#include <peak_icv/types/peak_icv_xyz_image.hpp>

Inheritance diagram for XYZImage:

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Collaboration diagram for XYZImage:

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Public Member Functions
	XYZImage (const UndistortedImage &undistortedDepthMap)
	Constructs a XYZImage object from a given UndistortedImage.

XYZImage	TransformToWorkspace (const ExtrinsicParameters &extrinsicParameters) const
	Transforms a XYZ image to the workspace coordinate system using the 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.

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.

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

void	SetRegion (const experimental::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.

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

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

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

Transforms an undistorted depth map with radial coordinates to a three-channel image with cartesian coordinates.

This class converts an undistorted depth map with radial coordinates to a three-channel image with cartesian coordinates. Radial coordinates represent the distance directly from the optical center to the reflected object, resulting in values that appear more distant as you move outwards from the image center. In contrast, Cartesian coordinates interpret the optical center as a plane, resulting in straight lines from the camera to the reflected object. For example, if the camera is placed in front of a flat wall, only the Cartesian values will show a flat plane.

Warning: This function is still in development and not released.

Definition at line 39 of file peak_icv_xyz_image.hpp.

Constructor & Destructor Documentation

◆ XYZImage()

XYZImage ( const UndistortedImage & undistortedDepthMap )

inlineexplicit

Constructs a XYZImage object from a given UndistortedImage.

Parameters

undistortedDepthMap The undistorted image.

Warning: This function is still in development and not released.

Definition at line 71 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: 1.0

Definition at line 358 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: 1.0

Definition at line 327 of file peak_icv_image.ipp.

◆ Copy()

Image Copy ( ) const

inlineinherited

Creates a deep copy of the current Image.

Returns: The copied image.

Since: 1.0

Definition at line 242 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: 1.0

Definition at line 389 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: 1.0

Definition at line 268 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: 1.0

Definition at line 258 of file peak_icv_image.ipp.

◆ GetMetadata()

peak::common::Metadata GetMetadata ( ) const

inlineinherited

Returns the CaptureInformation of an image which contains information about the image capture settings.

Returns: The CaptureInformation of the image

Warning: This function is still in development and not released.

Definition at line 349 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: 1.0

Definition at line 278 of file peak_icv_image.ipp.

◆ GetRegion()

experimental::Region GetRegion ( ) const

inlineinherited

Provides the region of the image.

Returns: The region of the image.

Warning: This function is still in development and not released.

Definition at line 301 of file peak_icv_image.ipp.

◆ GetSize()

peak::common::Size GetSize ( ) const

inlineinherited

Provides the size of the image.

Returns: The size of the image.

Since: 1.0

Definition at line 253 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: 1.0

Definition at line 263 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.

Warning: This function is still in development and not released.

Definition at line 384 of file peak_icv_image.ipp.

◆ operator==()

bool operator== ( const Image & rhs ) const

inlineinherited

Since: 1.0

Definition at line 216 of file peak_icv_image.ipp.

◆ ResetRegion()

void ResetRegion ( ) const

inlineinherited

Resets the region on the image to the complete image.

Warning: This function is still in development and not released.

Definition at line 320 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: 1.0

Definition at line 400 of file peak_icv_image.ipp.

◆ SetMetadata()

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

inlineinherited

Updates the CaptureInformation of an image which is used to store and manage capture settings.

Parameters

metadata CaptureInformation to be updated

Warning: This function is still in development and not released.

Definition at line 338 of file peak_icv_image.ipp.

◆ SetRegion()

void SetRegion ( const experimental::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

Warning: This function is still in development and not released.

Definition at line 311 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.

Warning: This function is still in development and not released.

Definition at line 372 of file peak_icv_image.ipp.

◆ TransformToWorkspace()

XYZImage TransformToWorkspace ( const ExtrinsicParameters & extrinsicParameters ) const

inline

Transforms a XYZ image to the workspace coordinate system using the extrinsic parameters.

The XYZ image is transformed from the camera coordinate system to the workspace coordinate system using the inverse of the extrinsic parameters.

Parameters

extrinsicParameters Extrinsic parameters of the workspace calibration.

Returns: Transformed XYZ image

Warning: This function is still in development and not released.

Definition at line 85 of file peak_icv_xyz_image.hpp.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ XYZImage()

Member Function Documentation

◆ At()

◆ ConvertPixelFormat()

◆ Copy()

◆ Crop()

◆ GetBytesPerLine()

◆ GetData()

◆ GetMetadata()

◆ GetPixelFormat()

◆ GetRegion()

◆ GetSize()

◆ GetSizeInBytes()

◆ operator-()

◆ operator==()

◆ ResetRegion()

◆ Scale()

◆ SetMetadata()

◆ SetRegion()

◆ Subtract()

◆ TransformToWorkspace()