#include <peak_icv/types/peak_icv_point_cloud_xyzi.hpp>

Inheritance diagram for PointCloudXYZI:

[legend]

Public Types
using	PointType

Public Member Functions
	PointCloudXYZI (const XYZImage &xyzImage, const Image &intensityImage)
	Constructs a point cloud from the specified XYZ image and intensity image.

	PointCloudXYZI (const peak::icv::UndistortedImage &undistortedDepthMap, const Image &intensityImage)
	Constructs a point cloud from the specified undistorted depth map and intensity image.

	PointCloudXYZI (const std::string &filePath, peak::common::PixelFormat pixelFormatName)
	Constructs a point cloud by loading it from the specified file.

	PointCloudXYZI (const std::vector< PointXYZI > &points, peak::common::PixelFormat pixelFormatName)
	Constructs a point cloud from the specified list of points.

bool	operator== (const PointCloud &rhs) const

bool	operator!= (const PointCloud &rhs) const

const std::vector< PointXYZI > &	GetPoints () const

PointCloudXYZI	Transform (const TransformationMatrix3D &matrix) const
	Applies the specified transformation matrix to the point cloud.

PointCloudXYZI	TransformToWorkspace (const ExtrinsicParameters &extrinsicParameters) const
	Transforms the point cloud to workspace coordinates using the specified extrinsic parameters.

std::vector< PointXYZI >::const_iterator	cbegin () const

std::vector< PointXYZI >::const_iterator	cend () const

Detailed Description

Represents a point cloud consisting of points with x, y, z coordinates and an intensity value.

Since: ids_peak_icv 1.1

Definition at line 40 of file peak_icv_point_cloud_xyzi.hpp.

Member Typedef Documentation

◆ PointType

using PointXYZI

inherited

Definition at line 66 of file peak_icv_point_cloud.hpp.

Constructor & Destructor Documentation

◆ PointCloudXYZI() [1/4]

PointCloudXYZI	(	const XYZImage &	xyzImage,
		const Image &	intensityImage )

inline

Constructs a point cloud from the specified XYZ image and intensity image.

Note: The region of the intensity image is disregarded.

Parameters

xyzImage	Image containing x, y, and z coordinates per pixel.
intensityImage	Image containing intensity values per pixel.

Exceptions

NotSupportedException	The image format is not supported.
MismatchException	The specified `xyzImage` and `intensityImage` do not have the same dimensions.

Since: ids_peak_icv 1.1

Definition at line 130 of file peak_icv_point_cloud_xyzi.hpp.

◆ PointCloudXYZI() [2/4]

PointCloudXYZI	(	const peak::icv::UndistortedImage &	undistortedDepthMap,
		const Image &	intensityImage )

inline

Constructs a point cloud from the specified undistorted depth map and intensity image.

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.

Note: The region of the intensity image is disregarded.

Parameters

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

Exceptions

NotSupportedException	The image format is not supported.
MismatchException	The specified `xyzImage` and `intensityImage` do not have the same dimensions.

Since: ids_peak_icv 1.1

Definition at line 134 of file peak_icv_point_cloud_xyzi.hpp.

◆ PointCloudXYZI() [3/4]

PointCloudXYZI	(	const std::string &	filePath,
		peak::common::PixelFormat	pixelFormatName )

inlineexplicit

Constructs a point cloud by loading it from the specified file.

The file format is determined by the specified file extension of the file name.

Supported file formats (with required file extensions):

PLY (.ply) – Polygon File Format

Parameters

filePath	Path to the point cloud file, encoded in UTF-8.
pixelFormatName	Specifies the pixel format of the intensity values.

Exceptions

IOException	The specified `filePath` is invalid or lacks read permissions, or the file is in an unsupported format or contains invalid data.
NotSupportedException	The pixel format is not supported.

Since: ids_peak_icv 1.1

Definition at line 138 of file peak_icv_point_cloud_xyzi.hpp.

◆ PointCloudXYZI() [4/4]

PointCloudXYZI	(	const std::vector< PointXYZI > &	points,
		peak::common::PixelFormat	pixelFormatName )

inlineexplicit

Constructs a point cloud from the specified list of points.

Parameters

points	Vector of 3D points with intensity.
pixelFormatName	Specifies the pixel format of the intensity values.

Exceptions

NotSupportedException The pixel format is not supported.

Since: ids_peak_icv 1.1

Definition at line 142 of file peak_icv_point_cloud_xyzi.hpp.

Member Function Documentation

◆ cbegin()

std::vector< InnerPointType >::const_iterator cbegin ( ) const

inherited

Returns: Iterator to the first point.

Definition at line 112 of file peak_icv_point_cloud.hpp.

◆ cend()

std::vector< InnerPointType >::const_iterator cend ( ) const

inherited

Returns: Iterator to the end of the points (the point after the last point).

Definition at line 117 of file peak_icv_point_cloud.hpp.

◆ GetPoints()

const std::vector< InnerPointType > & GetPoints ( ) const

inherited

Returns: Reference to the vector containing the points.

Definition at line 85 of file peak_icv_point_cloud.hpp.

◆ operator!=()

bool operator!= ( const PointCloud< PointCloudXYZI, PointXYZI > & rhs ) const

inherited

Definition at line 80 of file peak_icv_point_cloud.hpp.

◆ operator==()

bool operator== ( const PointCloud< PointCloudXYZI, PointXYZI > & rhs ) const

inherited

Definition at line 78 of file peak_icv_point_cloud.hpp.

◆ Transform()

PointCloudXYZI Transform ( const TransformationMatrix3D & matrix ) const

inherited

Applies the specified transformation matrix to the point cloud.

Parameters

matrix Transformation matrix to apply.

Returns: Transformed point cloud.

Definition at line 94 of file peak_icv_point_cloud.hpp.

◆ TransformToWorkspace()

PointCloudXYZI TransformToWorkspace ( const ExtrinsicParameters & extrinsicParameters ) const

inherited

Transforms the point cloud 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 point cloud.

Definition at line 107 of file peak_icv_point_cloud.hpp.

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ PointType

Constructor & Destructor Documentation

◆ PointCloudXYZI() [1/4]

◆ PointCloudXYZI() [2/4]

◆ PointCloudXYZI() [3/4]

◆ PointCloudXYZI() [4/4]

Member Function Documentation

◆ cbegin()

◆ cend()

◆ GetPoints()

◆ operator!=()

◆ operator==()

◆ Transform()

◆ TransformToWorkspace()