PointCloudXYZOverlay< PointCloudType, InnerPointType > Class Template Reference

#include <peak_icv/types/detail/peak_icv_point_cloud_xyz_with_overlay.hpp>

Inheritance diagram for PointCloudXYZOverlay< PointCloudType, InnerPointType >:

Public Types
using	PointType

Public Member Functions
	PointCloudXYZOverlay (const XYZImage &xyzImage, const Image &overlayImage)
	Constructs a point cloud from the specified XYZ image and intensity image.
	PointCloudXYZOverlay (const UndistortedImage &undistortedDepthMap, const Image &overlayImage)
	Constructs a point cloud from the specified undistorted depth map and intensity image.
	PointCloudXYZOverlay (const std::string &filePath, peak::common::PixelFormat pixelFormatName)
	Constructs a point cloud by loading it from the specified file.
	PointCloudXYZOverlay (const std::vector< InnerPointType > &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< InnerPointType > &	GetPoints () const
PointCloudType	Transform (const TransformationMatrix3D &matrix) const
	Applies the specified transformation matrix to the point cloud.
PointCloudType	TransformToWorkspace (const ExtrinsicParameters &extrinsicParameters) const
	Transforms the point cloud to workspace coordinates using the specified extrinsic parameters.
std::vector< InnerPointType >::const_iterator	cbegin () const
std::vector< InnerPointType >::const_iterator	cend () const

Detailed Description

template<typename PointCloudType, typename InnerPointType>
class peak::icv::detail::PointCloudXYZOverlay< PointCloudType, InnerPointType >

Represents a point cloud consisting of points with x, y, z coordinates and red, green and blue values.

Since

ids_peak_icv 1.4

Member Typedef Documentation

PointType

using InnerPointType

inherited

Constructor & Destructor Documentation

PointCloudXYZOverlay() [1/4]

template<typename PointCloudType , typename InnerPointType >

PointCloudXYZOverlay ( const XYZImage & xyzImage, const Image & overlayImage )

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.
overlayImage	Image containing intensity or rgb values per pixel.

Exceptions

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

Since

ids_peak_icv 1.4

PointCloudXYZOverlay() [2/4]

template<typename PointCloudType , typename InnerPointType >

PointCloudXYZOverlay ( const UndistortedImage & undistortedDepthMap, const Image & overlayImage )

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.
overlayImage	Image containing intensity or rgb values per pixel.

Exceptions

NotSupportedException	The image format is not supported.
MismatchException	The specified undistortedDepthMap and overlayImage do not have the same dimensions.

Since

ids_peak_icv 1.4

PointCloudXYZOverlay() [3/4]

template<typename PointCloudType , typename InnerPointType >

PointCloudXYZOverlay ( 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 1.4

PointCloudXYZOverlay() [4/4]

template<typename PointCloudType , typename InnerPointType >

PointCloudXYZOverlay ( const std::vector< InnerPointType > & 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 1.4

Member Function Documentation

cbegin()

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

inherited

Returns

Iterator to the first point.

cend()

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

inherited

Returns

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

GetPoints()

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

inherited

Returns

Reference to the vector containing the points.

operator!=()

bool operator!= ( const PointCloud< PointCloudType, InnerPointType > & rhs ) const

inherited

operator==()

bool operator== ( const PointCloud< PointCloudType, InnerPointType > & rhs ) const

inherited

Transform()

PointCloudType 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.

TransformToWorkspace()

PointCloudType 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.