XYZTextureAlignment Class Reference

Public Member Functions
None	__init__ (self, *Any args, **Any kwargs)
	In order to create a XYZTextureAlignment, please refer to the classmethods create_from_extrinsics_and_calibration_parameters.
XYZTextureAlignment	create_from_extrinsics_and_calibration_parameters (cls, ExtrinsicParameters source_camera_extrinsic_parameters, CalibrationParameters target_camera_calibration_parameters)
	Creates an object for aligning the pixel grids of an XYZ image and its corresponding texture image.
XYZImage	align_xyz_to_texture_grid (self, XYZImage image)
	Aligns an XYZ image with the pixel grid of a corresponding texture image.

Protected Attributes
	_source_camera_extrinsic_parameters = kwargs["_source_camera_extrinsic_parameters"]
	_target_camera_calibration_parameters = kwargs["_target_camera_calibration_parameters"]

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

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
		*Any	args,
		**Any	kwargs )

In order to create a XYZTextureAlignment, please refer to the classmethods create_from_extrinsics_and_calibration_parameters.

Since

ids_peak_icv 1.6

Member Function Documentation

align_xyz_to_texture_grid()

XYZImage align_xyz_to_texture_grid	(		self,
		XYZImage	image )

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 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 project.

Returns

XYZ image in the target camera view.

Exceptions

NotSupportedException

The pixel format of the input image is not supported.

Since

ids_peak_icv 1.6

create_from_extrinsics_and_calibration_parameters()

XYZTextureAlignment create_from_extrinsics_and_calibration_parameters	(		cls,
		ExtrinsicParameters	source_camera_extrinsic_parameters,
		CalibrationParameters	target_camera_calibration_parameters )

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

Parameters

source_camera_extrinsic_parameters	Extrinsic parameters of the source 3D camera.
target_camera_calibration_parameters	Intrinsic and extrinsic parameters of the target camera.

Returns

A XYZTextureAlignment instance.

Since

ids_peak_icv 1.6

Field Documentation

_source_camera_extrinsic_parameters

_source_camera_extrinsic_parameters = kwargs["_source_camera_extrinsic_parameters"]

protected

_target_camera_calibration_parameters

_target_camera_calibration_parameters = kwargs["_target_camera_calibration_parameters"]

protected