EMeshToZMapConverter Class
Computes an EZMap from an EMesh. The value of the pixels of the ZMap are the distance between the 3D points and the reference plane.
All 3D points under the reference plane are discarded.
Various options can be set with methods EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::SetFillMode, EMeshToZMapConverter::SetMapXYResolution, EMeshToZMapConverter::MapZResolution, EMeshToZMapConverter::OrientationVector...
When the conversion is called without defining specific parameters, the algorithm uses the following options:
- The reference plane is the horizontal plane.
- The orientation vector is selected automatically.
- The origin is set as the lowest left position of the projected point cloud on the reference plane.
- The resolution (the dimensions of the Z map) is estimated to have approximately one Point Cloud point per ZMap pixels.
- The scale is calculated from the point cloud ranges and the estimated resolution.
- The fill mode is enabled and the method is set to 'EFillUndefinedPixelsDirection_Local' (see method EDepthMap8::FillUndefinedPixels).
Namespace: Euresys::Open_eVision::Easy3D
Methods
Fill mode is enabled by default. If fill mode is disabled, undefined pixels may remain in the EZMap.
That value affects X,Y and Z directions and can be used to generate an EZMap with borders of undefined pixels.
Default value is
By default, the required size is not set.
By default, the required size is not set.
The resolution is used to compute the transformation of the world Z position to an integer 8, 16 or 32 bits pixel value.
Overrides the orientation mode given by the method EMeshToZMapConverter::OrientationVectorMode.
Use EMeshToZMapConverter::OrientationVector to set an explicit orientation vector for the ZMap.
Overrides the explicit reference plane given by the method EMeshToZMapConverter::ReferencePlane.
EMeshToZMapConverter::WorldToZMapTransform overrides the settings done by EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::OrientationVector and EMeshToZMapConverter::Origin.
That E3DTransformMatrix transform expresses how the world positions are transformed to the EZMap space.
The matrix must be a rigid transformation (translation and rotation only).
The resolution of the ZMap are defined by the EMeshToZMapConverter::SetMapXYResolution and EMeshToZMapConverter::MapZResolution methods.
"SetZMaptoWorldTransform" overrides the settings done by EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::OrientationVector and EMeshToZMapConverter::Origin.
That E3DTransformMatrix transform expresses how the EZMap positions are transformed to the World space.
The matrix must be a rigid transformation (translation and rotation only).
The resolutions of the World are defined by the EMeshToZMapConverter::SetMapXYResolution and EMeshToZMapConverter::MapZResolution methods.
Use EMeshToZMapConverter::EnableFillMode to toggle the fill mode and EMeshToZMapConverter::SetFillMode or EMeshToZMapConverter::SetFillModeMedian to set the filling parameters.
That value affects X,Y and Z directions and can be used to generate an EZMap with borders of undefined pixels.
Default value is
By default, the required size is not set.
The resolution is used to compute the ZMap size (width and height), depending on the projected point cloud on the reference plane.
The resolution is used to compute the transformation of the world Z position to an integer 8, 16 or 32 bits pixel value.
Overrides the orientation mode given by the method EMeshToZMapConverter::OrientationVectorMode.
Use EMeshToZMapConverter::OrientationVector to set an explicit orientation vector for the ZMap.
Overrides the explicit reference plane given by the method EMeshToZMapConverter::ReferencePlane.
EMeshToZMapConverter::WorldToZMapTransform overrides the settings done by EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::OrientationVector and EMeshToZMapConverter::Origin.
That E3DTransformMatrix transform expresses how the world positions are transformed to the EZMap space.
The matrix must be a rigid transformation (translation and rotation only).
The resolution of the ZMap are defined by the EMeshToZMapConverter::SetMapXYResolution and EMeshToZMapConverter::MapZResolution methods.
"SetZMaptoWorldTransform" overrides the settings done by EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::OrientationVector and EMeshToZMapConverter::Origin.
That E3DTransformMatrix transform expresses how the EZMap positions are transformed to the World space.
The matrix must be a rigid transformation (translation and rotation only).
The resolutions of the World are defined by the EMeshToZMapConverter::SetMapXYResolution and EMeshToZMapConverter::MapZResolution methods.
Use EMeshToZMapConverter::Origin to enable and choose the ZMap origin.
EMeshToZMapConverter Class
Computes an EZMap from an EMesh. The value of the pixels of the ZMap are the distance between the 3D points and the reference plane.
All 3D points under the reference plane are discarded.
Various options can be set with methods EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::SetFillMode, EMeshToZMapConverter::SetMapXYResolution, EMeshToZMapConverter::MapZResolution, EMeshToZMapConverter::OrientationVector...
When the conversion is called without defining specific parameters, the algorithm uses the following options:
- The reference plane is the horizontal plane.
- The orientation vector is selected automatically.
- The origin is set as the lowest left position of the projected point cloud on the reference plane.
- The resolution (the dimensions of the Z map) is estimated to have approximately one Point Cloud point per ZMap pixels.
- The scale is calculated from the point cloud ranges and the estimated resolution.
- The fill mode is enabled and the method is set to 'EFillUndefinedPixelsDirection_Local' (see method EDepthMap8::FillUndefinedPixels).
Namespace: Euresys.Open_eVision.Easy3D
Properties
That value affects X,Y and Z directions and can be used to generate an EZMap with borders of undefined pixels.
Default value is
By default, the required size is not set.
By default, the required size is not set.
The resolution is used to compute the transformation of the world Z position to an integer 8, 16 or 32 bits pixel value.
Overrides the orientation mode given by the method EMeshToZMapConverter::OrientationVectorMode.
Use EMeshToZMapConverter::OrientationVector to set an explicit orientation vector for the ZMap.
Overrides the explicit reference plane given by the method EMeshToZMapConverter::ReferencePlane.
EMeshToZMapConverter::WorldToZMapTransform overrides the settings done by EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::OrientationVector and EMeshToZMapConverter::Origin.
That E3DTransformMatrix transform expresses how the world positions are transformed to the EZMap space.
The matrix must be a rigid transformation (translation and rotation only).
The resolution of the ZMap are defined by the EMeshToZMapConverter::SetMapXYResolution and EMeshToZMapConverter::MapZResolution methods.
"SetZMaptoWorldTransform" overrides the settings done by EMeshToZMapConverter::ReferencePlane, EMeshToZMapConverter::OrientationVector and EMeshToZMapConverter::Origin.
That E3DTransformMatrix transform expresses how the EZMap positions are transformed to the World space.
The matrix must be a rigid transformation (translation and rotation only).
The resolutions of the World are defined by the EMeshToZMapConverter::SetMapXYResolution and EMeshToZMapConverter::MapZResolution methods.
Methods
Fill mode is enabled by default. If fill mode is disabled, undefined pixels may remain in the EZMap.
Use EMeshToZMapConverter::EnableFillMode to toggle the fill mode and EMeshToZMapConverter::SetFillMode or EMeshToZMapConverter::SetFillModeMedian to set the filling parameters.
By default, the required size is not set.
The resolution is used to compute the ZMap size (width and height), depending on the projected point cloud on the reference plane.
Use EMeshToZMapConverter::Origin to enable and choose the ZMap origin.