3D Image type and 3D image algorithm interfaces#
3D Image type definition#
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class Image3d#
The 3D Image is represented by the 2D Image (type is visionflow::img::Image) and the transform 3D coefficient, which maps the pixel coordinates and pixel values of the 2D image to the 3D point coordinates.
Let \( Col_{img} \), \( Row_{img} \) and \( Val_{img} \) represent the x-axis coordinate, y-axis coordinate and gray value of the 2D image respectively, where the upper left corner of the 2D image represents the origin of the coordinate system, the x-axis is horizontal to the right, and the y-axis is vertically downward. The x-axis and y-axis of the 3D point coordinate system are consistent with the 2D image and follow the right-hand coordinate system rule, so the z-axis direction is inward form the 2D image plane. Here, the coefficients of \( Col_{img} \), \( Row_{img} \) and \( Val_{img} \) are mapped to 3D point coordinates \( (X, Y, Z) \) include \( x_{scale} \), \( y_{scale} \), \( z_{scale} \), \( x_{offset} \), \( y_{offset} \), \( z_{offset} \). The calculation formula is as follows:
Note that \( x_{scale} \), \( y_{scale} \) and \( z_{scale} \) are non-zero float values, meanwhile the 2D Image is a single page and one channel image, and the data type is visionflow::Image::kDepthU16.\[\begin{split} P_{3d}= \begin {cases} X = Col_{img} * x_{scale} + x_{offset}\\ Y = Row_{img} * y_{scale} + y_{offset} \\ Z = Val_{img} * z_{scale} + z_{offset} \\ \end{cases} \end{split}\]Public Functions
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Image3d(visionflow::img::Image img, float x_scale, float y_scale, float z_scale, float x_offset, float y_offset, float z_offset)#
Constructor with 2D image, x_scale, y_scale, z_scale, x_offset, y_offset and z_offset. Note the absolute values of x_scale, y_scale and z_scale should be greater than FLT_EPSILON.
- Parameters:
img – 2D image, it’s a single page, one channel image of type visionflow::Image::kDepthU16.
x_scale – x_scale.
y_scale – y_scale.
z_scale – z_scale.
x_offset – x_offset.
y_offset – y_offset.
z_offset – z_offset.
- Throws:
excepts::InvalidArgument – The absolute value of any of x_scale, y_scale and z_scale is less than or equal to FLT_EPSILON, or the input argument img is not a single page, one channel image of type visionflow::Image::kDepthU16.
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Image3d(visionflow::img::Image img, std::vector<float> transform3d_coefficient)#
Constructor with 2D image and a vector of transform 3D coefficient.
- Parameters:
img – 2D image, it’s a single page, one channel image of type visionflow::Image::kDepthU16.
transform3d_coefficient – The vector should contain 6 float values (x_scale, y_scale, z_scale, x_offset, y_offset, z_offset), with the absolute values of the index at 0~2 should be greater than FLT_EPSILON.
- Throws:
excepts::InvalidArgument – The size of the argument transform3d_coefficient is not 6, or the absolute value of any of transform3d_coefficient with index at 0~2 (x_scale, y_scale, z_scale) is less than or equal to FLT_EPSILON, or the input argument img is not a single page, one channel image of type visionflow::Image::kDepthU16.
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Image3d(const Image3d &rhs)#
Copy constructor.
Only copy the 2d Image and transform 3d coefficient data pointer, not the data. If you want to copy the data, you should use clone().
- Parameters:
rhs – other Image.
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Image3d &set_image2d(visionflow::Image img)#
Set the 2D image data.
- Parameters:
img – visionflow::Image image data.
- Returns:
Image3d& reference to this object.
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const visionflow::Image &image2d() const#
Get the 2D image data.
- Returns:
NO_DISCARD visionflow::Image image data.
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visionflow::Image &image2d()#
Get the mutable 2D image data.
- Returns:
NO_DISCARD visionflow::Image image data.
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std::vector<float> transform3d_coefficient() const#
Get the transform 3D coefficient.
- Returns:
the vector of transform 3d coefficient (The order is x_scale, y_scale, z_scale, x_offset, y_offset, z_offset).
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Image3d &set_transform3d_coefficient(const std::vector<float> &transform3d_coefficient)#
Set the transform 3D coefficient.
- Parameters:
transform3d_coefficient – new transform 3D coefficient to set, the vector should contain 6 float values (x_scale, y_scale, z_scale, x_offset, y_offset, z_offset), with the absolute values of the index at 0~2 should be greater than FLT_EPSILON.
- Throws:
excepts::InvalidArgument – The size of the argument transform3d_coefficient is not 6, or the absolute value of any of transform3d_coefficient with index at 0~2 (x_scale, y_scale, z_scale) is less than or equal to FLT_EPSILON.
- Returns:
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Image3d(visionflow::img::Image img, float x_scale, float y_scale, float z_scale, float x_offset, float y_offset, float z_offset)#