PointCloudXYZ Class Reference

#include <peak_icv/types/peak_icv_point_cloud_xyz.hpp>

Inheritance diagram for PointCloudXYZ:

Public Types
using	PointType

Public Member Functions
	PointCloudXYZ (const XYZImage &image)
	Constructs a point cloud from the specified XYZ image.
	PointCloudXYZ (const UndistortedImage &undistortedDepthMap)
	Constructs a point cloud from the specified undistorted depth map.
	PointCloudXYZ (const std::string &filePath)
	Constructs a point cloud by loading it from the specified file.
	PointCloudXYZ (const std::vector< PointXYZ > &points)
	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< PointXYZ > &	GetPoints () const
PointCloudXYZ	Transform (const TransformationMatrix3D &matrix) const
	Applies the specified transformation matrix to the point cloud.
PointCloudXYZ	TransformToWorkspace (const ExtrinsicParameters &extrinsicParameters) const
	Transforms the point cloud to workspace coordinates using the specified extrinsic parameters.
std::vector< PointXYZ >::const_iterator	cbegin () const
std::vector< PointXYZ >::const_iterator	cend () const

Detailed Description

Represents a point cloud consisting of points with x, y, and z coordinates.

Since

ids_peak_icv 1.1

Member Typedef Documentation

PointType

using PointXYZ

inherited

Constructor & Destructor Documentation

PointCloudXYZ() [1/4]

PointCloudXYZ ( const XYZImage & image )

inlineexplicit

Constructs a point cloud from the specified XYZ image.

Parameters

image

Image containing x, y, and z coordinates per pixel.

Exceptions

NotSupportedException

The image format is not supported.

Since

ids_peak_icv 1.1

PointCloudXYZ() [2/4]

PointCloudXYZ ( const UndistortedImage & undistortedDepthMap )

inlineexplicit

Constructs a point cloud from the specified undistorted depth map.

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.

Parameters

undistortedDepthMap

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

Exceptions

NotSupportedException

The image format is not supported.

Since

ids_peak_icv 1.1

PointCloudXYZ() [3/4]

PointCloudXYZ ( const std::string & filePath )

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.

Exceptions

IOException

The specified filePath is invalid or lacks read permissions, or the file is in an unsupported format or contains invalid data.

Since

ids_peak_icv 1.1

PointCloudXYZ() [4/4]

PointCloudXYZ ( const std::vector< PointXYZ > & points )

inlineexplicit

Constructs a point cloud from the specified list of points.

Parameters

points

Vector of 3D points.

Since

ids_peak_icv 1.1

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< PointCloudXYZ, PointXYZ > & rhs ) const

inherited

operator==()

bool operator== ( const PointCloud< PointCloudXYZ, PointXYZ > & rhs ) const

inherited

Transform()

PointCloudXYZ 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()

PointCloudXYZ 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.