PointCloudXYZRGB Class Reference

Inheritance diagram for PointCloudXYZRGB:

Public Member Functions
	PointCloudXYZRGB (XYZImage image, Image colorImage)
	Constructs a point cloud from the specified XYZ image and color image.
	PointCloudXYZRGB (UndistortedImage undistortedDepthMap, Image colorImage)
	Constructs a point cloud from the specified undistorted depth map and color image.
	PointCloudXYZRGB (string filePath, PixelFormat pixelFormat)
	Constructs a point cloud by loading it from the specified file.
	PointCloudXYZRGB (PointXYZRGB[] points, PixelFormat pixelFormat)
	Constructs a point cloud from the specified list of points.
PointCloudXYZRGB	Transform (TransformationMatrix3D matrix)
	Applies a transformation to the point cloud.
PointCloudXYZRGB	TransformToWorkspace (ExtrinsicParameters extrinsicParameters)
	Transforms the point cloud to the workspace coordinate system using the extrinsic parameters.
override string	ToString ()
	Returns a string representation of the point cloud.

Properties
override PointXYZRGB[]	Points [get]
static IEqualityComparer< PointCloudXYZRGB >	Comparer = new PointCloudEqualityComparer() [get]
	Gets a default equality comparer for comparing PointCloudXYZRGB data values.

Detailed Description

Represents a point cloud consisting of points with x, y, z coordinates and color values (R, G and B).

Since

IDSImaging.Peak.ICV 1.4

Constructor & Destructor Documentation

PointCloudXYZRGB() [1/4]

PointCloudXYZRGB ( XYZImage image, Image colorImage )

inline

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

The region of the color image is disregarded.

Parameters

image	Image containing x, y, and z coordinates per pixel.
colorImage	Image containing RGB values per pixel.

Exceptions

IcvNotSupportedException	The image format is not supported.
IcvMismatchException	The specified xyzImage and colorImage do not have the same dimensions.

Since

IDSImaging.Peak.ICV 1.4

PointCloudXYZRGB() [2/4]

PointCloudXYZRGB ( UndistortedImage undistortedDepthMap, Image colorImage )

inline

Constructs a point cloud from the specified undistorted depth map and color 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. The region of the color image is disregarded.

Parameters

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

Exceptions

IcvNotSupportedException	The image format is not supported.
IcvMismatchException	The specified xyzImage and colorImage do not have the same dimensions.

Since

IDSImaging.Peak.ICV 1.4

PointCloudXYZRGB() [3/4]

PointCloudXYZRGB ( string filePath, PixelFormat pixelFormat )

inline

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.
pixelFormat	Specifies the pixel format of the color values.

Exceptions

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

Since

IDSImaging.Peak.ICV 1.4

PointCloudXYZRGB() [4/4]

PointCloudXYZRGB ( PointXYZRGB[] points, PixelFormat pixelFormat )

inline

Constructs a point cloud from the specified list of points.

Parameters

points	Array of 3D points with color.
pixelFormat	Specifies the pixel format of the RGB values.

Exceptions

IcvNotSupportedException

The pixel format is not supported.

Since

IDSImaging.Peak.ICV 1.4

Member Function Documentation

ToString()

override string ToString ( )

inlineinherited

Returns a string representation of the point cloud.

Since

IDSImaging.Peak.ICV 1.3

Transform()

PointCloudXYZRGB Transform ( TransformationMatrix3D matrix )

inline

Applies a transformation to the point cloud.

Parameters

matrix

The transformation matrix.

Returns

A new transformed point cloud.

Since

IDSImaging.Peak.ICV 1.4

TransformToWorkspace()

PointCloudXYZRGB TransformToWorkspace ( ExtrinsicParameters extrinsicParameters )

inline

Transforms the point cloud to the workspace coordinate system using the extrinsic parameters.

Parameters

extrinsicParameters

Extrinsic parameters of the workspace calibration.

Returns

A new transformed point cloud.

Since

IDSImaging.Peak.ICV 1.4

Property Documentation

Comparer

IEqualityComparer<PointCloudXYZRGB> Comparer = new PointCloudEqualityComparer()

staticget

Gets a default equality comparer for comparing PointCloudXYZRGB data values.

Since

IDSImaging.Peak.ICV 1.4

Points

override PointXYZRGB [] Points

get

Since

IDSImaging.Peak.ICV 1.4