#include <peak_icv/types/peak_icv_xyz_image.hpp>

Inheritance diagram for XYZImage:

[legend]

Public Member Functions
	XYZImage (const UndistortedImage &undistortedDepthMap)
	Constructs a cartesian coordinate image from an undistorted depth map.

XYZImage	TransformToWorkspace (const ExtrinsicParameters &extrinsicParameters) const
	Transforms the camera-centric coordinates into workspace coordinates.

bool	operator== (const Image &rhs) const

Image	Copy () const

peak::common::Size	GetSize () const
	Provides the size of the image in pixels.

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.

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

void	SetRegion (const 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.

Image	ConvertPixelFormat (peak::common::PixelFormat pixelFormat) const
	Converts the image to a different pixel format.

void	ConvertPixelFormat (Image &destinationImage) const
	Converts the image to the pixel format specified in the previously created destination image.

peak::icv::Image	ConvertPixelFormatWithFactor (peak::common::PixelFormat pixelFormat, const double factor) const
	Converts an image into another pixel format with a factor multiplied to every pixel.

std::vector< Image >	Deinterleave () const
	Splits an image with an interleaved pixel format into individual images.

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

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

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

Represents a three-channel image encoding cartesian coordinates (x, y, z) of a 3D point.

This image is derived from an undistorted depth map that contains embedded intrinsic parameters and uses radial coordinates.

In contrast to radial coordinates, which measure the direct distance from the optical center to the object, cartesian coordinates project these measurements onto a uniform plane.

For example: If the camera faces a flat wall, only the cartesian coordinates will form a flat plane, whereas radial values will increase towards the image edges.

Since: ids_peak_icv 1.1

Constructor & Destructor Documentation

◆ XYZImage()

XYZImage ( const UndistortedImage & undistortedDepthMap )

inlineexplicit

Constructs a cartesian coordinate image from an undistorted depth map.

To convert a distorted depth map into the required format, use the Undistortion class beforehand.

Supported pixel formats

Coord3D_C32f

See the Pixel and Pixel Format Specifications for a detailed description of the pixel formats.

Parameters

undistortedDepthMap An image encoding radial distances to 3D points that contains embedded intrinsic camera parameters.

Since: ids_peak_icv 1.1

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: ids_peak_icv 1.0

◆ ConvertPixelFormat() [1/2]

void ConvertPixelFormat ( Image & destinationImage ) const

inlineinherited

Converts the image to the pixel format specified in the previously created destination image.

Use this function if you already have a previously created image and want to avoid unnecessary memory allocations or copies.

If the input image has the same pixel format as the target pixel format, 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

destinationImage The size of the source image must match the size of the destination image.

Exceptions

MismatchException	The source size does not match the destination image size.
NotSupportedException	The conversion of the source pixel format into the destination pixel format is currently not supported.

Since: ids_peak_icv 1.4

◆ ConvertPixelFormat() [2/2]

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: ids_peak_icv 1.0

◆ ConvertPixelFormatWithFactor()

Image ConvertPixelFormatWithFactor	(	peak::common::PixelFormat	pixelFormat,
		const double	factor ) const

inlineinherited

Converts an image into another pixel format with a factor multiplied to every pixel.

If the input image has the same pixel format as the specified pixel format parameter, the image will be copied.

Supported conversions: From PixelFormat::Coord3D_C8 or PixelFormat::Coord3D_C16 to PixelFormat::Coord3D_C32f

Parameters

pixelFormat	The target pixel format.
factor	The multiplication factor

Returns: A new Image with the target pixel format.

Since: ids_peak_icv 1.1

◆ Copy()

Image Copy ( ) const

inlineinherited

Returns: A deep copy of the image, including its region and metadata.

Since: ids_peak_icv 1.0

◆ 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: ids_peak_icv 1.0

◆ Deinterleave()

std::vector< Image > Deinterleave ( ) const

inlineinherited

Splits an image with an interleaved pixel format into individual images.

The function separates e.g. multiple exposures embedded in the combined HDR raw image and provides them as independent images, each with the correctly associated exposure information.

Supported pixel formats

Mono10g40IDS_I_A_B
BayerRG10g40IDS_I_A_B
BayerBG10g40IDS_I_A_B
BayerGR10g40IDS_I_A_B
BayerGB10g40IDS_I_A_B
Mono12g24IDS_I_A_B
BayerRG12g24IDS_I_A_B
BayerBG12g24IDS_I_A_B
BayerGR12g24IDS_I_A_B
BayerGB12g24IDS_I_A_B

Mono8_I_A_B
BayerRG8_I_A_B
BayerBG8_I_A_B
BayerGR8_I_A_B
BayerGB8_I_A_B
Mono10_I_A_B
BayerRG10_I_A_B
BayerBG10_I_A_B
BayerGR10_I_A_B
BayerGB10_I_A_B

Mono12_I_A_B
BayerRG12_I_A_B
BayerBG12_I_A_B
BayerGR12_I_A_B
BayerGB12_I_A_B
Mono10p_I_A_B
BayerRG10p_I_A_B
BayerBG10p_I_A_B
BayerGR10p_I_A_B
BayerGB10p_I_A_B

Mono12p_I_A_B
BayerRG12p_I_A_B
BayerBG12p_I_A_B
BayerGR12p_I_A_B
BayerGB12p_I_A_B
Mono8_I_AB_CD
Mono10_I_AB_CD
Mono12_I_AB_CD
Mono10p_I_AB_CD
Mono12p_I_AB_CD

Mono10g40IDS_I_AB_CD
Mono12g24IDS_I_AB_CD

See the Pixel and Pixel Format Specifications for a detailed description of the pixel formats.

Returns: A vector where each element represents one of the interleaved images.

Since: ids_peak_icv 1.3

◆ 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: ids_peak_icv 1.0

◆ GetData()

uint8_t * GetData ( ) const

inlineinherited

Provides a pointer to the image data buffer.

Returns: A pointer to the image data buffer.

Since: ids_peak_icv 1.0

◆ GetMetadata()

peak::common::Metadata GetMetadata ( ) const

inlineinherited

Returns the Metadata of an image which contains information about the image capture information.

Returns: The Metadata of the image

Since: ids_peak_icv 1.1

◆ GetPixelFormat()

peak::common::PixelFormat GetPixelFormat ( ) const

inlineinherited

Provides the pixel format of the image.

Returns: The pixel format of the image.

Since: ids_peak_icv 1.0

◆ GetRegion()

Region GetRegion ( ) const

inlineinherited

Provides the region of the image.

Returns: The region of the image.

Since: ids_peak_icv 1.1

◆ GetSize()

peak::common::Size GetSize ( ) const

inlineinherited

Provides the size of the image in pixels.

Returns: The size of the image in pixels.

Since: ids_peak_icv 1.0

◆ 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: ids_peak_icv 1.0

◆ 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.

Since: ids_peak_icv 1.1

◆ operator==()

bool operator== ( const Image & rhs ) const

inlineinherited

Since: ids_peak_icv 1.0

◆ ResetRegion()

void ResetRegion ( ) const

inlineinherited

Resets the region on the image to the complete image.

Since: ids_peak_icv 1.1

◆ 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: ids_peak_icv 1.0

◆ SetMetadata()

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

inlineinherited

Updates the Metadata of an image which is used to store and manage capture information.

Parameters

metadata Metadata to be updated

Since: ids_peak_icv 1.1

◆ SetRegion()

void SetRegion ( const 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

Since: ids_peak_icv 1.1

◆ 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.

Since: ids_peak_icv 1.1

◆ TransformToWorkspace()

XYZImage TransformToWorkspace ( const ExtrinsicParameters & extrinsicParameters ) const

inline

Transforms the camera-centric coordinates into workspace coordinates.

This applies the inverse of the provided extrinsic matrix to map the 3D points from the camera's perspective into the physical workspace.

Parameters

extrinsicParameters The extrinsic parameters defining the workspace.

Since: ids_peak_icv 1.1

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ XYZImage()

Member Function Documentation

◆ At()

◆ ConvertPixelFormat() [1/2]

◆ ConvertPixelFormat() [2/2]

◆ ConvertPixelFormatWithFactor()

◆ Copy()

◆ Crop()

◆ Deinterleave()

◆ GetBytesPerLine()

◆ GetData()

◆ GetMetadata()

◆ GetPixelFormat()

◆ GetRegion()

◆ GetSize()

◆ GetSizeInBytes()

◆ operator-()

◆ operator==()

◆ ResetRegion()

◆ Scale()

◆ SetMetadata()

◆ SetRegion()

◆ Subtract()

◆ TransformToWorkspace()