EZMap16 Class
A ZMap16 is a 16bits corrected 2.5D image.
ZMap Pixel values (16 bits integers) represent distances from a 3D reference plane.
Distances are positive, during the ZMap generation all points below the reference plane are discarded.
The EZMap class also stores the transformation from the pixel coordinates to the real world coordinate system.
There could be undefined pixels in the ZMap.
Base Class:EZMap
Namespace: Euresys::Open_eVision::Easy3D
Methods
Adds a metadata key (name) and value.
If the metadata key already exists, its value will be overwritten.
If the metadata key already exists, its value will be overwritten.
Returns the EZMap16 as an EImageBW16 (16 bits gray scale) to use with existing eVision 2D tools.
Clears the ZMap: replaces all pixels with the undefined value.
Deletes all metadata.
Converts 3D Map coordinates to Buffer coordinates
Converts Buffer coordinates to 3D Map coordinates
Copies all metadata.
Deletes value of this existing metadata key . Throws an exception if it does not exist.
Displays the internal image buffer
Fills undefined pixels, used to fill the "holes" in the ZMap.
Fills undefined pixels, used to fill the "holes" in the ZMap using a median rectangular kernel of odd size.
Retrieves the pointer to the internal pixel buffer.
Retrieves the pointer to the pixel buffer.
Access ZMap Height.
E3DTransformMatrix that transforms positions from the EZMap16 space to the world space. This transformation is composed of rotation and translation only, so it is a rigid transformation and preserves distances.
Returns the string value of the given metadata.
Throws an exception if it does not exist.
Throws an exception if it does not exist.
Gets the value of a pixel .
Returns in the u, v and value parameters the EZMap16 values corresponding to a 3D world position.
The world position is projected on the ZMap reference plane to get a position in the ZMap.
If the projected position is outside the ZMap, the method returns false.
The world position is projected on the ZMap reference plane to get a position in the ZMap.
If the projected position is outside the ZMap, the method returns false.
Gets the resolution. For the X and Y axes, the resolution is expressed in metric units per pixel.
For the Z axis it is expressed in metric units per grey scale value.
For the Z axis it is expressed in metric units per grey scale value.
Returns the buffer row pitch.
Returns the dimensions of the EZMap16 in real world space (e.g metric unit).
Pixel accessor type.
Returns the Undefined value. That value is used to set to mark pixels with no valid depth value.
Access ZMap Width.
Returns the 3D world position corresponding to a EZMap16 2D coordinate. The world position is in the original point cloud space. (x,y) is the ZMap position (which has the same scale as the world space). The value at position (x, y) must not be undefined in the EZMap16, otherwise an exception will be thrown.
Returns the 3D world position corresponding to a EZMap16 pixel position. The world position is in the original point cloud space. The pixel space origin is at the upper left corner of the image and ranges to (width-1, height-1). The transformation to the world position is calculated using the center of the pixel. The pixel value at position (u,v) must not be undefined, otherwise an exception will be thrown.
Returns the EWorldShape for conversion between 2D image and 2D world space coordinates. This EWorldShape can be used by EasyGauge to do measurements on a EZMap16 in real space coordinates (e.g mm).
Sets/Gets the E3DTransformMatrix that transforms positions from the world space to the EZMap16 space. This transformation is composed of rotation and translation only, so it is a rigid transformation and it preserves distances.
Resolution of the EZMap16 along the X axis
The resolution is the number of metric units per pixel.
The resolution is the number of metric units per pixel.
Resolution of the EZMap16 along the Y axis
The resolution is the number of metric units per pixel.
The resolution is the number of metric units per pixel.
Returns the corresponding EZMap16 3D position of a ZMap pixel. The ZMap position is in the original point ZMap space. The pixel position origin is the upper left corner of the image and ranges to (width-1, height-1). The center of the pixel is used for the transformation to the ZMap position. Pixel at position (u,v) must be defined, otherwise an exception will be thrown.
Compute the minimum and maximum pixel values, excluding the undefined pixels.
Resolution of the EZMap16 along the Z axis
The resolution is the number of metric units per grey value.
The resolution is the number of metric units per grey value.
Gets Z value (in metric coordinate) at pixel coordinates.
Transforms a floating point (sub)pixel image position to a 3D world position.
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The pixel Z value is in grey scale values (its range depends on the ZMap type).
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The pixel Z value is in grey scale values (its range depends on the ZMap type).
Converts a 2D image (sub)pixel coordinate to the EZMap16 space.
(u,v) is the pixel position (with its origin in the upper left corner of the image).
(x,y) is the corresponding ZMap position (which has the same scale as the world space).
All values are expressed in floating point numbers.
(u,v) is the pixel position (with its origin in the upper left corner of the image).
(x,y) is the corresponding ZMap position (which has the same scale as the world space).
All values are expressed in floating point numbers.
Loads image format and Metadata in JSON format.
Loads Metadata in JSON format.
Changes an existing metadata key and value. Throws an exception if it does not exist.
Assignment operator.
Reset the world transformation, Map to World and World to Map matrices become identity matrix.
Saves image format and Metadata JSON format.
Saves Metadata in JSON format.
Sets the pointer to an externally allocated image buffer.
Access ZMap Height.
E3DTransformMatrix that transforms positions from the EZMap16 space to the world space. This transformation is composed of rotation and translation only, so it is a rigid transformation and preserves distances.
Sets the value of a pixel .
Sets the resolution. For the X and Y axes, the resolution is expressed in metric units per pixel.
For the Z axis it is expressed in metric units per grey scale value.
For the Z axis it is expressed in metric units per grey scale value.
Access ZMap Width.
Sets/Gets the E3DTransformMatrix that transforms positions from the world space to the EZMap16 space. This transformation is composed of rotation and translation only, so it is a rigid transformation and it preserves distances.
Resolution of the EZMap16 along the X axis
The resolution is the number of metric units per pixel.
The resolution is the number of metric units per pixel.
Resolution of the EZMap16 along the Y axis
The resolution is the number of metric units per pixel.
The resolution is the number of metric units per pixel.
Resolution of the EZMap16 along the Z axis
The resolution is the number of metric units per grey value.
The resolution is the number of metric units per grey value.
Sets Z value (in metric coordinate) at pixel coordinates.
Transforms a 3D world position to a floating point (sub)pixel image position.
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The Z value is given in grey scale value.
Returns true if the pixel position is inside the image limits and the Z value is positive.
The parameter pixelPt is filled even if the point is outside the image.
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The Z value is given in grey scale value.
Returns true if the pixel position is inside the image limits and the Z value is positive.
The parameter pixelPt is filled even if the point is outside the image.
Transforms a 3D world position to a 3D EZMap16 position.
The ZMap space origin is at the lower left corner of the image.
The scales of the world space and ZMap space are the same.
The ZMap space origin is at the lower left corner of the image.
The scales of the world space and ZMap space are the same.
Converts a 2D coordinate in the EZMap16 space to image (sub)pixel space.
(x,y) is the ZMap position (which has the same scale as the world space).
(u,v) is the corresponding pixel position (with its origin in the upper left corner of the image).
All values are expressed in floating point numbers.
Returns true if the pixel position is inside the image limits.
(x,y) is the ZMap position (which has the same scale as the world space).
(u,v) is the corresponding pixel position (with its origin in the upper left corner of the image).
All values are expressed in floating point numbers.
Returns true if the pixel position is inside the image limits.
Transforms a 3D EZMap16 position to a 3D world space position.
The ZMap space origin is at the lower left corner of the image.
The ZMap space origin is at the lower left corner of the image.
EZMap16 Class
A ZMap16 is a 16bits corrected 2.5D image.
ZMap Pixel values (16 bits integers) represent distances from a 3D reference plane.
Distances are positive, during the ZMap generation all points below the reference plane are discarded.
The EZMap class also stores the transformation from the pixel coordinates to the real world coordinate system.
There could be undefined pixels in the ZMap.
Base Class:EZMap
Namespace: Euresys.Open_eVision.Easy3D
Properties
Access ZMap Height.
E3DTransformMatrix that transforms positions from the EZMap16 space to the world space. This transformation is composed of rotation and translation only, so it is a rigid transformation and preserves distances.
Returns the buffer row pitch.
Pixel accessor type.
Returns the Undefined value. That value is used to set to mark pixels with no valid depth value.
Access ZMap Width.
Returns the EWorldShape for conversion between 2D image and 2D world space coordinates. This EWorldShape can be used by EasyGauge to do measurements on a EZMap16 in real space coordinates (e.g mm).
Sets/Gets the E3DTransformMatrix that transforms positions from the world space to the EZMap16 space. This transformation is composed of rotation and translation only, so it is a rigid transformation and it preserves distances.
Resolution of the EZMap16 along the X axis
The resolution is the number of metric units per pixel.
The resolution is the number of metric units per pixel.
Resolution of the EZMap16 along the Y axis
The resolution is the number of metric units per pixel.
The resolution is the number of metric units per pixel.
Resolution of the EZMap16 along the Z axis
The resolution is the number of metric units per grey value.
The resolution is the number of metric units per grey value.
Methods
Adds a metadata key (name) and value.
If the metadata key already exists, its value will be overwritten.
If the metadata key already exists, its value will be overwritten.
Returns the EZMap16 as an EImageBW16 (16 bits gray scale) to use with existing eVision 2D tools.
Clears the ZMap: replaces all pixels with the undefined value.
Deletes all metadata.
Converts 3D Map coordinates to Buffer coordinates
Converts Buffer coordinates to 3D Map coordinates
Copies all metadata.
Deletes value of this existing metadata key . Throws an exception if it does not exist.
Displays the internal image buffer
Fills undefined pixels, used to fill the "holes" in the ZMap.
Fills undefined pixels, used to fill the "holes" in the ZMap using a median rectangular kernel of odd size.
Retrieves the pointer to the internal pixel buffer.
Retrieves the pointer to the pixel buffer.
Returns the string value of the given metadata.
Throws an exception if it does not exist.
Throws an exception if it does not exist.
Gets the value of a pixel .
Returns in the u, v and value parameters the EZMap16 values corresponding to a 3D world position.
The world position is projected on the ZMap reference plane to get a position in the ZMap.
If the projected position is outside the ZMap, the method returns false.
The world position is projected on the ZMap reference plane to get a position in the ZMap.
If the projected position is outside the ZMap, the method returns false.
Gets the resolution. For the X and Y axes, the resolution is expressed in metric units per pixel.
For the Z axis it is expressed in metric units per grey scale value.
For the Z axis it is expressed in metric units per grey scale value.
Returns the dimensions of the EZMap16 in real world space (e.g metric unit).
Returns the 3D world position corresponding to a EZMap16 2D coordinate. The world position is in the original point cloud space. (x,y) is the ZMap position (which has the same scale as the world space). The value at position (x, y) must not be undefined in the EZMap16, otherwise an exception will be thrown.
Returns the 3D world position corresponding to a EZMap16 pixel position. The world position is in the original point cloud space. The pixel space origin is at the upper left corner of the image and ranges to (width-1, height-1). The transformation to the world position is calculated using the center of the pixel. The pixel value at position (u,v) must not be undefined, otherwise an exception will be thrown.
Returns the corresponding EZMap16 3D position of a ZMap pixel. The ZMap position is in the original point ZMap space. The pixel position origin is the upper left corner of the image and ranges to (width-1, height-1). The center of the pixel is used for the transformation to the ZMap position. Pixel at position (u,v) must be defined, otherwise an exception will be thrown.
Compute the minimum and maximum pixel values, excluding the undefined pixels.
Gets Z value (in metric coordinate) at pixel coordinates.
Transforms a floating point (sub)pixel image position to a 3D world position.
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The pixel Z value is in grey scale values (its range depends on the ZMap type).
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The pixel Z value is in grey scale values (its range depends on the ZMap type).
Converts a 2D image (sub)pixel coordinate to the EZMap16 space.
(u,v) is the pixel position (with its origin in the upper left corner of the image).
(x,y) is the corresponding ZMap position (which has the same scale as the world space).
All values are expressed in floating point numbers.
(u,v) is the pixel position (with its origin in the upper left corner of the image).
(x,y) is the corresponding ZMap position (which has the same scale as the world space).
All values are expressed in floating point numbers.
Loads image format and Metadata in JSON format.
Loads Metadata in JSON format.
Changes an existing metadata key and value. Throws an exception if it does not exist.
Assignment operator.
Reset the world transformation, Map to World and World to Map matrices become identity matrix.
Saves image format and Metadata JSON format.
Saves Metadata in JSON format.
Sets the pointer to an externally allocated image buffer.
Sets the value of a pixel .
Sets the resolution. For the X and Y axes, the resolution is expressed in metric units per pixel.
For the Z axis it is expressed in metric units per grey scale value.
For the Z axis it is expressed in metric units per grey scale value.
Sets Z value (in metric coordinate) at pixel coordinates.
Transforms a 3D world position to a floating point (sub)pixel image position.
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The Z value is given in grey scale value.
Returns true if the pixel position is inside the image limits and the Z value is positive.
The parameter pixelPt is filled even if the point is outside the image.
The image space origin is at the upper left corner of the image and the X/Y unit size is one pixel.
The Z value is given in grey scale value.
Returns true if the pixel position is inside the image limits and the Z value is positive.
The parameter pixelPt is filled even if the point is outside the image.
Transforms a 3D world position to a 3D EZMap16 position.
The ZMap space origin is at the lower left corner of the image.
The scales of the world space and ZMap space are the same.
The ZMap space origin is at the lower left corner of the image.
The scales of the world space and ZMap space are the same.
Converts a 2D coordinate in the EZMap16 space to image (sub)pixel space.
(x,y) is the ZMap position (which has the same scale as the world space).
(u,v) is the corresponding pixel position (with its origin in the upper left corner of the image).
All values are expressed in floating point numbers.
Returns true if the pixel position is inside the image limits.
(x,y) is the ZMap position (which has the same scale as the world space).
(u,v) is the corresponding pixel position (with its origin in the upper left corner of the image).
All values are expressed in floating point numbers.
Returns true if the pixel position is inside the image limits.
Transforms a 3D EZMap16 position to a 3D world space position.
The ZMap space origin is at the lower left corner of the image.
The ZMap space origin is at the lower left corner of the image.