eVision.Easy3D.ELaserLineExtractor Class Reference

Manages a laser line extraction context. More...

Inheritance diagram for eVision.Easy3D.ELaserLineExtractor:

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 (eVision.Easy3D.ELaserLineExtractor other)
	Creates an ELaserLineExtractor object.
bool	ExtractProfileFromFrame (eVision.EROIBW8 frame)
	Extracts a profile from a frame and adds it to the current depth map.
void	Save (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 (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	SetSmoothingParameters (int param0, int param1, int param2)
	Sets the parameters of the smoothing kernel.
void	DrawLastProfile (eVision.EDrawAdapter drawAdapter, float zoomX, float zoomY, float panX, float panY)
	Draws the last extracted profile.
void	DrawLastProfile (eVision.EDrawAdapter drawAdapter, float zoomX, float zoomY, float panX)
	Draws the last extracted profile.
void	DrawLastProfile (eVision.EDrawAdapter drawAdapter, float zoomX, float zoomY)
	Draws the last extracted profile.
void	DrawLastProfile (eVision.EDrawAdapter drawAdapter, float zoomX)
	Draws the last extracted profile.
void	DrawLastProfile (eVision.EDrawAdapter drawAdapter)
	Draws the last extracted profile.

Static Public Member Functions
static void	DrawProfile (eVision.EDrawAdapter drawAdapter, int frameWidth, int frameHeight, float[] profile, float zoomX, float zoomY, float panX, float panY)
	Draws a profile.
static void	DrawProfile (eVision.EDrawAdapter drawAdapter, int frameWidth, int frameHeight, float[] profile, float zoomX, float zoomY, float panX)
	Draws a profile.
static void	DrawProfile (eVision.EDrawAdapter drawAdapter, int frameWidth, int frameHeight, float[] profile, float zoomX, float zoomY)
	Draws a profile.
static void	DrawProfile (eVision.EDrawAdapter drawAdapter, int frameWidth, int frameHeight, float[] profile, float zoomX)
	Draws a profile.
static void	DrawProfile (eVision.EDrawAdapter drawAdapter, int frameWidth, int frameHeight, float[] profile)
	Draws a profile.

Properties
int	FrameWidth [get]
	Width of the frames from which the profiles are extracted.
int	FrameHeight [get]
	Height of the frames from which the profiles are extracted.
int	NumFramesPerMap [get]
	Number of frames from which the profiles are be extracted.
float	ZResolution [get]
	Z resolution of the extracted profile.
int	NumExtractedProfile [get]
	Number of extracted profiles.
float[]	Profile [get]
	Returns the last extracted profile.
int	AnalysisThreshold [get, set]
	Analysis threshold. Set this value to eliminate noise.
eVision.Easy3D.EMaximumAnalysisMode	AnalysisMode [get, set]
	Analysis mode.
bool	EnableSmoothing [get, set]
	Enables or disables grayscale profile smoothing before extraction.
int	SmoothingParameter0 [get, set]
	Smoothing parameter 0.
int	SmoothingParameter1 [get, set]
	Smoothing parameter 1.
int	SmoothingParameter2 [get, set]
	Smoothing parameter 2.
eVision.Easy3D.EDepthMap16	DepthMap [get]
	Returns the current depth map.

Detailed Description

Manages a laser line extraction context.

License(s): Easy3DLaserLine

Constructor & Destructor Documentation

ELaserLineExtractor() [1/3]

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() [2/3]

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() [3/3]

eVision.Easy3D.ELaserLineExtractor.ELaserLineExtractor

(

eVision.Easy3D.ELaserLineExtractor

other

)

Creates an ELaserLineExtractor object.

Parameters

other

The object that should be copied

Member Function Documentation

DrawLastProfile() [1/5]

void eVision.Easy3D.ELaserLineExtractor.DrawLastProfile

(

eVision.EDrawAdapter

drawAdapter

)

Draws the last extracted profile.

Parameters

drawAdapter

Draw adapter.

DrawLastProfile() [2/5]

void eVision.Easy3D.ELaserLineExtractor.DrawLastProfile	(	eVision.EDrawAdapter	drawAdapter,
		float	zoomX )

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 )

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 )

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 )

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, int frameWidth, int frameHeight, 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, int frameWidth, int frameHeight, 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, int frameWidth, int frameHeight, 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, int frameWidth, int frameHeight, 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, int frameWidth, int frameHeight, 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

(

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.

Load() [1/2]

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.

Load() [2/2]

void eVision.Easy3D.ELaserLineExtractor.Load

(

string

file

)

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

Parameters

file	File path.

Save() [1/2]

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.

Save() [2/2]

void eVision.Easy3D.ELaserLineExtractor.Save

(

string

file

)

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

Parameters

file	File path.

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).

Property Documentation

AnalysisMode

eVision.Easy3D.EMaximumAnalysisMode eVision.Easy3D.ELaserLineExtractor.AnalysisMode

getset

Analysis mode.

AnalysisThreshold

int eVision.Easy3D.ELaserLineExtractor.AnalysisThreshold

getset

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.

DepthMap

eVision.Easy3D.EDepthMap16 eVision.Easy3D.ELaserLineExtractor.DepthMap

get

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.

EnableSmoothing

bool eVision.Easy3D.ELaserLineExtractor.EnableSmoothing

getset

Enables or disables grayscale profile smoothing before extraction.

FrameHeight

int eVision.Easy3D.ELaserLineExtractor.FrameHeight

get

Height of the frames from which the profiles are extracted.

FrameWidth

int eVision.Easy3D.ELaserLineExtractor.FrameWidth

get

Width of the frames from which the profiles are extracted.

NumExtractedProfile

int eVision.Easy3D.ELaserLineExtractor.NumExtractedProfile

get

Number of extracted profiles.

NumFramesPerMap

int eVision.Easy3D.ELaserLineExtractor.NumFramesPerMap

get

Number of frames from which the profiles are be extracted.

Profile

float [] eVision.Easy3D.ELaserLineExtractor.Profile

get

Returns the last extracted profile.

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

SmoothingParameter0

int eVision.Easy3D.ELaserLineExtractor.SmoothingParameter0

getset

Smoothing parameter 0.

SmoothingParameter1

int eVision.Easy3D.ELaserLineExtractor.SmoothingParameter1

getset

Smoothing parameter 1.

SmoothingParameter2

int eVision.Easy3D.ELaserLineExtractor.SmoothingParameter2

getset

Smoothing parameter 2.

ZResolution

float eVision.Easy3D.ELaserLineExtractor.ZResolution

get

Z resolution of the extracted profile.

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