PointCloud Class Reference

Public Member Functions
PointCloud	create_from_xyz_image (cls, XYZImage xyz_image, Union[Image, ids_peak_ipl.Image, None] overlay_image=None, Union[Image, ids_peak_ipl.Image, None] intensity_image=None)
	Creates a point cloud from a xyz image and optional metadata.
PointCloud	create_from_undistorted_depth_map (cls, UndistortedImage undistorted_depth_map, Union[Image, ids_peak_ipl.Image, None] overlay_image=None, Union[Image, ids_peak_ipl.Image, None] intensity_image=None)
	Creates a point cloud from an undistorted depth map and optional metadata.
PointCloud	create_from_points (cls, Union[XYZArray, XYZIArray, XYZRGBArray] points, PointCloudPointType point_type)
	Creates a point cloud from points.
PointCloud	create_from_file (cls, str file_path, PointCloudPointType point_type=PointCloudPointType.XYZ)
	Loads a point cloud from a file.
None	__init__ (self, *Any args, **Any kwargs)
	In order to create a point cloud, please refer to the class methods.
PointCloud	transform (self, npt.NDArray matrix)
	Applies a transformation of a point cloud based on the given matrix.
PointCloud	transform_to_workspace (self, ExtrinsicParameters extrinsic_parameters)
	Transforms a point cloud to the workspace coordinate system using the extrinsic parameters.
Union[XYZArray, XYZIArray, XYZRGBArray]	points (self)
	Get the points of the point cloud.
bool	__eq__ (self, object other)
	Check if two point clouds are equal.
bool	__ne__ (self, object other)
	Check if two point clouds are not equal.
None	__del__ (self)
str	__repr__ (self)
	Get a string representation of the Point Cloud represented by points.
None	save (self, str file_path)
	Saves point cloud to file.

Data Fields
	points
list	_sorted_points_cache = [PointXYZ(p[0], p[1], p[2]) for p in other]

Protected Member Functions
None	_init_points (self, Type[ctypes.Structure] c_type, Type python_type, Callable[[ctypes.Array], Iterable[Any]] func)
None	_init_point_type (self)

Protected Attributes
	_handle = None
np.ndarray|None	_sorted_points_cache = None
np.ndarray|None	_points = None
	_point_type = None

Detailed Description

A point cloud is a set of data points defined in a three-dimensional (3D) coordinate system.

Each point is represented by its X, Y, and Z coordinates, specifying its exact position in 3D space. Optionally it can contain intensity metadata. Point clouds are often generated from depth maps, such as those obtained from a time-of-flight camera. They serve as a detailed digital representation of the shape and size of physical objects, enabling precise measurements and analysis.

Since

ids_peak_icv 1.1

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

__del__()

None __del__

(

self

)

Member Function Documentation

__eq__()

bool __eq__	(		self,
		object	other )

Check if two point clouds are equal.

Parameters

other

Another point cloud object

Returns

True if point clouds are equal, False otherwise

Since

ids_peak_icv 1.1

__ne__()

bool __ne__	(		self,
		object	other )

Check if two point clouds are not equal.

Parameters

other

Another point cloud object

Returns

True if point clouds are not equal, False otherwise

Since

ids_peak_icv 1.1

__repr__()

str __repr__

(

self

)

Get a string representation of the Point Cloud represented by points.

Returns

String representation of the Point Cloud

Since

ids_peak_icv 1.1

_init_point_type()

None _init_point_type ( self )

protected

_init_points()

None _init_points ( self, Type[ctypes.Structure] c_type, Type python_type, Callable[[ctypes.Array], Iterable[Any]] func )

protected

create_from_file()

PointCloud create_from_file	(		cls,
		str	file_path,
		PointCloudPointType	point_type = PointCloudPointType.XYZ )

Loads a point cloud from a file.

The chosen file type is determined by the given extension.

The following file formats are supported:

• [PLY]

Parameters

file_path	The file is loaded from the file path, which should encompass both the directory path and the filename.
point_type	Defines whether the point cloud is loaded with or without meta information and how the meta information is interpreted.

Returns

The point cloud, which was loaded from the file.

Exceptions

IOException

If the specified file path is invalid, you lack the necessary permissions, or the file already exists.

Since

ids_peak_icv 1.1

create_from_points()

PointCloud create_from_points	(		cls,
		Union[XYZArray, XYZIArray, XYZRGBArray]	points,
		PointCloudPointType	point_type )

Creates a point cloud from points.

Parameters

points	An array of PointXYZ or PointXYZI.
point_type	The type of point.

Returns

Created point cloud instance

Exceptions

MismatchException

If Parameter points is not a numpy array of PointXYZ or PointXYZI objects matching the point_type.

Since

ids_peak_icv 1.1

create_from_undistorted_depth_map()

PointCloud create_from_undistorted_depth_map	(		cls,
		UndistortedImage	undistorted_depth_map,
		Union[Image, ids_peak_ipl.Image, None]	overlay_image = None,
		Union[ Image, ids_peak_ipl.Image, None]	intensity_image = None )

Creates a point cloud from an undistorted depth map and optional metadata.

Note

The region of the metadata image is disregarded.

Parameters

undistorted_depth_map	Undistorted image providing the radial depth information.
overlay_image	Image that holds the meta information (e.g. an intensity image).
intensity_image	Image that holds the meta information (e.g. an intensity image). This parameter is deprecated. Use overlay_image instead.

Returns

Created point cloud instance

Exceptions

MismatchException

If the undistorted_depth_map and the intensity image don't have the same size.

Since

ids_peak_icv 1.1

create_from_xyz_image()

PointCloud create_from_xyz_image	(		cls,
		XYZImage	xyz_image,
		Union[Image, ids_peak_ipl.Image, None]	overlay_image = None,
		Union[Image, ids_peak_ipl.Image, None]	intensity_image = None )

Creates a point cloud from a xyz image and optional metadata.

Note

The region of the metadata image is disregarded.

Parameters

xyz_image	XYZ image providing the spatial information.
overlay_image	Image that holds the meta information (e.g. an intensity image).
intensity_image	Image that holds the meta information (e.g. an intensity image). This parameter is deprecated. Use overlay_image instead.

Returns

Created point cloud instance

Exceptions

MismatchException

If the xyz_image and the intensity image don't have the same size.

Since

ids_peak_icv 1.1

points()

Union[XYZArray, XYZIArray, XYZRGBArray] points

(

self

)

Get the points of the point cloud.

Returns

List of Point objects representing the point clouds points.

Since

ids_peak_icv 1.1

save()

None save	(		self,
		str	file_path )

Saves point cloud to file.

The chosen file type is determined by the given extension.

The following file formats are supported:

• [PLY](only binary)

If no file extension is provided, .ply is automatically added.

Note

If a point cloud does not contain any points it cannot be written to file.

Parameters

file_path

The file is saved to the file_path, which should encompass both the directory path and the filename.

Exceptions

IOException	If the specified file path is invalid or lacks write permissions.
NotSupportedException	If the specified file extension or point type is not supported or the point cloud is empty.

Since

ids_peak_icv 1.1

transform()

PointCloud transform	(		self,
		npt.NDArray	matrix )

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

Parameters

matrix

The transformation matrix

Returns

A new transformed point cloud.

Exceptions

NotPossibleException

If the dtype of numpy array isn't type float32 or the matrix size isn't 4x4.

Since

ids_peak_icv 1.1

transform_to_workspace()

PointCloud transform_to_workspace	(		self,
		ExtrinsicParameters	extrinsic_parameters )

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

extrinsic_parameters

Extrinsic parameters of the workspace calibration.

Returns

A new transformed point cloud.

Since

ids_peak_icv 1.1

Field Documentation

_handle

_handle = None

protected

_point_type

_point_type = None

protected

_points

_points = None

protected

_sorted_points_cache [1/2]

_sorted_points_cache = None

protected

_sorted_points_cache [2/2]

list _sorted_points_cache = [PointXYZ(p[0], p[1], p[2]) for p in other]

points

points