XYZTextureAlignment Class Reference

#include <peak_icv/algorithms/transformations/peak_icv_xyz_texture_alignment.hpp>

Public Member Functions
	XYZTextureAlignment (const ExtrinsicParameters &sourceCameraExtrinsicParameters, const CalibrationParameters &targetCameraCalibrationParameters)
	Creates an object for aligning the pixel grids of an XYZ image and its corresponding texture image.
XYZImage	AlignXYZToTextureGrid (const XYZImage &image) const
	Aligns an XYZ image with the pixel grid of a corresponding texture image.

Detailed Description

Encapsulates the calibration parameters required to align an XYZ image to the pixel grid of a camera providing texture information.

Aligning the pixel grids of an XYZ image and its corresponding texture image is used to associate image texture acquired by the texture camera with the corresponding 3D points.

The stored calibration parameters include the extrinsic parameters of the source 3D camera and the intrinsic and extrinsic parameters of the target camera.

Important

The source 3D camera and the target camera must be calibrated with respect to the same workspace coordinate system. In other words, the extrinsic parameters of both cameras must refer to the same workspace coordinate system.

Since

ids_peak_icv 1.6

Warning

This function is still in development and not released.

Constructor & Destructor Documentation

XYZTextureAlignment()

XYZTextureAlignment ( const ExtrinsicParameters & sourceCameraExtrinsicParameters, const CalibrationParameters & targetCameraCalibrationParameters )

inline

Creates an object for aligning the pixel grids of an XYZ image and its corresponding texture image.

Parameters

sourceCameraExtrinsicParameters	Extrinsic parameters of the source 3D camera.
targetCameraCalibrationParameters	Intrinsic and extrinsic parameters of the target camera.

Since

ids_peak_icv 1.6

Warning

This function is still in development and not released.

Member Function Documentation

AlignXYZToTextureGrid()

XYZImage AlignXYZToTextureGrid ( const XYZImage & image ) const

inline

Aligns an XYZ image with the pixel grid of a corresponding texture image.

Each 3D point in the input image is transformed from the coordinate system of the source 3D camera into the coordinate system of the target camera using the extrinsic parameters of both cameras. The transformed point is then projected onto the image plane of the target camera using its intrinsic parameters. This is the pixel position at which the point would be observed by the target camera.

The original XYZ coordinates are stored at the corresponding pixel position in the output image.

Multiple 3D points may be projected onto the same pixel position. In this case, the stored XYZ value is implementation-defined.

The size of the output image corresponds to the calibrated image size of the target camera.

The image region of the returned image contains all pixels for which a projected 3D point exists.

Note

Metadata of the input image is not copied to the output image.

Parameters

image

XYZ image to align.

Returns

XYZ image aligned to the pixel grid of the texture image.

Exceptions

NotSupportedException

The pixel format of the input image is not supported.

Since

ids_peak_icv 1.6

Warning

This function is still in development and not released.