PointCloudXYZ Class Reference

#include <peak_icv/types/peak_icv_point_cloud_xyz.hpp>

Inheritance diagram for PointCloudXYZ:

Collaboration diagram for PointCloudXYZ:

Public Types
using	PointType

Public Member Functions
	PointCloudXYZ (const XYZImage &image)
	Creates a point cloud representation from a XYZ image, containing three channels (X, Y, Z).
	PointCloudXYZ (const UndistortedImage &undistortedDepthMap)
	Creates a point cloud representation from an undistorted depth map, by using the included intrinsic parameters within the undistorted depth map.
	PointCloudXYZ (const std::string &filePath)
	Loads a point cloud from a file.
	PointCloudXYZ (const std::vector< PointXYZ > &points)
	Creates a point cloud from given points.
bool	operator== (const PointCloud &rhs) const
bool	operator!= (const PointCloud &rhs) const
const std::vector< PointXYZ > &	GetPoints () const
	Returns the points from a point cloud.
PointCloudXYZ	Transform (const experimental::TransformationMatrix3D &matrix) const
	Applies a transformation to a point cloud based on the given matrix.
PointCloudXYZ	TransformToWorkspace (const experimental::ExtrinsicParameters &extrinsicParameters) const
	Transforms a point cloud to the workspace coordinate system using the extrinsic parameters.
std::vector< PointXYZ >::const_iterator	cbegin () const
	Returns an iterator to the first point.
std::vector< PointXYZ >::const_iterator	cend () const
	Returns an iterator to the end of the points (the point after the last point).

Detailed Description

A point cloud consists of points with x, y and z coordinates.

Warning

This function is still in development and not released.

Definition at line 44 of file peak_icv_point_cloud_xyz.hpp.

Member Typedef Documentation

PointType

using PointXYZ

inherited

Definition at line 51 of file peak_icv_point_cloud.hpp.

Constructor & Destructor Documentation

PointCloudXYZ() [1/4]

PointCloudXYZ ( const XYZImage & image )

inlineexplicit

Creates a point cloud representation from a XYZ image, containing three channels (X, Y, Z).

Parameters

image

XYZ image providing the spatial information.

Exceptions

NotSupportedException

If the XYZ image has an unsupported format.

Warning

This function is still in development and not released.

Definition at line 110 of file peak_icv_point_cloud_xyz.hpp.

PointCloudXYZ() [2/4]

PointCloudXYZ ( const UndistortedImage & undistortedDepthMap )

inlineexplicit

Creates a point cloud representation from an undistorted depth map, by using the included intrinsic parameters within the undistorted depth map.

Parameters

undistortedDepthMap

Depth map which is already undistorted.

Exceptions

NotSupportedException

If the depth map imagan unsupported wrong format.

Warning

This function is still in development and not released.

Definition at line 114 of file peak_icv_point_cloud_xyz.hpp.

PointCloudXYZ() [3/4]

PointCloudXYZ ( const std::string & filePath )

inlineexplicit

Loads a point cloud from a file.

The chosen file type is determined by the given extension.

The following file formats are supported:

• PLY (external link to Wikipedia)

Parameters

filePath

The file is loaded from the filePath, which should encompass both the directory path and the filename.

Exceptions

IOException

If the file path or the file is invalid.

Warning

This function is still in development and not released.

Definition at line 118 of file peak_icv_point_cloud_xyz.hpp.

PointCloudXYZ() [4/4]

PointCloudXYZ ( const std::vector< PointXYZ > & points )

inlineexplicit

Creates a point cloud from given points.

Warning

This function is still in development and not released.

Definition at line 122 of file peak_icv_point_cloud_xyz.hpp.

Member Function Documentation

cbegin()

std::vector< InnerPointType >::const_iterator cbegin ( ) const

inherited

Returns an iterator to the first point.

Definition at line 133 of file peak_icv_point_cloud.hpp.

cend()

std::vector< InnerPointType >::const_iterator cend ( ) const

inherited

Returns an iterator to the end of the points (the point after the last point).

Definition at line 138 of file peak_icv_point_cloud.hpp.

GetPoints()

const std::vector< InnerPointType > & GetPoints ( ) const

inherited

Returns the points from a point cloud.

Definition at line 105 of file peak_icv_point_cloud.hpp.

operator!=()

bool operator!= ( const PointCloud< PointCloudXYZ, PointXYZ > & rhs ) const

inherited

Warning

This function is still in development and not released.

Definition at line 100 of file peak_icv_point_cloud.hpp.

operator==()

bool operator== ( const PointCloud< PointCloudXYZ, PointXYZ > & rhs ) const

inherited

Warning

This function is still in development and not released.

Definition at line 93 of file peak_icv_point_cloud.hpp.

Transform()

PointCloudXYZ Transform ( const experimental::TransformationMatrix3D & matrix ) const

inherited

Applies a transformation to a point cloud based on the given matrix.

Parameters

matrix

The transformation matrix

Returns

Transformed point cloud

Definition at line 114 of file peak_icv_point_cloud.hpp.

TransformToWorkspace()

PointCloudXYZ TransformToWorkspace ( const experimental::ExtrinsicParameters & extrinsicParameters ) const

inherited

Transforms a point cloud to the workspace coordinate system using the extrinsic parameters.

The point cloud is transformed from the camera coordinate system to the workspace coordinate system using the inverse of the extrinsic parameters.

Parameters

extrinsicParameters

Extrinsic parameters of the workspace calibration.

Returns

Transformed point cloud

Definition at line 128 of file peak_icv_point_cloud.hpp.