#include <peak_icv/types/peak_icv_xyz_image.hpp>

Inheritance diagram for XYZImage:

[legend]

Public Member Functions
	XYZImage (const UndistortedImage &undistortedDepthMap)
	Constructs a Cartesian coordinate image from the specified undistorted depth map.

XYZImage	TransformToWorkspace (const ExtrinsicParameters &extrinsicParameters) const
	Transforms the image to workspace coordinates using the specified extrinsic parameters.

bool	operator== (const Image &rhs) const

Image	Copy () const
	Creates a deep copy of the current Image.

peak::common::Size	GetSize () const
	Provides the size of the image in pixels.

uint8_t *	GetData () const
	Provides a pointer to the image data buffer.

size_t	GetSizeInBytes () const
	Provides the size of the image data in bytes.

size_t	GetBytesPerLine () const
	Computes the number of bytes required to store one line of pixel data (no padding).

peak::common::PixelFormat	GetPixelFormat () const
	Provides the pixel format of the image.

Region	GetRegion () const
	Provides the region of the image.

void	SetRegion (const Region &region) const
	Updates the region on the image.

void	ResetRegion () const
	Resets the region on the image to the complete image.

template<typename DataType >
DataType *	At (size_t x, size_t y) const
	Provides a pointer to the data at the specified coordinates.

peak::icv::Image	ConvertPixelFormat (peak::common::PixelFormat pixelFormat) const
	Converts the image to a different pixel format.

peak::icv::Image	ConvertPixelFormatWithFactor (peak::common::PixelFormat pixelFormat, const double factor) const
	Converts an image into another pixel format with a factor multiplied to every pixel.

void	SetMetadata (const peak::common::Metadata &metadata)
	Updates the Metadata of an image which is used to store and manage capture information.

peak::common::Metadata	GetMetadata () const
	Returns the Metadata of an image which contains information about the image capture information.

Image	Subtract (const Image &subtrahend) const
	Subtracts the specified `subtrahend` image pixelwise from the current image and returns the resulting image.

Image	operator- (const Image &subtrahend) const
	Subtracts the specified `subtrahend` image pixelwise from the current image and returns the resulting image.

Image	Crop (const peak::common::Rectangle &rect) const
	Crops the image to the given rectangle.

Image	Scale (const peak::common::Size &targetImageSize, const Interpolation &interpolation=Interpolation::NearestNeighbor) const
	Returns an image scaled to the given image size.

Detailed Description

Represents a three-channel image with Cartesian coordinates derived from an undistorted depth map.

Converts an undistorted depth map with radial coordinates into a three-channel image, where each channel encodes the Cartesian x, y, and z coordinates of a 3D point.

The input depth map must encode radial distances from the camera origin, with intrinsic parameters embedded in the image.

Since: ids_peak_icv 1.1

Definition at line 38 of file peak_icv_xyz_image.hpp.

Constructor & Destructor Documentation

◆ XYZImage()

XYZImage ( const UndistortedImage & undistortedDepthMap )

inlineexplicit

Constructs a Cartesian coordinate image from the specified undistorted depth map.

The intrinsic parameters must be embedded in the image.

The depth values must represent distances measured in a spherical coordinate system centered at the camera origin. Each pixel must encode the radial distance to a 3D point.

Use the Undistortion class to convert a distorted depth map into an UndistortedImage.

Parameters

undistortedDepthMap Image containing distance values per pixel, along with intrinsic camera parameters.

Supported pixel formats

Coord3D_C32f

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

Since: ids_peak_icv 1.1

Definition at line 92 of file peak_icv_xyz_image.hpp.

Member Function Documentation

◆ At()

template<typename DataType >

DataType * At	(	size_t	x,
		size_t	y ) const

inlineinherited

Provides a pointer to the data at the specified coordinates.

Template Parameters

DataType The type of the data to retrieve.

Parameters

x	The x-coordinate.
y	The y-coordinate.

Returns: A pointer to the data at the specified coordinates.

Since: ids_peak_icv 1.0

Definition at line 300 of file peak_icv_image.hpp.

◆ ConvertPixelFormat()

Image ConvertPixelFormat ( peak::common::PixelFormat pixelFormat ) const

inlineinherited

Converts the image to a different pixel format.

If the input image has the same pixel format as the specified pixel format parameter, the image will be copied.

Restrictions:

Conversion to Bayer formats is only supported from a bayer format with the same pattern, e.g. from BayerRG10p to BayerRG10 or BayerRG8.
Conversion to packed formats is not supported.
Conversions from RGB or BGR formats to RGBa or BGRa formats is not supported.
RGBa and BGRa formats support only conversions into different bit depths of the same channel layout or to Mono formats.
Confidence and Coord3D formats can only be converted to other bit depths of the same format type.

Note: For a full list of supported conversions see Supported Pixel Format Conversions.

Parameters

pixelFormat The target pixel format.

Returns: A new Image with the target pixel format.

Since: ids_peak_icv 1.0

Definition at line 376 of file peak_icv_image.ipp.

◆ ConvertPixelFormatWithFactor()

Image ConvertPixelFormatWithFactor	(	peak::common::PixelFormat	pixelFormat,
		const double	factor ) const

inlineinherited

Converts an image into another pixel format with a factor multiplied to every pixel.

If the input image has the same pixel format as the specified pixel format parameter, the image will be copied.

Supported conversions: From PixelFormat::Coord3D_C8 or PixelFormat::Coord3D_C16 to PixelFormat::Coord3D_C32f

Parameters

pixelFormat	The target pixel format.
factor	The multiplication factor

Returns: A new Image with the target pixel format.

Since: 1.1

Definition at line 387 of file peak_icv_image.ipp.

◆ Copy()

Image Copy ( ) const

inlineinherited

Creates a deep copy of the current Image.

Returns: The copied image.

Since: ids_peak_icv 1.0

Definition at line 256 of file peak_icv_image.ipp.

◆ Crop()

Image Crop ( const peak::common::Rectangle & rect ) const

inlineinherited

Crops the image to the given rectangle.

Returns: The cropped image.

Exceptions

OutOfRangeException The given rectangle is (partly) outside the image.

Since: ids_peak_icv 1.0

Definition at line 448 of file peak_icv_image.ipp.

◆ GetBytesPerLine()

size_t GetBytesPerLine ( ) const

inlineinherited

Computes the number of bytes required to store one line of pixel data (no padding).

This returns the exact number of bytes used for one scanline of pixel data based on the image's width, number of channels, and bits per pixel.

Returns: Number of bytes per line of pixel data.

Since: ids_peak_icv 1.0

Definition at line 283 of file peak_icv_image.ipp.

◆ GetData()

uint8_t * GetData ( ) const

inlineinherited

Provides a pointer to the image data buffer.

Returns: A pointer to the image data buffer.

Since: ids_peak_icv 1.0

Definition at line 273 of file peak_icv_image.ipp.

◆ GetMetadata()

peak::common::Metadata GetMetadata ( ) const

inlineinherited

Returns the Metadata of an image which contains information about the image capture information.

Returns: The Metadata of the image

Since: ids_peak_icv 1.1

Definition at line 409 of file peak_icv_image.ipp.

◆ GetPixelFormat()

peak::common::PixelFormat GetPixelFormat ( ) const

inlineinherited

Provides the pixel format of the image.

Returns: The pixel format of the image.

Since: ids_peak_icv 1.0

Definition at line 293 of file peak_icv_image.ipp.

◆ GetRegion()

Region GetRegion ( ) const

inlineinherited

Provides the region of the image.

Returns: The region of the image.

Since: ids_peak_icv 1.1

Definition at line 350 of file peak_icv_image.ipp.

◆ GetSize()

peak::common::Size GetSize ( ) const

inlineinherited

Provides the size of the image in pixels.

Returns: The size of the image in pixels.

Since: ids_peak_icv 1.0

Definition at line 268 of file peak_icv_image.ipp.

◆ GetSizeInBytes()

size_t GetSizeInBytes ( ) const

inlineinherited

Provides the size of the image data in bytes.

Returns: The size of the image data in bytes.

Since: ids_peak_icv 1.0

Definition at line 278 of file peak_icv_image.ipp.

◆ operator-()

Image operator- ( const Image & subtrahend ) const

inlineinherited

Subtracts the specified subtrahend image pixelwise from the current image and returns the resulting image.

This function performs a pixelwise subtraction of the given subtrahend image from the current image. The resulting image is returned as a new Image object. The operation requires that both images have the same pixel format and dimensions.

Parameters

subtrahend The image to subtract from the current image.

Returns: The resulting image after pixelwise subtraction.

Since: ids_peak_icv 1.1

Definition at line 443 of file peak_icv_image.ipp.

◆ operator==()

bool operator== ( const Image & rhs ) const

inlineinherited

Since: ids_peak_icv 1.0

Definition at line 230 of file peak_icv_image.ipp.

◆ ResetRegion()

void ResetRegion ( ) const

inlineinherited

Resets the region on the image to the complete image.

Since: ids_peak_icv 1.1

Definition at line 369 of file peak_icv_image.ipp.

◆ Scale()

Image Scale	(	const peak::common::Size &	targetImageSize,
		const Interpolation &	interpolation = Interpolation::NearestNeighbor ) const

inlineinherited

Returns an image scaled to the given image size.

Internally the scale factors are computed as follows:

Horizontal scale factor (X-axis) = Image width / Size width
Vertical scale factor (Y-axis) = Image height / Size height

These factors determine how the input image is resized to match the desired output dimensions.

Parameters

targetImageSize	The image size to which the original image is scaled.
interpolation	The interpolation method used to scale the image.

Returns: The scaled image.

Exceptions

NotPossibleException	The given targetImageSize is empty (i.e. width × height == 0).
NotSupportedException	The interpolation method is not supported.

Since: ids_peak_icv 1.0

Definition at line 459 of file peak_icv_image.ipp.

◆ SetMetadata()

void SetMetadata ( const peak::common::Metadata & metadata )

inlineinherited

Updates the Metadata of an image which is used to store and manage capture information.

Parameters

metadata Metadata to be updated

Since: ids_peak_icv 1.1

Definition at line 398 of file peak_icv_image.ipp.

◆ SetRegion()

void SetRegion ( const Region & region ) const

inlineinherited

Updates the region on the image.

Sets a region of interest (ROI) for the specified image handle, which defines a sub-area of the image where operations or analyses are focused. Any points in the region that fall outside the bounds of the image are automatically discarded (clipped).

Parameters

region Region to update

Since: ids_peak_icv 1.1

Definition at line 360 of file peak_icv_image.ipp.

◆ Subtract()

Image Subtract ( const Image & subtrahend ) const

inlineinherited

Subtracts the specified subtrahend image pixelwise from the current image and returns the resulting image.

This function performs a pixelwise subtraction of the given subtrahend image from the current image. The resulting image is returned as a new Image object. The operation requires that both images have the same pixel format and dimensions.

Parameters

subtrahend The image to subtract from the current image.

Returns: The resulting image after pixelwise subtraction.

Since: ids_peak_icv 1.1

Definition at line 431 of file peak_icv_image.ipp.

◆ TransformToWorkspace()

XYZImage TransformToWorkspace ( const ExtrinsicParameters & extrinsicParameters ) const

inline

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

extrinsicParameters Extrinsic parameters from the workspace calibration.

Returns: Transformed Cartesian coordinate image.

Since: ids_peak_icv 1.1

Definition at line 107 of file peak_icv_xyz_image.hpp.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ XYZImage()

Member Function Documentation

◆ At()

◆ ConvertPixelFormat()

◆ ConvertPixelFormatWithFactor()

◆ Copy()

◆ Crop()

◆ GetBytesPerLine()

◆ GetData()

◆ GetMetadata()

◆ GetPixelFormat()

◆ GetRegion()

◆ GetSize()

◆ GetSizeInBytes()

◆ operator-()

◆ operator==()

◆ ResetRegion()

◆ Scale()

◆ SetMetadata()

◆ SetRegion()

◆ Subtract()

◆ TransformToWorkspace()