EZMap8 Class

A ZMap8 is a 8bits corrected 2.5D image.

ZMap Pixel values (8 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

License(s): Easy3D

Constructors

Creates a 8 bits EZMap.

Properties

Returns the buffer row pitch.

Returns the dimensions of the EZMap8 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.

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 EZMap8 in real space coordinates (e.g mm).

Access ZMap Height.

E3DTransformMatrix that transforms positions from the EZMap8 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 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.

Access ZMap Width.

Sets/Gets the E3DTransformMatrix that transforms positions from the world space to the EZMap8 space. This transformation is composed of rotation and translation only, so it is a rigid transformation and it preserves distances.

Resolution of the EZMap8 along the X axis

The resolution is the number of metric units per pixel.

Resolution of the EZMap8 along the Y axis

The resolution is the number of metric units per pixel.

Resolution of the EZMap8 along the Z axis

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.

Returns the EZMap8 as an EImageBW8 (8 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 Pixel coordinates.

Converts Pixel coordinates to 3D Map coordinates.

Copies all metadata.

Deletes value of this existing metadata key . Throws an exception if it does not exist.

Draws an EZMap8 in a device context.

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.

Gets the value of a pixel .

Returns the EZMap8 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.

This method is deprecated: Use EZMap8::Resolution instead.

This method is deprecated: Use EZMap8::SizeInWorld instead.

Returns the 3D world position corresponding to a EZMap8 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 EZMap8, otherwise an exception will be thrown.

Returns the 3D world position corresponding to a EZMap8 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 EZMap8 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).

Converts a 2D image (sub)pixel coordinate to the EZMap8 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.

Tests if the EZMap8 object size is zero.

Restores the EZMap8 stored in the given Open eVision file.

Restores the EZMap8 image stored in the given image file.

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 the EZMap8 object to the given Open eVision file.

Saves the EZMap8 image to the given image file.

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.

Sets the width and height of the EZMap8.

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.

Transforms a 3D world position to a 3D EZMap8 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.

Converts a 2D coordinate in the EZMap8 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.

Transforms a 3D EZMap8 position to a 3D world space position.

The ZMap space origin is at the lower left corner of the image.

EZMap8 Class

A ZMap8 is a 8bits corrected 2.5D image.

ZMap Pixel values (8 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

License(s): Easy3D

Constructors

Creates a 8 bits EZMap.

Properties

Access ZMap Height.

E3DTransformMatrix that transforms positions from the EZMap8 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 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.

Returns the buffer row pitch.

Returns the dimensions of the EZMap8 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 EWorldShape for conversion between 2D image and 2D world space coordinates. This EWorldShape can be used by EasyGauge to do measurements on a EZMap8 in real space coordinates (e.g mm).

Sets/Gets the E3DTransformMatrix that transforms positions from the world space to the EZMap8 space. This transformation is composed of rotation and translation only, so it is a rigid transformation and it preserves distances.

Resolution of the EZMap8 along the X axis

The resolution is the number of metric units per pixel.

Resolution of the EZMap8 along the Y axis

The resolution is the number of metric units per pixel.

Resolution of the EZMap8 along the Z axis

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.

Returns the EZMap8 as an EImageBW8 (8 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 Pixel coordinates.

Converts Pixel coordinates to 3D Map coordinates.

Copies all metadata.

Deletes value of this existing metadata key . Throws an exception if it does not exist.

Draws an EZMap8 in a device context.

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.

Gets the value of a pixel .

Returns the EZMap8 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.

This method is deprecated: Use EZMap8.Resolution instead.

This method is deprecated: Use EZMap8.SizeInWorld instead.

Returns the 3D world position corresponding to a EZMap8 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 EZMap8, otherwise an exception will be thrown.

Returns the 3D world position corresponding to a EZMap8 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 EZMap8 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).

Converts a 2D image (sub)pixel coordinate to the EZMap8 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.

Tests if the EZMap8 object size is zero.

Restores the EZMap8 stored in the given Open eVision file.

Restores the EZMap8 image stored in the given image file.

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.

Reset the world transformation, Map to World and World to Map matrices become identity matrix.

Saves the EZMap8 object to the given Open eVision file.

Saves the EZMap8 image to the given image file.

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.

Sets the width and height of the EZMap8.

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.

Transforms a 3D world position to a 3D EZMap8 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.

Converts a 2D coordinate in the EZMap8 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.

Transforms a 3D EZMap8 position to a 3D world space position.

The ZMap space origin is at the lower left corner of the image.

EZMap8 Class

A ZMap8 is a 8bits corrected 2.5D image.

ZMap Pixel values (8 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

Module: open_evision.Easy3D

License(s): Easy3D

Constructors

Creates a 8 bits EZMap.

Properties

Access ZMap Height.

E3DTransformMatrix that transforms positions from the EZMap8 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 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.

Returns the buffer row pitch.

Returns the dimensions of the EZMap8 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 EWorldShape for conversion between 2D image and 2D world space coordinates. This EWorldShape can be used by EasyGauge to do measurements on a EZMap8 in real space coordinates (e.g mm).

Sets/Gets the E3DTransformMatrix that transforms positions from the world space to the EZMap8 space. This transformation is composed of rotation and translation only, so it is a rigid transformation and it preserves distances.

Resolution of the EZMap8 along the X axis

The resolution is the number of metric units per pixel.

Resolution of the EZMap8 along the Y axis

The resolution is the number of metric units per pixel.

Resolution of the EZMap8 along the Z axis

The resolution is the number of metric units per grey value.

Methods

Creates a 8 bits EZMap.

Adds a metadata key (name) and value.

If the metadata key already exists, its value will be overwritten.

Returns the EZMap8 as an EImageBW8 (8 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 Pixel coordinates.

Converts Pixel coordinates to 3D Map coordinates.

Copies all metadata.

Deletes value of this existing metadata key . Throws an exception if it does not exist.

Draws an EZMap8 in a device context.

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.

Gets the value of a pixel .

Returns the EZMap8 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.

Returns the 3D world position corresponding to a EZMap8 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 EZMap8, otherwise an exception will be thrown.

Returns the 3D world position corresponding to a EZMap8 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 EZMap8 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).

Converts a 2D image (sub)pixel coordinate to the EZMap8 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.

Tests if the EZMap8 object size is zero.

Restores the EZMap8 stored in the given Open eVision file.

Restores the EZMap8 image stored in the given image file.

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.

Reset the world transformation, Map to World and World to Map matrices become identity matrix.

Saves the EZMap8 object to the given Open eVision file.

Saves the EZMap8 image to the given image file.

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.

Sets the width and height of the EZMap8.

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.

Transforms a 3D world position to a 3D EZMap8 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.

Converts a 2D coordinate in the EZMap8 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.

Transforms a 3D EZMap8 position to a 3D world space position.

The ZMap space origin is at the lower left corner of the image.