XYZImage Class Reference

Inheritance diagram for XYZImage:

Public Member Functions
XYZImage	create_from_undistorted_image (cls, UndistortedImage undistorted_depth_map)
	Constructs a cartesian coordinate image from an undistorted depth map.
None	__init__ (self, *Any args, **Any kwargs)
	In order to create a xyz image, please refer to the class methods.
XYZImage	transform_to_workspace (self, ExtrinsicParameters extrinsic_parameters)
	Transforms the camera-centric coordinates into workspace coordinates.

Protected Attributes
	_handle

Detailed Description

Represents a three-channel image encoding cartesian coordinates (x, y, z) of a 3D point.

This image is derived from an undistorted depth map that contains embedded intrinsic parameters and uses radial coordinates.

In contrast to radial coordinates, which measure the direct distance from the optical center to the object, cartesian coordinates project these measurements onto a uniform plane.

For example: If the camera faces a flat wall, only the cartesian coordinates will form a flat plane, whereas radial values will increase towards the image edges.

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 xyz image, please refer to the class methods.

Since

ids_peak_icv 1.1

Reimplemented from Image.

Definition at line 59 of file xyz_image.py.

Member Function Documentation

create_from_undistorted_image()

XYZImage create_from_undistorted_image	(		cls,
		UndistortedImage	undistorted_depth_map )

Constructs a cartesian coordinate image from an undistorted depth map.

To convert a distorted depth map into the required format, use the Undistortion class beforehand.

Supported pixel formats

Coord3D_C32f

See the Pixel and Pixel Format Specifications for a detailed description of the pixel formats.

Parameters

undistorted_depth_map

An image encoding radial distances to 3D points that contains embedded intrinsic camera parameters.

Since

ids_peak_icv 1.1

Definition at line 41 of file xyz_image.py.

transform_to_workspace()

XYZImage transform_to_workspace	(		self,
		ExtrinsicParameters	extrinsic_parameters )

Transforms the camera-centric coordinates into workspace coordinates.

This applies the inverse of the provided extrinsic matrix to map the 3D points from the camera's perspective into the physical workspace.

Parameters

extrinsic_parameters

Extrinsic parameters from the workspace calibration.

Since

ids_peak_icv 1.1

Definition at line 85 of file xyz_image.py.

Field Documentation

_handle

_handle

protected

Definition at line 74 of file xyz_image.py.