eVision::Easy3D::ELaserLineExtractor Class Reference

Manages a laser line extraction context. More...

#include <eVision/Easy3D/Easy3DLaserLine/ELaserLineExtractor.h>

Collaboration diagram for eVision::Easy3D::ELaserLineExtractor:

Public Member Functions
	ELaserLineExtractor (int frameWidth, int frameHeight, int numFramesPerMap, float zResolution)
	Creates an ELaserLineExtractor object.
	ELaserLineExtractor (int frameWidth, int frameHeight, int numFramesPerMap)
	Creates an ELaserLineExtractor object.
	ELaserLineExtractor (const eVision::Easy3D::ELaserLineExtractor &other)
	Creates an ELaserLineExtractor object.
virtual	~ELaserLineExtractor () throw ()
eVision::Easy3D::ELaserLineExtractor &	operator= (const eVision::Easy3D::ELaserLineExtractor &other)
	Assignment operator.
int32_t	GetFrameWidth () const
	Width of the frames from which the profiles are extracted.
int32_t	GetFrameHeight () const
	Height of the frames from which the profiles are extracted.
int32_t	GetNumFramesPerMap () const
	Number of frames from which the profiles are be extracted.
float	GetZResolution () const
	Z resolution of the extracted profile.
int32_t	GetNumExtractedProfile () const
	Number of extracted profiles.
bool	ExtractProfileFromFrame (const eVision::EROIBW8 &frame)
	Extracts a profile from a frame and adds it to the current depth map.
std::vector< float >	GetProfile () const
	Returns the last extracted profile.
void	Save (const std::string &file)
	Save the ELaserLineExtractor configuration. The settings are saved but the profiles aren't.
void	Save (eVision::ESerializer *serializer)
	Save the ELaserLineExtractor configuration. The settings are saved but the profiles aren't.
void	Load (const std::string &file)
	Load the ELaserLineExtractor configuration. The settings are loaded and the profiles are discarded.
void	Load (eVision::ESerializer *serializer)
	Load the ELaserLineExtractor configuration. The settings are loaded and the profiles are discarded.
void	SetAnalysisThreshold (int threshold)
	Analysis threshold. Set this value to eliminate noise.
int	GetAnalysisThreshold () const
	Analysis threshold. Set this value to eliminate noise.
void	SetAnalysisMode (eVision::Easy3D::EMaximumAnalysisMode mode)
	Analysis mode.
eVision::Easy3D::EMaximumAnalysisMode	GetAnalysisMode () const
	Analysis mode.
void	SetEnableSmoothing (bool enable)
	Enables or disables grayscale profile smoothing before extraction.
bool	GetEnableSmoothing () const
	Enables or disables grayscale profile smoothing before extraction.
void	SetSmoothingParameters (int param0, int param1, int param2)
	Sets the parameters of the smoothing kernel.
int	GetSmoothingParameter0 () const
	Smoothing parameter 0.
void	SetSmoothingParameter0 (int val)
	Smoothing parameter 0.
int	GetSmoothingParameter1 () const
	Smoothing parameter 1.
void	SetSmoothingParameter1 (int val)
	Smoothing parameter 1.
int	GetSmoothingParameter2 () const
	Smoothing parameter 2.
void	SetSmoothingParameter2 (int val)
	Smoothing parameter 2.
const eVision::Easy3D::EDepthMap16 &	GetDepthMap () const
	Returns the current depth map.
void	DrawLastProfile (eVision::EDrawAdapter *drawAdapter, float zoomX, float zoomY, float panX, float panY) const
	Draws the last extracted profile.
void	DrawLastProfile (eVision::EDrawAdapter *drawAdapter, float zoomX, float zoomY, float panX) const
	Draws the last extracted profile.
void	DrawLastProfile (eVision::EDrawAdapter *drawAdapter, float zoomX, float zoomY) const
	Draws the last extracted profile.
void	DrawLastProfile (eVision::EDrawAdapter *drawAdapter, float zoomX) const
	Draws the last extracted profile.
void	DrawLastProfile (eVision::EDrawAdapter *drawAdapter) const
	Draws the last extracted profile.
	ELaserLineExtractor (CppWrapperInternal::InternalConstructor)

Static Public Member Functions
static void	DrawProfile (eVision::EDrawAdapter *drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > &profile, float zoomX, float zoomY, float panX, float panY)
	Draws a profile.
static void	DrawProfile (eVision::EDrawAdapter *drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > &profile, float zoomX, float zoomY, float panX)
	Draws a profile.
static void	DrawProfile (eVision::EDrawAdapter *drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > &profile, float zoomX, float zoomY)
	Draws a profile.
static void	DrawProfile (eVision::EDrawAdapter *drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > &profile, float zoomX)
	Draws a profile.
static void	DrawProfile (eVision::EDrawAdapter *drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > &profile)
	Draws a profile.

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Manages a laser line extraction context.

License(s): Easy3DLaserLine

Constructor & Destructor Documentation

ELaserLineExtractor() [1/4]

eVision::Easy3D::ELaserLineExtractor::ELaserLineExtractor	(	int	frameWidth,
		int	frameHeight,
		int	numFramesPerMap,
		float	zResolution )

Creates an ELaserLineExtractor object.

Parameters

frameWidth	Width of the frames from which the profiles will be extracted.
frameHeight	Height of the frames from which the profiles will be extracted.
numFramesPerMap	Number of frames (and thus profiles) to be used per depth map. Each extracted profile create a line in the depth map.
zResolution	Optional parameter for the Z resolution of the extracted profile.

With a value of 0, the resolution will be automatically calculated to maximize the sub-pixel accuracy.

ELaserLineExtractor() [2/4]

eVision::Easy3D::ELaserLineExtractor::ELaserLineExtractor	(	int	frameWidth,
		int	frameHeight,
		int	numFramesPerMap )

Creates an ELaserLineExtractor object.

Parameters

frameWidth	Width of the frames from which the profiles will be extracted.
frameHeight	Height of the frames from which the profiles will be extracted.
numFramesPerMap	Number of frames (and thus profiles) to be used per depth map. Each extracted profile create a line in the depth map.

ELaserLineExtractor() [3/4]

eVision::Easy3D::ELaserLineExtractor::ELaserLineExtractor

(

const eVision::Easy3D::ELaserLineExtractor &

other

)

Creates an ELaserLineExtractor object.

Parameters

other

The object that should be copied

~ELaserLineExtractor()

eVision::Easy3D::ELaserLineExtractor::~ELaserLineExtractor ( ) throw (  )

virtual

ELaserLineExtractor() [4/4]

eVision::Easy3D::ELaserLineExtractor::ELaserLineExtractor

(

CppWrapperInternal::InternalConstructor

)

Member Function Documentation

DrawLastProfile() [1/5]

void eVision::Easy3D::ELaserLineExtractor::DrawLastProfile

(

eVision::EDrawAdapter *

drawAdapter

)

const

Draws the last extracted profile.

Parameters

drawAdapter

Draw adapter.

DrawLastProfile() [2/5]

void eVision::Easy3D::ELaserLineExtractor::DrawLastProfile	(	eVision::EDrawAdapter *	drawAdapter,
		float	zoomX ) const

Draws the last extracted profile.

Parameters

drawAdapter	Draw adapter.
zoomX	Horizontal zooming factor.

DrawLastProfile() [3/5]

void eVision::Easy3D::ELaserLineExtractor::DrawLastProfile	(	eVision::EDrawAdapter *	drawAdapter,
		float	zoomX,
		float	zoomY ) const

Draws the last extracted profile.

Parameters

drawAdapter	Draw adapter.
zoomX	Horizontal zooming factor.
zoomY	Vertical zooming factor. If set to 0, the horizontal zooming factor will be used for isotropic zooming.

DrawLastProfile() [4/5]

void eVision::Easy3D::ELaserLineExtractor::DrawLastProfile	(	eVision::EDrawAdapter *	drawAdapter,
		float	zoomX,
		float	zoomY,
		float	panX ) const

Draws the last extracted profile.

Parameters

drawAdapter	Draw adapter.
zoomX	Horizontal zooming factor.
zoomY	Vertical zooming factor. If set to 0, the horizontal zooming factor will be used for isotropic zooming.
panX	Horizontal panning value expressed in pixels. By default, no panning occurs.

DrawLastProfile() [5/5]

void eVision::Easy3D::ELaserLineExtractor::DrawLastProfile	(	eVision::EDrawAdapter *	drawAdapter,
		float	zoomX,
		float	zoomY,
		float	panX,
		float	panY ) const

Draws the last extracted profile.

Parameters

drawAdapter	Draw adapter.
zoomX	Horizontal zooming factor.
zoomY	Vertical zooming factor. If set to 0, the horizontal zooming factor will be used for isotropic zooming.
panX	Horizontal panning value expressed in pixels. By default, no panning occurs.
panY	Vertical panning value expressed in pixels. By default, no panning occurs.

DrawProfile() [1/5]

void eVision::Easy3D::ELaserLineExtractor::DrawProfile ( eVision::EDrawAdapter * drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > & profile )

static

Draws a profile.

Parameters

drawAdapter	Draw adapter.
frameWidth	Width of the frame used to extract the profile
frameHeight	Height of the frame used to extract the profile
profile	Extracted profile

DrawProfile() [2/5]

void eVision::Easy3D::ELaserLineExtractor::DrawProfile ( eVision::EDrawAdapter * drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > & profile, float zoomX )

static

Draws a profile.

Parameters

drawAdapter	Draw adapter.
frameWidth	Width of the frame used to extract the profile
frameHeight	Height of the frame used to extract the profile
profile	Extracted profile
zoomX	Horizontal zooming factor.

DrawProfile() [3/5]

void eVision::Easy3D::ELaserLineExtractor::DrawProfile ( eVision::EDrawAdapter * drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > & profile, float zoomX, float zoomY )

static

Draws a profile.

Parameters

drawAdapter	Draw adapter.
frameWidth	Width of the frame used to extract the profile
frameHeight	Height of the frame used to extract the profile
profile	Extracted profile
zoomX	Horizontal zooming factor.
zoomY	Vertical zooming factor. If set to 0, the horizontal zooming factor will be used for isotropic zooming.

DrawProfile() [4/5]

void eVision::Easy3D::ELaserLineExtractor::DrawProfile ( eVision::EDrawAdapter * drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > & profile, float zoomX, float zoomY, float panX )

static

Draws a profile.

Parameters

drawAdapter	Draw adapter.
frameWidth	Width of the frame used to extract the profile
frameHeight	Height of the frame used to extract the profile
profile	Extracted profile
zoomX	Horizontal zooming factor.
zoomY	Vertical zooming factor. If set to 0, the horizontal zooming factor will be used for isotropic zooming.
panX	Horizontal panning value expressed in pixels. By default, no panning occurs.

DrawProfile() [5/5]

void eVision::Easy3D::ELaserLineExtractor::DrawProfile ( eVision::EDrawAdapter * drawAdapter, int32_t frameWidth, int32_t frameHeight, const std::vector< float > & profile, float zoomX, float zoomY, float panX, float panY )

static

Draws a profile.

Parameters

drawAdapter	Draw adapter.
frameWidth	Width of the frame used to extract the profile
frameHeight	Height of the frame used to extract the profile
profile	Extracted profile
zoomX	Horizontal zooming factor.
zoomY	Vertical zooming factor. If set to 0, the horizontal zooming factor will be used for isotropic zooming.
panX	Horizontal panning value expressed in pixels. By default, no panning occurs.
panY	Vertical panning value expressed in pixels. By default, no panning occurs.

ExtractProfileFromFrame()

bool eVision::Easy3D::ELaserLineExtractor::ExtractProfileFromFrame

(

const eVision::EROIBW8 &

frame

)

Extracts a profile from a frame and adds it to the current depth map.

Returns true if the depth map is complete and ready for further processing.

Parameters

frame

Frame from which the profile will be extracted.

GetAnalysisMode()

eVision::Easy3D::EMaximumAnalysisMode eVision::Easy3D::ELaserLineExtractor::GetAnalysisMode

(

)

const

Analysis mode.

GetAnalysisThreshold()

int eVision::Easy3D::ELaserLineExtractor::GetAnalysisThreshold

(

)

const

Analysis threshold. Set this value to eliminate noise.

In the center of gravity (COG) analysis mode, this threshold is used to discriminate peaks and should be set accordingly.

GetDepthMap()

const eVision::Easy3D::EDepthMap16 & eVision::Easy3D::ELaserLineExtractor::GetDepthMap

(

)

const

Returns the current depth map.

Should be called only when the previous call to ExtractProfileFromFrame() returned true. Otherwise, the depth map returned will be incomplete.

GetEnableSmoothing()

bool eVision::Easy3D::ELaserLineExtractor::GetEnableSmoothing

(

)

const

Enables or disables grayscale profile smoothing before extraction.

GetFrameHeight()

int32_t eVision::Easy3D::ELaserLineExtractor::GetFrameHeight

(

)

const

Height of the frames from which the profiles are extracted.

GetFrameWidth()

int32_t eVision::Easy3D::ELaserLineExtractor::GetFrameWidth

(

)

const

Width of the frames from which the profiles are extracted.

GetNumExtractedProfile()

int32_t eVision::Easy3D::ELaserLineExtractor::GetNumExtractedProfile

(

)

const

Number of extracted profiles.

GetNumFramesPerMap()

int32_t eVision::Easy3D::ELaserLineExtractor::GetNumFramesPerMap

(

)

const

Number of frames from which the profiles are be extracted.

GetProfile()

std::vector< float > eVision::Easy3D::ELaserLineExtractor::GetProfile

(

)

const

Returns the last extracted profile.

If a point could not be extracted, its value will be set to FLOAT_MAX.

GetSmoothingParameter0()

int eVision::Easy3D::ELaserLineExtractor::GetSmoothingParameter0

(

)

const

Smoothing parameter 0.

GetSmoothingParameter1()

int eVision::Easy3D::ELaserLineExtractor::GetSmoothingParameter1

(

)

const

Smoothing parameter 1.

GetSmoothingParameter2()

int eVision::Easy3D::ELaserLineExtractor::GetSmoothingParameter2

(

)

const

Smoothing parameter 2.

GetZResolution()

float eVision::Easy3D::ELaserLineExtractor::GetZResolution

(

)

const

Z resolution of the extracted profile.

With a value of 0, the resolution will be automatically calculated to maximize the sub-pixel accuracy.

Load() [1/2]

void eVision::Easy3D::ELaserLineExtractor::Load

(

const std::string &

file

)

Load the ELaserLineExtractor configuration. The settings are loaded and the profiles are discarded.

Parameters

file	File path.

Load() [2/2]

void eVision::Easy3D::ELaserLineExtractor::Load

(

eVision::ESerializer *

serializer

)

Load the ELaserLineExtractor configuration. The settings are loaded and the profiles are discarded.

Parameters

serializer

Serializer. Must be in read mode.

operator=()

eVision::Easy3D::ELaserLineExtractor & eVision::Easy3D::ELaserLineExtractor::operator=

(

const eVision::Easy3D::ELaserLineExtractor &

other

)

Assignment operator.

Parameters

other

The object that should be copied

Save() [1/2]

void eVision::Easy3D::ELaserLineExtractor::Save

(

const std::string &

file

)

Save the ELaserLineExtractor configuration. The settings are saved but the profiles aren't.

Parameters

file	File path.

Save() [2/2]

void eVision::Easy3D::ELaserLineExtractor::Save

(

eVision::ESerializer *

serializer

)

Save the ELaserLineExtractor configuration. The settings are saved but the profiles aren't.

Parameters

serializer

Serializer. Must be in write mode.

SetAnalysisMode()

void eVision::Easy3D::ELaserLineExtractor::SetAnalysisMode

(

eVision::Easy3D::EMaximumAnalysisMode

mode

)

Analysis mode.

SetAnalysisThreshold()

void eVision::Easy3D::ELaserLineExtractor::SetAnalysisThreshold

(

int

threshold

)

Analysis threshold. Set this value to eliminate noise.

In the center of gravity (COG) analysis mode, this threshold is used to discriminate peaks and should be set accordingly.

SetEnableSmoothing()

void eVision::Easy3D::ELaserLineExtractor::SetEnableSmoothing

(

bool

enable

)

Enables or disables grayscale profile smoothing before extraction.

SetSmoothingParameter0()

void eVision::Easy3D::ELaserLineExtractor::SetSmoothingParameter0

(

int

val

)

Smoothing parameter 0.

Parameters

val	First kernel parameter.

SetSmoothingParameter1()

void eVision::Easy3D::ELaserLineExtractor::SetSmoothingParameter1

(

int

val

)

Smoothing parameter 1.

Parameters

val	Second kernel parameter.

SetSmoothingParameter2()

void eVision::Easy3D::ELaserLineExtractor::SetSmoothingParameter2

(

int

val

)

Smoothing parameter 2.

Parameters

val	Third kernel parameter.

SetSmoothingParameters()

void eVision::Easy3D::ELaserLineExtractor::SetSmoothingParameters	(	int	param0,
		int	param1,
		int	param2 )

Sets the parameters of the smoothing kernel.

Parameters

param0	First kernel parameter.
param1	Second kernel parameter.
param2	Third kernel parameter.

If enabled, the smoothing will be performed using the following formula: f[i] = (f[i-1] * param0) + (f[i] * param1) + (f[i+1] * param2).

Member Data Documentation

wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::ELaserLineExtractor::wrappedClass_