PointCloudXYZI Class Reference

#include <peak_icv/types/peak_icv_point_cloud_xyzi.hpp>

Inheritance diagram for PointCloudXYZI:

Collaboration diagram for PointCloudXYZI:

Public Types
using	PointType

Public Member Functions
	PointCloudXYZI (const XYZImage &xyzImage, const Image &intensityImage)
	Creates a point cloud representation from a XYZ image, containing three channels (X, Y, Z), and an intensity image.
	PointCloudXYZI (const peak::icv::experimental::UndistortedImage &undistortedDepthMap, const Image &intensityImage)
	Creates a point cloud representation from a depth map and an intensity image, by using intrinsic parameters.
	PointCloudXYZI (const std::string &filePath, peak::common::PixelFormat pixelFormatName)
	Loads a point cloud from a file.
	PointCloudXYZI (const std::vector< PointXYZI > &points, peak::common::PixelFormat pixelFormatName)
	Creates a point cloud from given points.
bool	operator== (const PointCloud &rhs) const
bool	operator!= (const PointCloud &rhs) const
const std::vector< PointXYZI > &	GetPoints () const
	Returns the points from a point cloud.
PointCloudXYZI	Transform (const experimental::TransformationMatrix3D &matrix) const
	Applies a transformation to a point cloud based on the given matrix.
PointCloudXYZI	TransformToWorkspace (const experimental::ExtrinsicParameters &extrinsicParameters) const
	Transforms a point cloud to the workspace coordinate system using the extrinsic parameters.
std::vector< PointXYZI >::const_iterator	cbegin () const
	Returns an iterator to the first point.
std::vector< PointXYZI >::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, z coordinates and intensity meta data.

Warning

This function is still in development and not released.

Definition at line 42 of file peak_icv_point_cloud_xyzi.hpp.

Member Typedef Documentation

PointType

using PointXYZI

inherited

Definition at line 51 of file peak_icv_point_cloud.hpp.

Constructor & Destructor Documentation

PointCloudXYZI() [1/4]

PointCloudXYZI ( const XYZImage & xyzImage, const Image & intensityImage )

inline

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

Note

The region of the intensity image is disregarded.

Parameters

xyzImage	XYZ image providing the spatial information.
intensityImage	Image providing intensity data.

Exceptions

MismatchException

If xyzImage and intensityImage don't have the same size.

Warning

This function is still in development and not released.

Definition at line 114 of file peak_icv_point_cloud_xyzi.hpp.

PointCloudXYZI() [2/4]

PointCloudXYZI ( const peak::icv::experimental::UndistortedImage & undistortedDepthMap, const Image & intensityImage )

inline

Creates a point cloud representation from a depth map and an intensity image, by using intrinsic parameters.

Note

The region of the intensity image is disregarded.

Parameters

undistortedDepthMap	Image providing the radial information. The distortion has to be corrected already.
intensityImage	Image providing intensity data.

Exceptions

MismatchException

If the depth map or the intensity image has an unsupported format.

Warning

This function is still in development and not released.

Definition at line 118 of file peak_icv_point_cloud_xyzi.hpp.

PointCloudXYZI() [3/4]

PointCloudXYZI ( const std::string & filePath, peak::common::PixelFormat pixelFormatName )

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.
pixelFormatName	Specifies the pixel format of the intensity metadata as written to the file. The values in the file are interpreted in addition to the pixel format.

Exceptions

MismatchException

If the pixel format is not supported to load as meta data.

Warning

This function is still in development and not released.

Definition at line 122 of file peak_icv_point_cloud_xyzi.hpp.

PointCloudXYZI() [4/4]

PointCloudXYZI ( const std::vector< PointXYZI > & points, peak::common::PixelFormat pixelFormatName )

inlineexplicit

Creates a point cloud from given points.

Warning

This function is still in development and not released.

Definition at line 126 of file peak_icv_point_cloud_xyzi.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< PointCloudXYZI, PointXYZI > & 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< PointCloudXYZI, PointXYZI > & 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()

PointCloudXYZI 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()

PointCloudXYZI 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.