EPointCloudToZMapConverter Class

Computes an EZMap from an EPointCloud. 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 EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::SetFillMode, EPointCloudToZMapConverter::SetMapXYResolution, EPointCloudToZMapConverter::MapZResolution, EPointCloudToZMapConverter::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

Computes an EZMap from a world space EPointCloud. The value of the pixels of the ZMap are the distance between the 3D points and the reference plane. Various options can be set with methods EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector, EPointCloudToZMapConverter::SetMapSize, ...
Enables or disables fill mode. Fill mode parameters are defined by method EPointCloudToZMapConverter::SetFillMode or EPointCloudToZMapConverter::SetFillModeMedian.
Fill mode is enabled by default. If fill mode is disable, undefined pixels may remain in the EZMap.
Creates an EPointCloudToZMapConverter object.
Sets a metric value used to enlarge the point cloud 3D domain.
That value affects X,Y and Z directions and can be used to generate an EZMap with borders of undefined pixels.
Default value is 0, which means a ZMap without border.
Gets the undefined pixel fill direction (see EFillUndefinedPixelsDirection).
Gets the undefined pixel fill method (see EFillUndefinedPixelsMethod).
Gets the required height (number of pixels) of the generated EZMap.
By default, the required size is not set.
Gets the required width (number of pixels) of the generated EZMap.
By default, the required size is not set.
Gets the resolution of the EZMap pixels along the X axis.
Gets the resolution of the EZMap pixels along the Y axis.
Gets/sets the EZMap Z resolution, in world space units per gray value.
The resolution is used to compute the transformation of the world Z position to an integer 8, 16 or 32 bits pixel value.
Sets an explicit orientation for the EZMap.
Overrides the orientation mode given by the method EPointCloudToZMapConverter::OrientationVectorMode.
Chooses the EZMap orientation from a list of predefined axis, automatic mode or user defined vector.
Use EPointCloudToZMapConverter::OrientationVector to set an explicit orientation vector for the ZMap.
Chooses the EZMap origin. It is the 3D world position used as origin of the ZMap upper left pixel (0,0).
Sets the E3DPlane reference plane.
The resulting EZMap is the distance of the 3D points above that plane.
3D points below the reference plane are discarded.
Sets an axis aligned reference plane.
Overrides the explicit reference plane given by the method EPointCloudToZMapConverter::ReferencePlane.
Explicitly sets the world to ZMap transformation.
EPointCloudToZMapConverter::WorldToZMapTransform overrides the settings done by EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector and EPointCloudToZMapConverter::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 resolutions of the ZMap are defined by the EPointCloudToZMapConverter::SetMapXYResolution and EPointCloudToZMapConverter::MapZResolution methods.
Explicitly sets the ZMap to World transformation.
"SetZMaptoWorldTransform" overrides the settings done by EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector and EPointCloudToZMapConverter::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 EPointCloudToZMapConverter::SetMapXYResolution and EPointCloudToZMapConverter::MapZResolution methods.
Tells if the fill mode is enabled or not.
Use EPointCloudToZMapConverter::EnableFillMode to toggle the fill mode and EPointCloudToZMapConverter::SetFillMode or EPointCloudToZMapConverter::SetFillModeMedian to set the filling parameters.
Loads the converter configuration. The given ESerializer must have been created for reading.
Assignment operator
Comparison operator
Saves the converter configuration. The given ESerializer must have been created for writing.
Sets a metric value used to enlarge the point cloud 3D domain.
That value affects X,Y and Z directions and can be used to generate an EZMap with borders of undefined pixels.
Default value is 0, which means a ZMap without border.
Inpainting options used to fill the "holes" in the EZMap. A hole exists when no 3D point is projected at that pixel position in the ZMap.
Inpainting options used to fill the "holes" in the EZMap using a median rectangular kernel of odd size. A hole exists when no 3D point is projected at that pixel position in the ZMap.
Sets the required size of the generated EZMap; expressed in number of pixels for width and height dimensions.
By default, the required size is not set.
Sets the resolution (possibly anisotropic) of the EZMap pixels along the X and Y axes, in world space units per pixel (e.g mm/pixel).
The resolution is used to compute the ZMap size (width and height), depending on the projected point cloud on the reference plane.
Gets/sets the EZMap Z resolution, in world space units per gray value.
The resolution is used to compute the transformation of the world Z position to an integer 8, 16 or 32 bits pixel value.
Sets an explicit orientation for the EZMap.
Overrides the orientation mode given by the method EPointCloudToZMapConverter::OrientationVectorMode.
Chooses the EZMap orientation from a list of predefined axis, automatic mode or user defined vector.
Use EPointCloudToZMapConverter::OrientationVector to set an explicit orientation vector for the ZMap.
Chooses the EZMap origin. It is the 3D world position used as origin of the ZMap upper left pixel (0,0).
Sets the E3DPlane reference plane.
The resulting EZMap is the distance of the 3D points above that plane.
3D points below the reference plane are discarded.
Sets an axis aligned reference plane.
Overrides the explicit reference plane given by the method EPointCloudToZMapConverter::ReferencePlane.
Explicitly sets the world to ZMap transformation.
EPointCloudToZMapConverter::WorldToZMapTransform overrides the settings done by EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector and EPointCloudToZMapConverter::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 resolutions of the ZMap are defined by the EPointCloudToZMapConverter::SetMapXYResolution and EPointCloudToZMapConverter::MapZResolution methods.
Explicitly sets the ZMap to World transformation.
"SetZMaptoWorldTransform" overrides the settings done by EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector and EPointCloudToZMapConverter::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 EPointCloudToZMapConverter::SetMapXYResolution and EPointCloudToZMapConverter::MapZResolution methods.
Unsets the resolution. Lets the conversion decides for the optimum resolution, depending on the projected point cloud and pixel scale.
Unsets the X and Y resolutions. Lets the conversion decide the optimal resolution, depending on the projected point cloud and EZMap size.
Unsets the ZMap Z resolution. Lets the conversion decide the optimal Z resolution.
Lets the conversion process decides for the EZMap origin position (based on projected point cloud on the reference plane).
Use EPointCloudToZMapConverter::Origin to enable and choose the ZMap origin.
Disables the explicit world to ZMap transformation, set with EPointCloudToZMapConverter::WorldToZMapTransform.

EPointCloudToZMapConverter Class

Computes an EZMap from an EPointCloud. 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 EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::SetFillMode, EPointCloudToZMapConverter::SetMapXYResolution, EPointCloudToZMapConverter::MapZResolution, EPointCloudToZMapConverter::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

Sets a metric value used to enlarge the point cloud 3D domain.
That value affects X,Y and Z directions and can be used to generate an EZMap with borders of undefined pixels.
Default value is 0, which means a ZMap without border.
Gets the undefined pixel fill direction (see EFillUndefinedPixelsDirection).
Gets the undefined pixel fill method (see EFillUndefinedPixelsMethod).
Gets the required height (number of pixels) of the generated EZMap.
By default, the required size is not set.
Gets the required width (number of pixels) of the generated EZMap.
By default, the required size is not set.
Gets the resolution of the EZMap pixels along the X axis.
Gets the resolution of the EZMap pixels along the Y axis.
Gets/sets the EZMap Z resolution, in world space units per gray value.
The resolution is used to compute the transformation of the world Z position to an integer 8, 16 or 32 bits pixel value.
Sets an explicit orientation for the EZMap.
Overrides the orientation mode given by the method EPointCloudToZMapConverter::OrientationVectorMode.
Chooses the EZMap orientation from a list of predefined axis, automatic mode or user defined vector.
Use EPointCloudToZMapConverter::OrientationVector to set an explicit orientation vector for the ZMap.
Chooses the EZMap origin. It is the 3D world position used as origin of the ZMap upper left pixel (0,0).
Sets the E3DPlane reference plane.
The resulting EZMap is the distance of the 3D points above that plane.
3D points below the reference plane are discarded.
Sets an axis aligned reference plane.
Overrides the explicit reference plane given by the method EPointCloudToZMapConverter::ReferencePlane.
Explicitly sets the world to ZMap transformation.
EPointCloudToZMapConverter::WorldToZMapTransform overrides the settings done by EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector and EPointCloudToZMapConverter::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 resolutions of the ZMap are defined by the EPointCloudToZMapConverter::SetMapXYResolution and EPointCloudToZMapConverter::MapZResolution methods.
Explicitly sets the ZMap to World transformation.
"SetZMaptoWorldTransform" overrides the settings done by EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector and EPointCloudToZMapConverter::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 EPointCloudToZMapConverter::SetMapXYResolution and EPointCloudToZMapConverter::MapZResolution methods.

Methods

Computes an EZMap from a world space EPointCloud. The value of the pixels of the ZMap are the distance between the 3D points and the reference plane. Various options can be set with methods EPointCloudToZMapConverter::ReferencePlane, EPointCloudToZMapConverter::OrientationVector, EPointCloudToZMapConverter::SetMapSize, ...
Enables or disables fill mode. Fill mode parameters are defined by method EPointCloudToZMapConverter::SetFillMode or EPointCloudToZMapConverter::SetFillModeMedian.
Fill mode is enabled by default. If fill mode is disable, undefined pixels may remain in the EZMap.
Creates an EPointCloudToZMapConverter object.
Tells if the fill mode is enabled or not.
Use EPointCloudToZMapConverter::EnableFillMode to toggle the fill mode and EPointCloudToZMapConverter::SetFillMode or EPointCloudToZMapConverter::SetFillModeMedian to set the filling parameters.
Loads the converter configuration. The given ESerializer must have been created for reading.
Assignment operator
Comparison operator
Saves the converter configuration. The given ESerializer must have been created for writing.
Inpainting options used to fill the "holes" in the EZMap. A hole exists when no 3D point is projected at that pixel position in the ZMap.
Inpainting options used to fill the "holes" in the EZMap using a median rectangular kernel of odd size. A hole exists when no 3D point is projected at that pixel position in the ZMap.
Sets the required size of the generated EZMap; expressed in number of pixels for width and height dimensions.
By default, the required size is not set.
Sets the resolution (possibly anisotropic) of the EZMap pixels along the X and Y axes, in world space units per pixel (e.g mm/pixel).
The resolution is used to compute the ZMap size (width and height), depending on the projected point cloud on the reference plane.
Unsets the resolution. Lets the conversion decides for the optimum resolution, depending on the projected point cloud and pixel scale.
Unsets the X and Y resolutions. Lets the conversion decide the optimal resolution, depending on the projected point cloud and EZMap size.
Unsets the ZMap Z resolution. Lets the conversion decide the optimal Z resolution.
Lets the conversion process decides for the EZMap origin position (based on projected point cloud on the reference plane).
Use EPointCloudToZMapConverter::Origin to enable and choose the ZMap origin.
Disables the explicit world to ZMap transformation, set with EPointCloudToZMapConverter::WorldToZMapTransform.