	Computes a hash from a type.
template<class Feature >
PointCloud2	computePointCloudFeatures (PointCloud2 const input, Feature &&feature)
	Compute some type of feature for a point cloud.
template<class Feature >
PointCloud2	computePointCloudFeatures (PointCloud2 const input, Indices const indices, Feature &&feature)
	Compute some type of feature for a point cloud subset.
template<class Filter >
PointCloud2	filterPointCloud (PointCloud2 const input, Filter &&filter)
	Filter a point cloud using some filter.
template<class Filter >
PointCloud2	filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter)
	Filter a point cloud subset using some filter.
template<class Filter , class... FilterArgs>
PointCloud2	filterPointCloud (PointCloud2 const input, Filter &&filter, FilterArgs &&...args)
template<class Filter , class... FilterArgs>
PointCloud2	filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter, FilterArgs &&...args)
template<class Field , class Filter >
PointCloud2	filterPointCloud (PointCloud2 const input, Filter &&filter)
	Filter a specific dense or sparse field of a cloud using some filter.
template<class Field , class Filter >
PointCloud2	filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter)
	Filter a specific dense or sparse field of a cloud subset using some filter.
template<class Field , class Filter , class... FilterArgs>
PointCloud2	filterPointCloud (PointCloud2 const input, Filter &&filter, FilterArgs &&...args)
template<class Field , class Filter , class... FilterArgs>
PointCloud2	filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter, FilterArgs &&...args)
template<class T >
PointCloud2	depthToPointCloud (Image< PixGray< T >> const depthImage, float focalLength, const bool keepNaN=true)
	Converts a depth image to a point cloud.
template<class T1 , class T2 >
PointCloud2	depthToPointCloud (Image< PixRGBD< T1, T2 >> const depthImage, float focalLength, const bool keepNaN=true)
	Converts a depth image with color data to a point cloud.
	NRT_MACRO_DEFINE_ENUM_CLASS (PointCloudSearchMethod,(knn)(radius))
template<class Field >
constexpr bool	is_state_field ()
template<class Field1 , class Field2 >
constexpr bool	are_state_fields ()
template<class Group >
constexpr bool	is_state_field_group ()
template<class Group1 , class Group2 >
constexpr bool	are_state_field_groups ()
	NRT_DECLARE_MESSAGE (TransformLookupMessage)
	NRT_DECLARE_MESSAGE (TransformMessage)
std::ostream &	operator<< (std::ostream &out, nrt::TransformMessage const &msg)
	Human-readable output to a stream: outputs fromFrameId -> toFrameId (x,y,z)
	NRT_DECLARE_MESSAGE (VelocityMessage)
	A message to specify translational and rotational velocities.
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT (DesiredValuePort, nrt::Message< double >, void,"The desired value for the control loop")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT (ObservedValuePort, nrt::Message< double >, void,"The raw observed value to be used for the control loop")
	NRT_DECLARE_MESSAGEPOSTER_PORT (OutputValuePort, nrt::Message< double >, void,"The control loop output")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (LoadMessageOutput, LoadModuleRequestMessage, LoadModuleResponseMessage,"Module Load Message Output")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (LoadMessageInput, LoadModuleRequestMessage, LoadModuleResponseMessage,"Module Load Message Input")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (UnloadMessageOutput, UnloadModuleMessage, void,"Module Unload Message Output")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (UnloadMessageInput, UnloadModuleMessage, void,"Module Unload Message Input")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (ModifyParamOutput, ModifyParamMessage, ModifyParamResponseMessage,"Modify Parameter Output")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (ModifyParamInput, ModifyParamMessage, ModifyParamResponseMessage,"Modify Parameter Input")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (ModifyTopicOutput, ModifyModuleTopicMessage, void,"Modify Topic Output")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (ModifyTopicInput, ModifyModuleTopicMessage, nrt::Message< bool >,"Modify Topic Input. Returns whether or not the topic was set.")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (SetStateInput, SetStateMessage, void,"Set the running state of the system (start or stopped)")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (ModifyConnectorTopicOutput, ModifyConnectorTopicMessage, void,"Modify Connector Topic Output")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (CreateConnectorOutput, CreateConnectorMessage, void,"Create Connectors Output")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (CreateNamespaceOutput, CreateNamespaceMessage, void,"Create Namespace Output")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (RenameNamespaceInput, RenameNamespaceMessage, void,"Rename Namespace Input")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (SplitPortInput, SplitPortMessage, void,"Split Port Input")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (RequestLoaderSummaryInput, nrt::BBNickTrigger, LoaderSummaryMessage,"Request Module List Input")
	NRT_DECLARE_MESSAGEPOSTER_PORT_SPECIAL (SetGUIdataOutput, nrt::GUIdataMessage, void,"Set GUI Data Output")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (KillInput, nrt::TriggerMessage, void,"Kill this module loader")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (QuietSuspendInput, nrt::Message< bool >, void,"Put this loader's blackboard into/out of quiet suspended mode")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (RefreshParametersInput, nrt::BBNickTrigger, void,"Ask all parameters to resend their summaries. The value of this message should be the target loader nickname")
	NRT_DECLARE_MESSAGESUBSCRIBER_PORT_SPECIAL (ParamPortInput, nrt::ParamPortMessage, void,"Create/delete a port associated with a module's parameter")
template<class T >
Layout< T >	vcat (nrt::Image< T > p1, nrt::Image< T > p2)
	Convenience functions for vertical Layout concatenation.
template<class T >
Layout< T >	vcat (nrt::Image< T > p1, Layout< T > const &p2)
	Vertically concatenate an Image and a Layout.
template<class T >
Layout< T >	vcat (Layout< T > const &p1, nrt::Image< T > p2)
	Vertically concatenate a Layout and an Image.
template<class T >
Layout< T >	vcat (Layout< T > const &p1, Layout< T > const &p2)
	Vertically concatenate two Layout objects.
template<class T >
Layout< T >	vcat (Layout< T > const &p1, Layout< T > const &p2, Layout< T > const &p3)
	Vertically concatenate three Layout objects.
template<class T >
Layout< T >	vcat (nrt::ImageSet< T > const imgs)
	Vertically concatenate a set of Image objects.
template<class T >
Layout< T >	arrcat (nrt::ImageSet< T > imgs, int32 const nx)
	Convenience functions for combination h/v array Layout concatenation.
void	computeMinMax (PointCloud2 const input, PointCloud2::Geometry &min, PointCloud2::Geometry &max)
	Computes the minimum and maximum values for point cloud geometry.
template<class Field >
void	computeMinMax (PointCloud2 const input, Field &min, Field &max)
	Computes the minimum and maximum values for a specifc field type.
Variables
static nrt::ParameterCategory const	BlackboardParamCateg ("Blackboard Related Options")
static nrt::ParameterDef < std::string > const	BBNumMasterIPParamDef ("masterip","The IP address or hostname of the master Blackboard. The default empty string will try to extract this value from""the $NRTMASTER environment variable.","", BlackboardParamCateg)
static nrt::ParameterDef< int > const	BBNumMasterPortParamDef ("masterport","The port of the master Blackboard, or 0 to discover and use the first available open port. The default of -1 will ""try to extract the port from the $NRTMASTER environment variable.",-1, BlackboardParamCateg)
static nrt::ParameterDef< bool > const	BBIsMasterParamDef ("master","Set this blackboard as the master node", false, BlackboardParamCateg)
static nrt::ParameterDef < std::string > const	BBNicknameParamDef ("nick","The optional nickname for this Blackboard.","", BlackboardParamCateg)
int	currentLogLevel
	Current log level, default is 4 (LOG_ERR)
static ParameterDef< std::string >	ImageFilesSinkPrefixDef ("prefix","The string to prepend to all image filenames written","", ImageSinkParamCateg)
static ParameterDef< size_t >	ImageFilesSinkFieldWidthDef ("framenumfieldwidth","The field width of the frame numbers appended to each filename. ""For instance, the filename myimage001234.jpg has a framenumfieldwidth of 6. ""Setting this parameter to 1 will result in a variable field width, e.g. myimage1234.jpg. ""Setting this parameter to 0 will cause the first frame to have no numerical postfix, e.g. just myimage.jpg. ", 1, ImageSinkParamCateg)
static ParameterCategory	ImageSinkParamCateg ("Image Sink Related Options")
static ParameterDef< std::string >	SinkTypeDef ("out","Output Type","", ImageSinkParamCateg)
static ParameterDef< std::string >	VideoSinkPrefixDef ("prefix","The string to prepend to all video filenames written","", ImageSinkParamCateg)
static ParameterDef< int >	VideoSinkQualityDef ("quality","The encoded video quality. This number roughly describes the tradeoff a given encoder should make between the size and the quality of the encoded video. ""A value of 1 represents minimum size, and a value of 10 represents maximum quality.", 7, ImageSinkParamCateg)
static ParameterDef< FrameRange >	SISTFrameRangeDef ("frames","The frame range to read", FrameRange(0, FrameRange::Max), ImageSourceParamCateg)
static ParameterCategory	ImageSourceParamCateg ("Image Source Related Options")
static ParameterCategory	RandomImageSourceParams ("Random Image Source Related Parameters")
static ParameterDef< Dims < int32 > >	DimsParameterDef ("dims","Dimensions of the generated Image", Dims< int32 >(320, 240), RandomImageSourceParams)
static ParameterCategory	ModuleLoaderCateg ("Module Loader Related Options")
static ParameterDef< std::string >	ModuleFileDef ("module","The location of a module shared object to load.","", ModuleLoaderCateg)
static ParameterDef< std::string >	ModuleSubscriptionDef ("subscription","When loading modules with the --module command line argument, you can set a subscription topic filter like so: ""--module=mymodule.so --subscription=portname:topicfilter","", ModuleLoaderCateg)
static ParameterDef< std::string >	ModuleCheckingDef ("checking","When loading modules with the --module command line argument, you can set a checking topic like so: ""--module=mymodule.so --checking=portname:topicfilter","", ModuleLoaderCateg)
static ParameterDef< std::string >	ModulePostingDef ("posting","When loading modules with the --module command line argument, you can set a posting topic like so: ""--module=mymodule.so --posting=portname:topicname","", ModuleLoaderCateg)
static ParameterDef< std::string >	NetworkFileDef ("yaml-file","The location of the YAML file describing which modules to load","", ModuleLoaderCateg)
static ParameterDef< bool >	DisableVersionCheckDef ("disable-version-check","Should we disable the version checking for shared objects?", false, ModuleLoaderCateg)

---

Typedef Documentation

typedef Factory< std::function<void(GenericImage const,std::string const&)>, std::string, std::function<std::function<void(GenericImage const, std::string const&)>)>, std::map<std::string, std::string> > nrt::ImageWriterFactory

A Singleton Factory used to keep track of image writers used by writeImage().

Developers who wish to create their own image writer methods should register them with the NRT_REGISTER_IMAGE_WRITER macro so that they may be recognized by writeImage()

Definition at line 54 of file ImageWriter.H.

typedef Factory< std::shared_ptr<VideoWriterBase>, std::string, std::function<std::shared_ptr<VideoWriterBase>)> > nrt::VideoWriterFactory

A Singleton Factory used to keep track of video writers used by VideoSink.

Developers who wish to create their own video writer classes should register them with the NRT_REGISTER_VIDEO_WRITER(CLASSNAME) macro so that they may be recognized by VideoSink

See also:

VideoReaderBase

VideoSink

ImageSink

Definition at line 93 of file VideoWriterBase.H.

typedef Factory< std::function<GenericImage(std::string const&)>, std::string, std::function<std::function<GenericImage(std::string const&)>)>, std::map<std::string, std::string> > nrt::ImageReaderFactory

A Singleton Factory used to keep track of image readers used by readImage().

Developers who wish to create their own image reader methods should register them with the NRT_REGISTER_IMAGE_READER macro so that they may be recognized by readImage()

Definition at line 53 of file ImageReader.H.

typedef Factory< std::shared_ptr<VideoReaderBase>, std::string, std::function<std::shared_ptr<VideoReaderBase>)>, std::map<std::string, std::string> > nrt::VideoReaderFactory

A Singleton Factory used to keep track of video writers used by VideoSink.

Developers who wish to create their own video writer classes should register them with the NRT_REGISTER_VIDEO_WRITER(CLASSNAME) macro so that they may be recognized by VideoSink

See also:

VideoReaderBase

VideoSource

ImageSource

Definition at line 108 of file VideoReaderBase.H.

---

Enumeration Type Documentation

enum nrt::ConnectorType

Type of connector.

Intra-connectors connect modules within one namespace. Border connectors establish a bridge between a namespace and its parent namespace.

Definition at line 53 of file ConnectorHelpers.H.

enum nrt::ConnectorFlavor

Flavor of Connector.

Enumerator:

Poster	Poster parameter port type.
Checker	Checker parameter port type.
Subscriber	Subscriber parameter port type.

Definition at line 78 of file ConnectorHelpers.H.

template<class T, uint32 Flags = 0>

enum ImageInitPolicy [related]

Initialization policy for the pixels inside an Image, used during construction of the Image.

Enumerator:

Zeros	Fill the image with all zeros. This costs some CPU.
None	No initialization of each pixel. This saves some CPU.

Definition at line 59 of file Image.H.

template<class T, uint32 Flags = 0>

enum ImageFlags [related]

Flags to control the behavior of Images.

You can pass combinations of flags to an Image using the bitwise 'or' operator:

      // Construct an Image that will check for out-of-bounds pixel access, but won't check for shared memory.
      Image<PixGray<byte>, SafeAccess | UniqueAccess> myImage;

Enumerator:

SafeAccess

Image coordinate access will be checked, and an exception will be thrown if you try to access a pixel which is out of bounds. If you don't set this flag, then you will be on your own to ensure that you don't try to access pixels outside of the Image (as doing so may result in a segfault). However, SafeAccess comes with a big performance hit, so we recommend you only use it when debugging

UniqueAccess

Image reference counting will not be checked during pixel level access. If you are sure that you have the only copy of your image data (and have full understanding of the copy-on-write behavior!), then you can declare your Image with the UniqueAccess flag. A good practice is to always call Image::deepCopy() before making a UniqueAccess alias of an Image. For Example: Image<PixRGB<byte>> myImage; // ... Do some processing ... // Make a UniqueAccess alias of myImage. Notice that we make a deep-copy of myImage before we do this, // ensuring that we hold a unique reference to the underlying memory. myImage.deepCopy(); Image<PixRGB<byte>, UniqueAccess> myUniqueImage = myImage; // Now, we can mess around with myUniqueImage and all pixel operations will be very fast, as they won't perform // any checks to ensure that we aren't sharing our memory with any other Images. for(int y=0; y<myUniqueImage.height(); y++) for(int x=0; x<myUniqueImage.width(); x++) myUniqueImage(x,y) = ...

Definition at line 74 of file Image.H.

enum ParameterState [related]

State of a parameter, received with a ParameterSummary.

Parties interested in ParameterSummary would typically want to know why they are receiving a summary, which can be upon creation, modification, reading, or destruction of a Parameter.

Definition at line 46 of file ParameterSummary.H.

---

Function Documentation

void nrt::writeImage	(	GenericImage const	img,
		std::string const &	filename
	)

Write the image file found at the given filename.

This method is the best way for users to write images to files. When given a filename, this method will ensure that the path exists, and will then attempt to write the image using an appropriate image writer method found by querying the ImageWriterFactory.

GenericImage const nrt::readImage

(

std::string const &

filename

)

Read the image file found at the given filename.

This method is the best way for users to read images from files. When given a filename, this method will ensure that the file exists, and will then attempt to read the image using an appropriate image reader method found by querying the ImageReaderFactory.

Examples:

tests/test-ImageReader.C.

template<class Feature >

PointCloud2 nrt::computePointCloudFeatures	(	PointCloud2 const	input,
		Feature &&	feature
	)

Compute some type of feature for a point cloud.

Template Parameters:

Feature

The feature extraction class

Parameters:

input	The point cloud to filter
feature	The parameterized feature method to apply to the input

Returns:

The point cloud with features added depending on the method

template<class Feature >

PointCloud2 nrt::computePointCloudFeatures	(	PointCloud2 const	input,
		Indices const	indices,
		Feature &&	feature
	)

Compute some type of feature for a point cloud subset.

Template Parameters:

Feature

The feature extraction class

Parameters:

input	The point cloud to filter
indices	The subset to consider
feature	The parameterized feature method to apply to the input

Returns:

The point cloud with features added depending on the method

template<class T >

PointCloud2 nrt::depthToPointCloud	(	Image< PixGray< T >> const	depthImage,
		float	focalLength,
		const bool	keepNaN = true
	)

Converts a depth image to a point cloud.

This will create a geometry only point cloud based upon the depth image and its device parameters.

The coordinate system of the returned cloud will be EAST-NORTH-UP, that is moving forward will be positve Y, moving upwards will be positive Z, and moving horizontally to the right will be positive X.

Invalid range readings should be marked by a quiet_NaN. The default behavior is to keep nans in the final point cloud to preserve the structure of the depth image.

Template Parameters:

T	The base type for the pixels

Parameters:

depthImage	The depth image
focalLength	The focal length of the depth device in pixels
keepNaN	Whether invalid (nan) pixels in the depth image should be kept in the point cloud

Returns:

A point cloud representation of the depth image

Examples:

tests/test-PointCloud2OpenNI.C.

template<class T1 , class T2 >

PointCloud2 nrt::depthToPointCloud	(	Image< PixRGBD< T1, T2 >> const	depthImage,
		float	focalLength,
		const bool	keepNaN = true
	)

Converts a depth image with color data to a point cloud.

This will create a geometry and PixRGB<T1> (as a dense field) point cloud based upon the depth image and its device parameters. The depth image should be properly registered.

The coordinate system of the returned cloud will be EAST-NORTH-UP, that is moving forward will be positve Y, moving upwards will be positive Z, and moving horizontally to the right will be positive X.

Invalid range readings should be marked by a quiet_NaN. The default behavior is to keep nans in the final point cloud to preserve the structure of the depth image.

Template Parameters:

T1	The base type for the rgb pixels
T2	The base type for the depth pixels

Parameters:

depthImage	The depth (and color) image.
focalLength	The focal length (in pixels) of whichever sensor the data is registered to.
keepNaN	Whether invalid (nan) pixels in the depth image should be kept in the point cloud

Returns:

A point cloud representation of the depth image

nrt::NRT_DECLARE_MESSAGE

(

VelocityMessage

)

A message to specify translational and rotational velocities.

In general, this message is used to generate motor commands in robot driver modules. If any axes which are not implemented by the robot driver are non-zero, then the robot driver should ignore those requests. The linear velocity components should be specified in meters/second, and the angular velocity components should be specified in radians/second.

The coordinate system which robot drivers should implement is as follows:

• linear.x: Move Forwards
• linear.y: Strafe Left
• linear.z: Fly Upwards
• angular.x: Roll Right
• angular.y: Pitch Up
• angular.z: Yaw Right

< The linear component

< The angular component

Empty constructor (Velocities are set to zeros)

Construct from a linear and angular velocity

Definition at line 55 of file VelocityMessage.H.

References NRT_DECLARE_MESSAGE.