XYZImage Class Reference

Inheritance diagram for XYZImage:

Public Member Functions
XYZImage	create_from_undistorted_image (cls, UndistortedImage undistorted_depth_map)
	Creates an instance of XYZImage using an undistorted depth map image and intrinsic parameters.
None	__init__ (self, *Any args, **Any kwargs)
	In order to create a point cloud, please refer to the class methods.
XYZImage	transform_to_workspace (self, ExtrinsicParameters extrinsic_parameters)
	Transforms the image to workspace coordinates using the specified extrinsic parameters.

Protected Attributes
	_handle

Detailed Description

Transforms a depth map with radial coordinates to a three-channel image with cartesian coordinates.

This class converts an undistorted depth map with radial coordinates to a three-channel image with cartesian coordinates. Radial coordinates represent the distance directly from the optical center to the reflected object, resulting in values that appear more distant as you move outwards from the image center. In contrast, Cartesian coordinates interpret the optical center as a plane, resulting in straight lines from the camera to the reflected object. For example, if the camera is placed in front of a flat wall, only the Cartesian values will show a flat plane.

Since

ids_peak_icv 1.1

Definition at line 19 of file xyz_image.py.

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
		*Any	args,
		**Any	kwargs )

In order to create a point cloud, please refer to the class methods.

Since

ids_peak_icv 1.1

Reimplemented from Image.

Definition at line 46 of file xyz_image.py.

Member Function Documentation

create_from_undistorted_image()

XYZImage create_from_undistorted_image	(		cls,
		UndistortedImage	undistorted_depth_map )

Creates an instance of XYZImage using an undistorted depth map image and intrinsic parameters.

Parameters

undistorted_depth_map

Undistorted depth map with radial coordinates.

Since

ids_peak_icv 1.1

Definition at line 35 of file xyz_image.py.

transform_to_workspace()

XYZImage transform_to_workspace	(		self,
		ExtrinsicParameters	extrinsic_parameters )

Transforms the image to workspace coordinates using the specified extrinsic parameters.

The transformation uses the inverse of the extrinsic matrix to convert from camera to workspace coordinate system.

Parameters

extrinsic_parameters

Extrinsic parameters from the workspace calibration.

Since

ids_peak_icv 1.1

Definition at line 72 of file xyz_image.py.

Field Documentation

_handle

_handle

protected

Definition at line 61 of file xyz_image.py.