Namespaces
namespace	detail

Classes
struct	FunctorWithReturnType
	Base class for functors with return value. More...

struct	is_shared_ptr

struct	is_shared_ptr< boost::shared_ptr< T > >

struct	is_shared_ptr< std::shared_ptr< T > >

class	PerpendicularPlaneFitting

struct	PlaneFittingResult

struct	PointCloudFunctor
	Functor creating a `pcl::PointCloud<PointT>` and passing it to `function`. More...

struct	PointCloudPtrFunctor
	Functor creating a `pcl::PointCloud<PointT>::Ptr` and passing it to `function`. More...

Enumerations
enum	PCLToDebugDrawerConversionMode { eConvertAsPoints , eConvertAsColors , eConvertAsLabels }

Functions
template<class LabeledPointT>
void	addSegmentIndices (std::map< uint32_t, pcl::PointIndices > &segmentIndices, const pcl::PointCloud< LabeledPointT > &labeledCloud, bool excludeZero=false)
	Add indices of each segment's points to `segmentIndices`.

template<class LabeledPointT>
void	addSegmentIndices (std::map< uint32_t, pcl::PointIndices::Ptr > &segmentIndices, const pcl::PointCloud< LabeledPointT > &labeledCloud, bool excludeZero=false)

template<typename T>
void	arrayToVector (const T *dataArray, const int size, std::vector< T > &vec)

template<class FunctionT, class... Args>
void	callWithPointCloud (const FunctionT &function, PointContentType type, Args... args)
	Overload of `callWithPointCloud()` for functions passed by const reference.

template<class FunctionT, class... Args>
void	callWithPointCloud (FunctionT &function, PointContentType type, Args... args)
	Call `function` with a `pcl::PointCloud<PointT>` with the adequate `PointT` according to `type`.

template<class FunctionT, class... Args>
void	callWithPointCloudPtr (const FunctionT &function, PointContentType type, Args... args)
	Overload of `callWithPointCloudPtr()` for functions passed by const reference.

template<class FunctionT, class... Args>
void	callWithPointCloudPtr (FunctionT &function, PointContentType type, Args... args)
	Call `function` with a (non-null) `pcl::PointCloud<PointT>::Ptr` with the adequate `PointT` according to `type`.

template<class FunctorT, class... Args>
std::enable_if_t<!std::is_base_of< detail::FunctorWithReturnType, FunctorT >::value, void >	callWithPointType (const FunctorT &functor, PointContentType type, Args... args)
	Overload of `visitWithPointType()` for functors passed by const reference.

template<class VisitorT, class... Args>
VisitorT::ReturnType	callWithPointType (const VisitorT &functor, PointContentType type, Args... args)
	Overload of `visitWithPointType()` for functors with return value passed by const reference.

template<class FunctorT, class... Args>
std::enable_if_t<!std::is_base_of< detail::FunctorWithReturnType, FunctorT >::value, void >	callWithPointType (FunctorT &functor, PointContentType type, Args... args)
	Call `functor` with the correct pcl point type according to `type`.

template<class VisitorT, class... Args>
VisitorT::ReturnType	callWithPointType (VisitorT &functor, PointContentType type, Args... args)
	Overload of `visitWithPointType()` for functors with return value.

void	colorizeLabeledPointCloud (pcl::PointCloud< pcl::PointXYZL >::Ptr sourceCloudPtr, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr targetCloudPtr)

template<typename PointCloudPtrT>
std::tuple< uint8_t, uint8_t, uint8_t >	colorizeSegment (PointCloudPtrT &segment)

::ImageProcessor::BayerPatternType	convert (const BayerPatternType visionxBayerPatternType)
	Converts a VisionX BayerPatternType into a IVT's image processor BayerPatternType.

visionx::MonocularCalibration	convert (const CCalibration &ivtCalibration)
	Converts an IVT CCalibration into a VisionX MonocularCalibration struct.

visionx::StereoCalibration	convert (const CStereoCalibration &ivtStereoCalibration)
	Converts an IVT CStereoCalibration into a VisionX StereoCalibration struct.

CVideoCaptureInterface::FrameRate	convert (const float frameRate)
	Converts frame rate floats into distinct IVT FrameRates by applying quantization.

CVideoCaptureInterface::VideoMode	convert (const ImageDimension &imageDimension)
	Converts a VisionX image dimension object into an IVT VideoMode of IVT's CVideoCaptureInterface.

CByteImage::ImageType	convert (const ImageType visionxImageType)
	Converts a VisionX image type into an image type of IVT's ByteImage.

visionx::types::Mat	convert (const Mat3d &mat)
	Converts an IVT Mat3d into VisionX Matrix (float STL Vectors)

visionx::types::Region	convert (const MyRegion &ivtRegion)
	Converts an IVT MyRegion into a VisionX MyRegion.

visionx::types::Object3DEntry	convert (const Object3DEntry &ivtObject3DEntry)
	Converts an IVT Object3DEntry id into a VisionX ObjectEntry.

visionx::types::Object3DList	convert (const Object3DList &ivtObject3DList)
	Converts an IVT Object3DList object into an VisionX ObjectList.

visionx::types::ObjectColor	convert (const ObjectColor &ivtObjectColor)
	Mapps an IVT Object color id onto a VisionX object color id.

visionx::types::ObjectType	convert (const ObjectType &ivtObjectType)
	Mapps an IVT Object type id onto a VisionX object type id.

visionx::types::Transformation3d	convert (const Transformation3d &ivtTransformation3d)
	Converts an IVT Transformation3d into a VisionX Transformation3d.

visionx::types::Vec	convert (const Vec2d &vec)
	Converts an IVT Vec2d Vector into VisionX Vector (float STL Vector)

visionx::types::Vec	convert (const Vec3d &vec)
	Converts an IVT Vec3d Vector into VisionX Vector (float STL Vector)

CCalibration *	convert (const visionx::MonocularCalibration &calibration)
	Converts a VisionX MonocularCalibration object into an IVT CCalibration.

CStereoCalibration *	convert (const visionx::StereoCalibration &stereoCalibration)
	Converts a VisionX StereoCalibration object into an IVT CStereoCalibration.

Mat3d	convert (const visionx::types::Mat &mat)
	Converts a VisionX Matrix (float STL Vectors) into an IVT Mat3d.

Object3DEntry	convert (const visionx::types::Object3DEntry &object3DEntry)
	Converts a VisionX ObjectEntry object into an IVT Object3DEntry instance.

Object3DList	convert (const visionx::types::Object3DList &object3DList)
	Converts an IVT Object3DList object into a VisionX Object3DEntry instance.

ObjectColor	convert (const visionx::types::ObjectColor &objectColor)
	Mapps an IVT Object color id onto a VisionX object color id.

ObjectType	convert (const visionx::types::ObjectType &objectType)
	Mapps an IVT Object type id onto a VisionX object type id.

MyRegion	convert (const visionx::types::Region &region)
	Converts a VisionX MyRegion object into an IVT MyRegion instance.

Transformation3d	convert (const visionx::types::Transformation3d &transformation3d)
	Converts a VisionX Transformation3d object into an IVT Transformation3d object.

Vec3d	convert (const visionx::types::Vec &vec)
	Converts a VisionX Vector (float STL Vector) into an IVT Vec3d.

Vec2d	convert (const visionx::types::Vec *pVec)
	Converts a VisionX Vector (float STL Vector) into an IVT Vec2d.

visionx::types::Mat	convertEigenMatToVisionX (Eigen::MatrixXf m)

visionx::types::Vec	convertEigenVecToVisionX (Eigen::VectorXf v)

void	convertFromPCL (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr sourcePtr, ColoredPointCloud &target)

void	convertFromPCL (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr sourcePtr, visionx::ColoredPointCloud &target)

void	convertFromPCL (const pcl::PointCloud< pcl::PointXYZRGBL > &source, ColoredLabeledPointCloud &target)

template<typename VisionXPointT, typename PclPointT>
std::vector< VisionXPointT >	convertFromPCL (const pcl::PointCloud< PclPointT > &source)
	Convert a PCL point cloud to a VisionX point cloud (as return value).

template<typename VisionXPointT, typename PclPointT>
void	convertFromPCL (const pcl::PointCloud< PclPointT > &source, std::vector< VisionXPointT > &target)
	Convert a PCL point cloud to a VisionX point cloud.

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZ >::Ptr sourcePtr, void **target)

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZI >::Ptr sourcePtr, void **target)

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZL >::Ptr sourcePtr, void **target)

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGB >::Ptr sourcePtr, void **target)

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr sourcePtr, void **target)

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGBL >::Ptr sourcePtr, void **target)

void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &sourcePtr, void **target)

void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZ >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)

void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZL >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)

void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)

void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)

void	convertImage (const ImageFormatInfo &imageFormat, const ImageType destinationImageType, void inputData, void outputData)
	This converts the input image data into a desired destination image data type specified in the given ImageProviderInfo.

void	convertImage (const ImageProviderInfo &imageProviderInfo, void inputData, void outputData)
	Simplifies usage of visionx::tools:convertImage in ImageProcessors.

Eigen::Matrix3f	convertIVTtoEigen (const Mat3d &m)

Eigen::Vector3f	convertIVTtoEigen (const Vec3d &v)

template<>
void	convertPointFromPCL (const pcl::PointXYZ &source, visionx::Point3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZ &source, visionx::Point3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZL &source, visionx::LabeledPoint3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZL &source, visionx::LabeledPoint3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZRGBA &source, visionx::ColoredPoint3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZRGBA &source, visionx::ColoredPoint3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZRGBL &source, visionx::ColoredLabeledPoint3D &target)

template<>
void	convertPointFromPCL (const pcl::PointXYZRGBL &source, visionx::ColoredLabeledPoint3D &target)

template<typename PclPointT, typename VisionXPointT>
void	convertPointFromPCL (const PclPointT &p, VisionXPointT &v)
	Convert a PCL point type to a VisionX point type.

template<>
void	convertPointToPCL (const visionx::ColoredLabeledPoint3D &source, pcl::PointXYZRGBL &target)

template<>
void	convertPointToPCL (const visionx::ColoredLabeledPoint3D &source, pcl::PointXYZRGBL &target)

template<>
void	convertPointToPCL (const visionx::ColoredPoint3D &source, pcl::PointXYZRGBA &target)

template<>
void	convertPointToPCL (const visionx::ColoredPoint3D &source, pcl::PointXYZRGBA &target)

template<>
void	convertPointToPCL (const visionx::LabeledPoint3D &source, pcl::PointXYZL &target)

template<>
void	convertPointToPCL (const visionx::LabeledPoint3D &source, pcl::PointXYZL &target)

template<>
void	convertPointToPCL (const visionx::Point3D &source, pcl::PointXYZ &target)

template<>
void	convertPointToPCL (const visionx::Point3D &source, pcl::PointXYZ &target)

template<typename PclPointT, typename VisionXPointT>
void	convertPointToPCL (const VisionXPointT &v, PclPointT &p)
	Convert a VisionX point type to a PCL point type.

void	convertToPCL (const ColoredLabeledPointCloud &source, pcl::PointCloud< pcl::PointXYZRGBL > &target)

void	convertToPCL (const ColoredPointCloud &source, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr targetPtr)

template<typename PclPointT, typename VisionXPointT>
pcl::PointCloud< PclPointT >::Ptr	convertToPCL (const std::vector< VisionXPointT > &source)
	Convert a VisionX point cloud to a PCL point cloud (as return value).

template<typename PclPointT, typename VisionXPointT>
void	convertToPCL (const std::vector< VisionXPointT > &source, pcl::PointCloud< PclPointT > &target)
	Convert a VisionX point cloud to a PCL point cloud.

void	convertToPCL (const visionx::ColoredPointCloud &source, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZ >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZI >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZL >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGB >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGBL >::Ptr targetPtr)

void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr targetPtr)

Eigen::MatrixXf	convertVisionXMatToEigen (visionx::types::Mat m)

Eigen::VectorXf	convertVisionXVecToEigen (visionx::types::Vec v)

CByteImage *	createByteImage (const ImageFormatInfo &imageFormat)

CByteImage *	createByteImage (const ImageFormatInfo &imageFormat, const ImageType imageType)
	Creates a ByteImage for the destination type specified in the given imageProviderInfo.

CByteImage *	createByteImage (const ImageProviderInfo &imageProviderInfo)
	Simplifies usage of visionx::tools:convertImage in ImageProcessors.

MonocularCalibration	createDefaultMonocularCalibration ()
	Creates a MonocularCalibration with all parameters set to a neutral value.

CFloatImage *	createFloatImage (const ImageFormatInfo &imageFormat, const ImageType imageType)
	Creates a FloatImage for the destination type specified in the given imageProviderInfo.

CFloatImage *	createFloatImage (const ImageProviderInfo &imageProviderInfo)
	Simplifies usage of visionx::tools:convertImage in ImageProcessors.

	DECLARE_fitPlaneRansac_PointT (pcl::PointXYZ)

	DECLARE_fitPlaneRansac_PointT (pcl::PointXYZRGB)

	DECLARE_fitPlaneRansac_PointT (pcl::PointXYZRGBA)

	DECLARE_fitPlaneRansac_PointT (pcl::PointXYZRGBL)

void	depthValueToRGB (unsigned int depthInMM, unsigned char &r, unsigned char &g, unsigned char &b, bool noiseResistant=false)

template<typename PointCloudT>
PointCloudT::Ptr	downsampleByVoxelGrid (typename PointCloudT::ConstPtr inputCloud, float leafSize=5.0, pcl::IndicesConstPtr indices=nullptr)

template<typename PointCloudT>
PointCloudT::Ptr	downsampleByVoxelGrid (typename PointCloudT::ConstPtr inputCloud, float leafSize=5.0, pcl::PointIndicesConstPtr indices=nullptr)

template<class PointCloudT>
std::enable_if<!is_shared_ptr< PointCloudT >::value, void >::type	fillLabelMap (const PointCloudT &labeledCloud, std::map< uint32_t, pcl::PointIndices > &labelIndicesMap, bool excludeZero=true)

template<class LabeledPointCloudPtrT>
std::enable_if< is_shared_ptr< LabeledPointCloudPtrT >::value, void >::type	fillLabelMap (LabeledPointCloudPtrT labeledCloudPtr, std::map< uint32_t, pcl::PointIndices > &labelIndicesMap, bool excludeZero=true)

template<typename PointT, typename IndicesPtrT = pcl::IndicesPtr>
std::optional< PlaneFittingResult >	fitPlaneRansac (typename pcl::PointCloud< PointT >::Ptr cloud, double distanceThreshold=1.0, const IndicesPtrT &indices=nullptr)

template<typename PointCloudT>
simox::AxisAlignedBoundingBox	getAABB (const PointCloudT &pointCloud, const pcl::PointIndices &indices={})
	Get the axis-aligned bounding-box of the given point cloud.

template<class PointCloudT>
simox::AxisAlignedBoundingBox	getAABB (const PointCloudT &pointCloud, const pcl::PointIndices::Ptr &indices)

size_t	getBytesPerPoint (visionx::PointContentType pointContent)

template<typename PointCloudT>
pcl::PointIndices::Ptr	getCropIndices (const PointCloudT &inputCloud, Eigen::Vector3f min, Eigen::Vector3f max)

template<typename PointCloudT>
PointCloudT::Ptr	getCropped (const PointCloudT &inputCloud, Eigen::Vector3f min, Eigen::Vector3f max)

std::string	getHardwareId ()
	Retrieve hardware id to identify local machine.

template<class PointCloudT>
std::map< uint32_t, pcl::PointIndices >	getLabelMap (const PointCloudT &labeledCloud, bool excludeZero=true)

template<typename LabeledPointT>
std::set< uint32_t >	getLabelSet (const pcl::PointCloud< LabeledPointT > &pointCloud)
	Return the set of labels in `pointCloud`.

template<class ValueT>
std::set< uint32_t >	getLabelSet (const std::map< uint32_t, ValueT > &segmentIndices)
	Return the labels in `segmentIndices` as `std::set`.

template<typename PointT>
visionx::PointContentType	getPointContentType ()

template<>
PointContentType	getPointContentType< pcl::PointNormal > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointNormal > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZ > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZ > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZI > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZI > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZL > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZL > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBA > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBA > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBL > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBL > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBNormal > ()

template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBNormal > ()

template<class PointT, class IndicesT = pcl::PointIndices>
std::map< uint32_t, simox::AxisAlignedBoundingBox >	getSegmentAABBs (const pcl::PointCloud< PointT > &pointCloud, const std::map< uint32_t, IndicesT > &segmentIndices)

template<class PointT, class IndicesT = pcl::PointIndices>
std::vector< simox::AxisAlignedBoundingBox >	getSegmentAABBs (const pcl::PointCloud< PointT > &pointCloud, const std::vector< IndicesT > &segmentIndices)

template<class LabeledPointT>
std::map< uint32_t, pcl::PointIndices >	getSegmentIndices (const pcl::PointCloud< LabeledPointT > &labeledCloud, bool excludeZero=false)
	Get a map from segment labels to indices of segments' points.

template<class LabeledPointT>
std::map< uint32_t, pcl::PointIndices::Ptr >	getSegmentIndicesPtr (const pcl::PointCloud< LabeledPointT > &labeledCloud, bool excludeZero=false)
	Version of `addSegmentIndices()` containing `pcl::PointIndices::Ptr`.

template<class ValueT>
std::vector< uint32_t >	getUniqueLabels (const std::map< uint32_t, ValueT > &segmentIndices)
	Return the labels in `segmentIndices` as `std::vector`.

std::string	imageTypeToTypeName (const ImageType imageType)
	Converts an image type into a string integer.

bool	isColored (PointContentType type)

bool	isColored (visionx::PointContentType type)
	Indicate whether this point type contains colors.

bool	isLabeled (PointContentType type)

bool	isLabeled (visionx::PointContentType type)
	Indicate whether this point type contains labels.

template<class PointT>
void	relabel (pcl::PointCloud< PointT > &pointCloud, const std::map< uint32_t, pcl::PointIndices > &segmentIndices)

template<class PointT>
void	relabel (pcl::PointCloud< PointT > &pointCloud, const std::map< uint32_t, pcl::PointIndices::Ptr > &segmentIndices)

float	rgbToDepthValue (unsigned char r, unsigned char g, unsigned char b, bool noiseResistant=false)

simox::AxisAlignedBoundingBox	toAABB (const BoundingBox3D &boundingBox)

BoundingBox3D	toBoundingBox3D (const Eigen::Vector3f &min, const Eigen::Vector3f &max)

BoundingBox3D	toBoundingBox3D (const simox::AxisAlignedBoundingBox &aabb)

std::string	toString (PointContentType pointContent)

std::string	toString (visionx::PointContentType pointContent)

ImageType	typeNameToImageType (const std::string &imageTypeName)
	Converts an image type name as string into an ImageType integer.

template<typename T>
T *	vectorToArray (const std::vector< T > &dataVector)

Enumeration Type Documentation

◆ PCLToDebugDrawerConversionMode

enum PCLToDebugDrawerConversionMode

Enumerator
eConvertAsPoints
eConvertAsColors
eConvertAsLabels

Function Documentation

◆ addSegmentIndices() [1/2]

template<class LabeledPointT>

void addSegmentIndices	(	std::map< uint32_t, pcl::PointIndices > &	segmentIndices,
		const pcl::PointCloud< LabeledPointT > &	labeledCloud,
		bool	excludeZero = false )

Add indices of each segment's points to segmentIndices.

Parameters

segmentIndices	The map to fill (label -> point indicies).
labeledCloud	A labeled point cloud.
excludeZero	If true, points with label == 0 are ignored.

◆ addSegmentIndices() [2/2]

template<class LabeledPointT>

void addSegmentIndices	(	std::map< uint32_t, pcl::PointIndices::Ptr > &	segmentIndices,
		const pcl::PointCloud< LabeledPointT > &	labeledCloud,
		bool	excludeZero = false )

◆ arrayToVector()

template<typename T>

void arrayToVector	(	const T *	dataArray,
		const int	size,
		std::vector< T > &	vec )

◆ callWithPointCloud() [1/2]

template<class FunctionT, class... Args>

void callWithPointCloud	(	const FunctionT &	function,
		PointContentType	type,
		Args...	args )

Overload of callWithPointCloud() for functions passed by const reference.

◆ callWithPointCloud() [2/2]

template<class FunctionT, class... Args>

void callWithPointCloud	(	FunctionT &	function,
		PointContentType	type,
		Args...	args )

Call function with a pcl::PointCloud<PointT> with the adequate PointT according to type.

The passed function may be a lambda taking the point cloud by auto as its first argument: [](auto pointCloud) { pointCloud.size(); }

Parameters

function	The function to be called.
type	The point content type.
args	Optional additional arguments passed to the called function.

◆ callWithPointCloudPtr() [1/2]

template<class FunctionT, class... Args>

void callWithPointCloudPtr	(	const FunctionT &	function,
		PointContentType	type,
		Args...	args )

Overload of callWithPointCloudPtr() for functions passed by const reference.

◆ callWithPointCloudPtr() [2/2]

template<class FunctionT, class... Args>

void callWithPointCloudPtr	(	FunctionT &	function,
		PointContentType	type,
		Args...	args )

Call function with a (non-null) pcl::PointCloud<PointT>::Ptr with the adequate PointT according to type.

The passed function may be a lambda taking the point cloud by auto as its first argument: [](auto pointCloud) { pointCloud->size(); }

Parameters

function	The function to be called.
type	The point content type.
args	Optional additional arguments passed to the called function.

◆ callWithPointType() [1/4]

template<class FunctorT, class... Args>

std::enable_if_t<!std::is_base_of< detail::FunctorWithReturnType, FunctorT >::value, void > callWithPointType	(	const FunctorT &	functor,
		PointContentType	type,
		Args...	args )

Overload of visitWithPointType() for functors passed by const reference.

◆ callWithPointType() [2/4]

template<class VisitorT, class... Args>

VisitorT::ReturnType callWithPointType	(	const VisitorT &	functor,
		PointContentType	type,
		Args...	args )

Overload of visitWithPointType() for functors with return value passed by const reference.

◆ callWithPointType() [3/4]

template<class FunctorT, class... Args>

std::enable_if_t<!std::is_base_of< detail::FunctorWithReturnType, FunctorT >::value, void > callWithPointType	(	FunctorT &	functor,
		PointContentType	type,
		Args...	args )

Call functor with the correct pcl point type according to type.

The passed functor must have a member functor template, taking the pcl point type as first template argument:

struct ExampleFunctor
{
    template <class PointT>
    void
    operator()()
    {
        pcl::PointCloud<PointT> pointCloud;
        // Do stuff with `pointCloud` ...
        (void)pointCloud;
    }
};
 

Construct your functor and pass it to callWithPointType() along with the respective PointContentType:

    PointContentType type = getPointContentType();
 
    ExampleFunctor functor;
    visionx::tools::callWithPointType(functor, type);

Depending on the passed PointContentType, the functor's operator() is called with the according pcl::Point... type as template argument. This allows you to create pcl::PointCloud<PointT> with the correct type.

In addition to functor and type, callWithPointType() can take more arguments which will be passed to the functor's operator():

struct ExampleFunctorTakingArguments
{
    template <class PointT>
    void
    operator()(int myInt, float myFloat)
    {
        (void)myInt;
        (void)myFloat;
    }
};
 

Usage:

    PointContentType type = getPointContentType();
 
    ExampleFunctorTakingArguments functor;
    int myInt = 42;
    float myFloat = 15;
    visionx::tools::callWithPointType(functor, type, myInt, myFloat);

If your functor returns a result, have it derive from FunctorWithReturnType, specifying the return type as template argument:

struct ExampleFunctorReturningInt : visionx::tools::FunctorWithReturnType<int>
{
    template <class PointT>
    int
    operator()(int myArg)
    {
        return myArg + 42;
    }
};
 

Usage:

    PointContentType type = getPointContentType();
 
    ExampleFunctorReturningInt functor;
    int myInt = 42;
    int result = visionx::tools::callWithPointType(functor, type, myInt);

Parameters

functor	The functor to be called.
type	The point content type.
args	Arguments passed to functor call.

◆ callWithPointType() [4/4]

template<class VisitorT, class... Args>

VisitorT::ReturnType callWithPointType	(	VisitorT &	functor,
		PointContentType	type,
		Args...	args )

Overload of visitWithPointType() for functors with return value.

◆ colorizeLabeledPointCloud()

void colorizeLabeledPointCloud	(	pcl::PointCloud< pcl::PointXYZL >::Ptr	sourceCloudPtr,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	targetCloudPtr )

inline

◆ colorizeSegment()

template<typename PointCloudPtrT>

std::tuple< uint8_t, uint8_t, uint8_t > colorizeSegment ( PointCloudPtrT & segment )

◆ convert() [1/26]

ImageProcessor::BayerPatternType convert ( const BayerPatternType visionxBayerPatternType )

Converts a VisionX BayerPatternType into a IVT's image processor BayerPatternType.

Parameters

visionxBayerPatternType VisionX Bayer pattern type

Returns: ImageProcessor::BayerPatternType

◆ convert() [2/26]

visionx::MonocularCalibration convert ( const CCalibration & ivtCalibration )

Converts an IVT CCalibration into a VisionX MonocularCalibration struct.

Parameters

ivtCalibration IVT Calibration

Returns: VisionX StereoCalibration object

◆ convert() [3/26]

visionx::StereoCalibration convert ( const CStereoCalibration & ivtStereoCalibration )

Converts an IVT CStereoCalibration into a VisionX StereoCalibration struct.

Parameters

ivtStereoCalibration IVT StereoCalibration

Returns: VisionX StereoCalibration object

◆ convert() [4/26]

CVideoCaptureInterface::FrameRate convert ( const float frameRate )

Converts frame rate floats into distinct IVT FrameRates by applying quantization.

Parameters

frameRate frame rate

Returns: Closest CVideoCaptureInterface::FrameRate

◆ convert() [5/26]

CVideoCaptureInterface::VideoMode convert ( const ImageDimension & imageDimension )

Converts a VisionX image dimension object into an IVT VideoMode of IVT's CVideoCaptureInterface.

Parameters

imageDimension VisionX image dimension which consist of image width and height

Returns: According CVideoCaptureInterface::VideoMode if a valid dimension was passed otherwise CVideoCaptureInterface::eNone is returned.

◆ convert() [6/26]

CByteImage::ImageType convert ( const ImageType visionxImageType )

Converts a VisionX image type into an image type of IVT's ByteImage.

Parameters

visionXImageType VisionX image type

Returns: ByteImage::ImageType

◆ convert() [7/26]

visionx::types::Mat convert ( const Mat3d & mat )

Converts an IVT Mat3d into VisionX Matrix (float STL Vectors)

Parameters

vec	IVT 3D Matrix

Returns: VisionX matrix

◆ convert() [8/26]

visionx::types::Region convert ( const MyRegion & ivtRegion )

Converts an IVT MyRegion into a VisionX MyRegion.

Parameters

ivtRegion IVT MyRegion struct instance

Returns: VisionX MyRegion object

◆ convert() [9/26]

visionx::types::Object3DEntry convert ( const Object3DEntry & ivtObject3DEntry )

Converts an IVT Object3DEntry id into a VisionX ObjectEntry.

Parameters

ivtObject3DEntry IVT Object3DEntry

Returns: VisionX ObjectEntry

◆ convert() [10/26]

visionx::types::Object3DList convert ( const Object3DList & ivtObject3DList )

Converts an IVT Object3DList object into an VisionX ObjectList.

Parameters

ivtObject3DList IVT Object3DList instance

Returns: VisionX ObjectList

◆ convert() [11/26]

visionx::types::ObjectColor convert ( const ObjectColor & ivtObjectColor )

Mapps an IVT Object color id onto a VisionX object color id.

Parameters

ivtObjectColor IVT Object color id

Returns: VisionX Object color id

◆ convert() [12/26]

visionx::types::ObjectType convert ( const ObjectType & ivtObjectType )

Mapps an IVT Object type id onto a VisionX object type id.

Parameters

ivtObjectType IVT Object type id

Returns: VisionX Object type id

◆ convert() [13/26]

visionx::types::Transformation3d convert ( const Transformation3d & ivtTransformation3d )

Converts an IVT Transformation3d into a VisionX Transformation3d.

Parameters

ivtTransformation3d IVT Transformation3d struct instance

Returns: VisionX Transformation3d object

◆ convert() [14/26]

visionx::types::Vec convert ( const Vec2d & vec )

Converts an IVT Vec2d Vector into VisionX Vector (float STL Vector)

Parameters

vec	IVT 2D Vector

Returns: VisionX vector

◆ convert() [15/26]

visionx::types::Vec convert ( const Vec3d & vec )

Converts an IVT Vec3d Vector into VisionX Vector (float STL Vector)

Parameters

vec	IVT 3D Vector

Returns: VisionX vector

◆ convert() [16/26]

CCalibration * convert ( const visionx::MonocularCalibration & calibration )

Converts a VisionX MonocularCalibration object into an IVT CCalibration.

Parameters

calibration VisionX Stereo Calibration struct

Returns: IVT CCalibration

◆ convert() [17/26]

CStereoCalibration * convert ( const visionx::StereoCalibration & stereoCalibration )

Converts a VisionX StereoCalibration object into an IVT CStereoCalibration.

Parameters

stereoCalibration VisionX Stereo Calibration struct

Returns: IVT CStereoCalibration

◆ convert() [18/26]

Mat3d convert ( const visionx::types::Mat & mat )

Converts a VisionX Matrix (float STL Vectors) into an IVT Mat3d.

Parameters

vec	VisionX matrix

Returns: IVT 3D Matrix

◆ convert() [19/26]

Object3DEntry convert ( const visionx::types::Object3DEntry & object3DEntry )

Converts a VisionX ObjectEntry object into an IVT Object3DEntry instance.

Parameters

objectEntry VisionX ObjectEntry object

Returns: IVT Object3DEntry object

◆ convert() [20/26]

Object3DList convert ( const visionx::types::Object3DList & object3DList )

Converts an IVT Object3DList object into a VisionX Object3DEntry instance.

Parameters

objectList VisionX Object3DEntry instance

Returns: IVT Object3DList instance

◆ convert() [21/26]

ObjectColor convert ( const visionx::types::ObjectColor & objectColor )

Mapps an IVT Object color id onto a VisionX object color id.

Parameters

objectColor VisionX object color id

Returns: IVT object color id

◆ convert() [22/26]

ObjectType convert ( const visionx::types::ObjectType & objectType )

Mapps an IVT Object type id onto a VisionX object type id.

Parameters

objectType VisionX object type id

Returns: IVT object type id

◆ convert() [23/26]

MyRegion convert ( const visionx::types::Region & region )

Converts a VisionX MyRegion object into an IVT MyRegion instance.

@parma region VisionX MyRegion object

Returns: IVT MyRegion instance

◆ convert() [24/26]

Transformation3d convert ( const visionx::types::Transformation3d & transformation3d )

Converts a VisionX Transformation3d object into an IVT Transformation3d object.

@parma transformation3d VisionX Transformation3d object

Returns: IVT Transformation3d instance

◆ convert() [25/26]

Vec3d convert ( const visionx::types::Vec & vec )

Converts a VisionX Vector (float STL Vector) into an IVT Vec3d.

Parameters

vec	VisionX vector reference

Returns: IVT 3D Vector

◆ convert() [26/26]

Vec2d convert ( const visionx::types::Vec * pVec )

Converts a VisionX Vector (float STL Vector) into an IVT Vec2d.

Parameters

vec	VisionX vector pointer!

Returns: IVT 2D Vector

◆ convertEigenMatToVisionX()

visionx::types::Mat convertEigenMatToVisionX ( Eigen::MatrixXf m )

◆ convertEigenVecToVisionX()

visionx::types::Vec convertEigenVecToVisionX ( Eigen::VectorXf v )

◆ convertFromPCL() [1/12]

void convertFromPCL	(	const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	sourcePtr,
		ColoredPointCloud &	target )

◆ convertFromPCL() [2/12]

void convertFromPCL	(	const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	sourcePtr,
		visionx::ColoredPointCloud &	target )

◆ convertFromPCL() [3/12]

void convertFromPCL	(	const pcl::PointCloud< pcl::PointXYZRGBL > &	source,
		ColoredLabeledPointCloud &	target )

◆ convertFromPCL() [4/12]

template<typename VisionXPointT, typename PclPointT>

std::vector< VisionXPointT > convertFromPCL ( const pcl::PointCloud< PclPointT > & source )

Convert a PCL point cloud to a VisionX point cloud (as return value).

Pass the desired point type as first template argument, for example:

pcl::PointCloud<pcl::PointXYZRGBA> source = ...;
ColoredPointCloud target = visionx::tools::convertFromPCL<ColoredPoint3D>(source);
ColoredPointCloud target = visionx::tools::convertFromPCL<ColoredPointCloud::value_type>(source);

◆ convertFromPCL() [5/12]

template<typename VisionXPointT, typename PclPointT>

void convertFromPCL	(	const pcl::PointCloud< PclPointT > &	source,
		std::vector< VisionXPointT > &	target )

Convert a PCL point cloud to a VisionX point cloud.

◆ convertFromPCL() [6/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	sourcePtr,
		void **	target )

Parameters

sourcePtr point to the source pcl point cloud

◆ convertFromPCL() [7/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	sourcePtr,
		void **	target )

◆ convertFromPCL() [8/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZL >::Ptr	sourcePtr,
		void **	target )

◆ convertFromPCL() [9/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	sourcePtr,
		void **	target )

◆ convertFromPCL() [10/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	sourcePtr,
		void **	target )

◆ convertFromPCL() [11/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZRGBL >::Ptr	sourcePtr,
		void **	target )

◆ convertFromPCL() [12/12]

void convertFromPCL	(	pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	sourcePtr,
		void **	target )

◆ convertFromPCLToDebugDrawer() [1/4]

void convertFromPCLToDebugDrawer	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	sourcePtr,
		armarx::DebugDrawer24BitColoredPointCloud &	target,
		PCLToDebugDrawerConversionMode	mode,
		float	pointSize )

◆ convertFromPCLToDebugDrawer() [2/4]

void convertFromPCLToDebugDrawer	(	const pcl::PointCloud< pcl::PointXYZL >::Ptr &	sourcePtr,
		armarx::DebugDrawer24BitColoredPointCloud &	target,
		PCLToDebugDrawerConversionMode	mode,
		float	pointSize )

◆ convertFromPCLToDebugDrawer() [3/4]

void convertFromPCLToDebugDrawer	(	const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &	sourcePtr,
		armarx::DebugDrawer24BitColoredPointCloud &	target,
		PCLToDebugDrawerConversionMode	mode,
		float	pointSize )

◆ convertFromPCLToDebugDrawer() [4/4]

void convertFromPCLToDebugDrawer	(	const pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &	sourcePtr,
		armarx::DebugDrawer24BitColoredPointCloud &	target,
		PCLToDebugDrawerConversionMode	mode,
		float	pointSize )

◆ convertImage() [1/2]

void convertImage	(	const ImageFormatInfo &	imageFormat,
		const ImageType	destinationImageType,
		void *	inputData,
		void *	outputData )

This converts the input image data into a desired destination image data type specified in the given ImageProviderInfo.

If source image type equals destination image type, the image is simply copied, otherwise the image is converted if the conversion type is supported.

Supported conversions:

BayerPattern-{bg,gb,gr,rg} to BayerPattern-{bg,gb,gr,rg} (copy only)
BayerPattern-{bg,gb,gr,rg} to GrayScale
BayerPattern-{bg,gb,gr,rg} to RGB
GrayScale to GrayScale (copy only)
GrayScale to RGB
RGB to GrayScale
RGB to RGB (copy only)
Float single channel to Float single channel (copy only)
Float multiple channel to Float multiple channel (copy only)

Parameters

ImageFormatInfo	Image format information which contains the source image type, source image size and more details needed for conversions.
destinationType	destination image type of outputData
inputData	input data array
outputData	output data array

Exceptions

visionx::UnsupportedImageConversion if conversion from a specific source type into a destination type is not supported or implemented.

◆ convertImage() [2/2]

void convertImage	(	const ImageProviderInfo &	imageProviderInfo,
		void *	inputData,
		void *	outputData )

Simplifies usage of visionx::tools:convertImage in ImageProcessors.

See also: visionx::tools::convertImage(const ImageFormatInfo&, const ImageType, unsigned char*, unsigned char*)

Parameters

ImageProviderInfo	Registered image provider information which contains the source image type, destination image type, source image size and more details needed for conversions.
inputData	input data array
outputData	output data array

Exceptions

visionx::UnsupportedImageConversion if conversion from a specific source type into a destination type is not supported or implemented.

◆ convertIVTtoEigen() [1/2]

Eigen::Matrix3f convertIVTtoEigen ( const Mat3d & m )

◆ convertIVTtoEigen() [2/2]

Eigen::Vector3f convertIVTtoEigen ( const Vec3d & v )

◆ convertPointFromPCL() [1/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZ &	source,
		visionx::Point3D &	target )

◆ convertPointFromPCL() [2/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZ &	source,
		visionx::Point3D &	target )

◆ convertPointFromPCL() [3/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZL &	source,
		visionx::LabeledPoint3D &	target )

◆ convertPointFromPCL() [4/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZL &	source,
		visionx::LabeledPoint3D &	target )

◆ convertPointFromPCL() [5/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZRGBA &	source,
		visionx::ColoredPoint3D &	target )

◆ convertPointFromPCL() [6/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZRGBA &	source,
		visionx::ColoredPoint3D &	target )

◆ convertPointFromPCL() [7/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZRGBL &	source,
		visionx::ColoredLabeledPoint3D &	target )

◆ convertPointFromPCL() [8/9]

template<>

void convertPointFromPCL	(	const pcl::PointXYZRGBL &	source,
		visionx::ColoredLabeledPoint3D &	target )

◆ convertPointFromPCL() [9/9]

template<typename PclPointT, typename VisionXPointT>

void convertPointFromPCL	(	const PclPointT &	p,
		VisionXPointT &	v )

Convert a PCL point type to a VisionX point type.

◆ convertPointToPCL() [1/9]

template<>

void convertPointToPCL	(	const visionx::ColoredLabeledPoint3D &	source,
		pcl::PointXYZRGBL &	target )

◆ convertPointToPCL() [2/9]

template<>

void convertPointToPCL	(	const visionx::ColoredLabeledPoint3D &	source,
		pcl::PointXYZRGBL &	target )

◆ convertPointToPCL() [3/9]

template<>

void convertPointToPCL	(	const visionx::ColoredPoint3D &	source,
		pcl::PointXYZRGBA &	target )

◆ convertPointToPCL() [4/9]

template<>

void convertPointToPCL	(	const visionx::ColoredPoint3D &	source,
		pcl::PointXYZRGBA &	target )

◆ convertPointToPCL() [5/9]

template<>

void convertPointToPCL	(	const visionx::LabeledPoint3D &	source,
		pcl::PointXYZL &	target )

◆ convertPointToPCL() [6/9]

template<>

void convertPointToPCL	(	const visionx::LabeledPoint3D &	source,
		pcl::PointXYZL &	target )

◆ convertPointToPCL() [7/9]

template<>

void convertPointToPCL	(	const visionx::Point3D &	source,
		pcl::PointXYZ &	target )

◆ convertPointToPCL() [8/9]

template<>

void convertPointToPCL	(	const visionx::Point3D &	source,
		pcl::PointXYZ &	target )

◆ convertPointToPCL() [9/9]

template<typename PclPointT, typename VisionXPointT>

void convertPointToPCL	(	const VisionXPointT &	v,
		PclPointT &	p )

Convert a VisionX point type to a PCL point type.

◆ convertToPCL() [1/12]

void convertToPCL	(	const ColoredLabeledPointCloud &	source,
		pcl::PointCloud< pcl::PointXYZRGBL > &	target )

◆ convertToPCL() [2/12]

void convertToPCL	(	const ColoredPointCloud &	source,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	targetPtr )

◆ convertToPCL() [3/12]

template<typename PclPointT, typename VisionXPointT>

pcl::PointCloud< PclPointT >::Ptr convertToPCL ( const std::vector< VisionXPointT > & source )

Convert a VisionX point cloud to a PCL point cloud (as return value).

Convert a VisionX point cloud to a PCL point cloud.

Pass the desired point type as first template argument, for example:

using PointCloudT = pcl::PointCloud<pcl::PointXYZRGBA>;
ColoredPointCloud source = ...;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr target = visionx::tools::convertToPCL<pcl::PointXYZRGBA>(source);
pcl::PointCloud<pcl::PointXYZRGBA> target = *visionx::tools::convertToPCL<PointCloudT::PointType>(source);

◆ convertToPCL() [4/12]

template<typename PclPointT, typename VisionXPointT>

void convertToPCL	(	const std::vector< VisionXPointT > &	source,
		pcl::PointCloud< PclPointT > &	target )

Convert a VisionX point cloud to a PCL point cloud.

◆ convertToPCL() [5/12]

void convertToPCL	(	const visionx::ColoredPointCloud &	source,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	targetPtr )

◆ convertToPCL() [6/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	targetPtr )

Parameters

targetPtr point to the pcl point cloud

◆ convertToPCL() [7/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	targetPtr )

◆ convertToPCL() [8/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZL >::Ptr	targetPtr )

◆ convertToPCL() [9/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	targetPtr )

◆ convertToPCL() [10/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	targetPtr )

◆ convertToPCL() [11/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZRGBL >::Ptr	targetPtr )

◆ convertToPCL() [12/12]

void convertToPCL	(	void **	source,
		visionx::MetaPointCloudFormatPtr	pointCloudFormat,
		pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr	targetPtr )

◆ convertVisionXMatToEigen()

Eigen::MatrixXf convertVisionXMatToEigen ( visionx::types::Mat m )

◆ convertVisionXVecToEigen()

Eigen::VectorXf convertVisionXVecToEigen ( visionx::types::Vec v )

◆ createByteImage() [1/3]

CByteImage * createByteImage ( const ImageFormatInfo & imageFormat )

◆ createByteImage() [2/3]

CByteImage * createByteImage	(	const ImageFormatInfo &	imageFormat,
		const ImageType	imageType )

Creates a ByteImage for the destination type specified in the given imageProviderInfo.

Parameters

ImageFormatInfo	Image format information which contains the source image size
imageType	Required VisionX image type which will be mapped onto an appropriate CByteImage::ImageType

Returns: Appropriate CByteImage

◆ createByteImage() [3/3]

CByteImage * createByteImage ( const ImageProviderInfo & imageProviderInfo )

Simplifies usage of visionx::tools:convertImage in ImageProcessors.

See also: visionx::tools::createImage(const ImageFormatInfo&, const ImageType)

Parameters

imageProviderInfo Registered image provider information which contains the ImageFormatInfo and destination image type.

Returns: CByteImage Appropriate CByteImage

◆ createDefaultMonocularCalibration()

visionx::MonocularCalibration createDefaultMonocularCalibration ( )

Creates a MonocularCalibration with all parameters set to a neutral value.

◆ createFloatImage() [1/2]

CFloatImage * createFloatImage	(	const ImageFormatInfo &	imageFormat,
		const ImageType	imageType )

Creates a FloatImage for the destination type specified in the given imageProviderInfo.

Parameters

ImageFormatInfo	Image format information which contains the source image size
imageType	Required VisionX image type which will be mapped onto an appropriate number of channels

Returns: CByteImage Appropriate CFloatImage

◆ createFloatImage() [2/2]

CFloatImage * createFloatImage ( const ImageProviderInfo & imageProviderInfo )

Simplifies usage of visionx::tools:convertImage in ImageProcessors.

See also: visionx::tools::createFloatImage(const ImageFormatInfo&, const ImageType)

Parameters

imageProviderInfo Registered image provider information which contains the ImageFormatInfo and destination image type.

Returns: CByteImage Appropriate CFloatImage

◆ DECLARE_fitPlaneRansac_PointT() [1/4]

DECLARE_fitPlaneRansac_PointT ( pcl::PointXYZ )

◆ DECLARE_fitPlaneRansac_PointT() [2/4]

DECLARE_fitPlaneRansac_PointT ( pcl::PointXYZRGB )

◆ DECLARE_fitPlaneRansac_PointT() [3/4]

DECLARE_fitPlaneRansac_PointT ( pcl::PointXYZRGBA )

◆ DECLARE_fitPlaneRansac_PointT() [4/4]

DECLARE_fitPlaneRansac_PointT ( pcl::PointXYZRGBL )

◆ depthValueToRGB()

void depthValueToRGB	(	unsigned int	depthInMM,
		unsigned char &	r,
		unsigned char &	g,
		unsigned char &	b,
		bool	noiseResistant = false )

inline

◆ downsampleByVoxelGrid() [1/2]

template<typename PointCloudT>

PointCloudT::Ptr downsampleByVoxelGrid	(	typename PointCloudT::ConstPtr	inputCloud,
		float	leafSize = 5.0,
		pcl::IndicesConstPtr	indices = nullptr )

◆ downsampleByVoxelGrid() [2/2]

template<typename PointCloudT>

PointCloudT::Ptr downsampleByVoxelGrid	(	typename PointCloudT::ConstPtr	inputCloud,
		float	leafSize = 5.0,
		pcl::PointIndicesConstPtr	indices = nullptr )

◆ fillLabelMap() [1/2]

template<class PointCloudT>

std::enable_if<!is_shared_ptr< PointCloudT >::value, void >::type fillLabelMap	(	const PointCloudT &	labeledCloud,
		std::map< uint32_t, pcl::PointIndices > &	labelIndicesMap,
		bool	excludeZero = true )

See also: detail::fillLabelMap()

◆ fillLabelMap() [2/2]

template<class LabeledPointCloudPtrT>

std::enable_if< is_shared_ptr< LabeledPointCloudPtrT >::value, void >::type fillLabelMap	(	LabeledPointCloudPtrT	labeledCloudPtr,
		std::map< uint32_t, pcl::PointIndices > &	labelIndicesMap,
		bool	excludeZero = true )

See also: detail::fillLabelMap()

◆ fitPlaneRansac()

template<typename PointT, typename IndicesPtrT = pcl::IndicesPtr>

std::optional< PlaneFittingResult > fitPlaneRansac	(	typename pcl::PointCloud< PointT >::Ptr	cloud,
		double	distanceThreshold = 1.0,
		const IndicesPtrT &	indices = nullptr )

◆ getAABB() [1/2]

template<typename PointCloudT>

simox::AxisAlignedBoundingBox getAABB	(	const PointCloudT &	pointCloud,
		const pcl::PointIndices &	indices = {} )

Get the axis-aligned bounding-box of the given point cloud.

Parameters

pointCloud	The point cloud.
indices	If not empty, only the specified point indices are used.

Returns: The AABB in a 3x2 matrix, where with min's in col(0) and max'x in col(1).

◆ getAABB() [2/2]

template<class PointCloudT>

simox::AxisAlignedBoundingBox getAABB	(	const PointCloudT &	pointCloud,
		const pcl::PointIndices::Ptr &	indices )

◆ getBytesPerPoint()

size_t getBytesPerPoint ( visionx::PointContentType pointContent )

◆ getCropIndices()

template<typename PointCloudT>

pcl::PointIndices::Ptr getCropIndices	(	const PointCloudT &	inputCloud,
		Eigen::Vector3f	min,
		Eigen::Vector3f	max )

◆ getCropped()

template<typename PointCloudT>

PointCloudT::Ptr getCropped	(	const PointCloudT &	inputCloud,
		Eigen::Vector3f	min,
		Eigen::Vector3f	max )

◆ getHardwareId()

std::string getHardwareId ( )

Retrieve hardware id to identify local machine.

This method generates a hardware id from the mac address.

Returns: hardware id

◆ getLabelMap()

template<class PointCloudT>

std::map< uint32_t, pcl::PointIndices > getLabelMap	(	const PointCloudT &	labeledCloud,
		bool	excludeZero = true )

See also: detail::fillLabelMap()

◆ getLabelSet() [1/2]

template<typename LabeledPointT>

std::set< uint32_t > getLabelSet ( const pcl::PointCloud< LabeledPointT > & pointCloud )

Return the set of labels in pointCloud.

◆ getLabelSet() [2/2]

template<class ValueT>

std::set< uint32_t > getLabelSet ( const std::map< uint32_t, ValueT > & segmentIndices )

Return the labels in segmentIndices as std::set.

◆ getPointContentType()

template<typename PointT>

visionx::PointContentType getPointContentType ( )

◆ getPointContentType< pcl::PointNormal >() [1/2]

template<>

PointContentType getPointContentType< pcl::PointNormal > ( )

◆ getPointContentType< pcl::PointNormal >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointNormal > ( )

◆ getPointContentType< pcl::PointXYZ >() [1/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZ > ( )

◆ getPointContentType< pcl::PointXYZ >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZ > ( )

◆ getPointContentType< pcl::PointXYZI >() [1/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZI > ( )

◆ getPointContentType< pcl::PointXYZI >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZI > ( )

◆ getPointContentType< pcl::PointXYZL >() [1/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZL > ( )

◆ getPointContentType< pcl::PointXYZL >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZL > ( )

◆ getPointContentType< pcl::PointXYZRGBA >() [1/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZRGBA > ( )

◆ getPointContentType< pcl::PointXYZRGBA >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZRGBA > ( )

◆ getPointContentType< pcl::PointXYZRGBL >() [1/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZRGBL > ( )

◆ getPointContentType< pcl::PointXYZRGBL >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZRGBL > ( )

◆ getPointContentType< pcl::PointXYZRGBNormal >() [1/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZRGBNormal > ( )

◆ getPointContentType< pcl::PointXYZRGBNormal >() [2/2]

template<>

visionx::PointContentType getPointContentType< pcl::PointXYZRGBNormal > ( )

◆ getSegmentAABBs() [1/2]

template<class PointT, class IndicesT = pcl::PointIndices>

std::map< uint32_t, simox::AxisAlignedBoundingBox > getSegmentAABBs	(	const pcl::PointCloud< PointT > &	pointCloud,
		const std::map< uint32_t, IndicesT > &	segmentIndices )

◆ getSegmentAABBs() [2/2]

template<class PointT, class IndicesT = pcl::PointIndices>

std::vector< simox::AxisAlignedBoundingBox > getSegmentAABBs	(	const pcl::PointCloud< PointT > &	pointCloud,
		const std::vector< IndicesT > &	segmentIndices )

◆ getSegmentIndices()

template<class LabeledPointT>

std::map< uint32_t, pcl::PointIndices > getSegmentIndices	(	const pcl::PointCloud< LabeledPointT > &	labeledCloud,
		bool	excludeZero = false )

Get a map from segment labels to indices of segments' points.

Parameters

labeledCloud	A labeled point cloud.
excludeZero	If true, points with label == 0 are ignored.

Returns: Map from segment labels to segment indices.

◆ getSegmentIndicesPtr()

template<class LabeledPointT>

std::map< uint32_t, pcl::PointIndices::Ptr > getSegmentIndicesPtr	(	const pcl::PointCloud< LabeledPointT > &	labeledCloud,
		bool	excludeZero = false )

Version of addSegmentIndices() containing pcl::PointIndices::Ptr.

See also: addSegmentIndices()

◆ getUniqueLabels()

template<class ValueT>

std::vector< uint32_t > getUniqueLabels ( const std::map< uint32_t, ValueT > & segmentIndices )

Return the labels in segmentIndices as std::vector.

◆ imageTypeToTypeName()

std::string imageTypeToTypeName ( const ImageType imageType )

Converts an image type into a string integer.

Parameters

imageType Image type

Returns: Type name string

◆ isColored() [1/2]

bool isColored ( PointContentType type )

◆ isColored() [2/2]

bool isColored ( visionx::PointContentType type )

Indicate whether this point type contains colors.

◆ isLabeled() [1/2]

bool isLabeled ( PointContentType type )

◆ isLabeled() [2/2]

bool isLabeled ( visionx::PointContentType type )

Indicate whether this point type contains labels.

◆ relabel() [1/2]

template<class PointT>

void relabel	(	pcl::PointCloud< PointT > &	pointCloud,
		const std::map< uint32_t, pcl::PointIndices > &	segmentIndices )

◆ relabel() [2/2]

template<class PointT>

void relabel	(	pcl::PointCloud< PointT > &	pointCloud,
		const std::map< uint32_t, pcl::PointIndices::Ptr > &	segmentIndices )

◆ rgbToDepthValue()

float rgbToDepthValue	(	unsigned char	r,
		unsigned char	g,
		unsigned char	b,
		bool	noiseResistant = false )

inline

◆ toAABB()

simox::AxisAlignedBoundingBox toAABB ( const BoundingBox3D & boundingBox )

◆ toBoundingBox3D() [1/2]

BoundingBox3D toBoundingBox3D	(	const Eigen::Vector3f &	min,
		const Eigen::Vector3f &	max )

◆ toBoundingBox3D() [2/2]

BoundingBox3D toBoundingBox3D ( const simox::AxisAlignedBoundingBox & aabb )

◆ toString() [1/2]

std::string toString ( PointContentType pointContent )

◆ toString() [2/2]

std::string toString ( visionx::PointContentType pointContent )

◆ typeNameToImageType()

visionx::ImageType typeNameToImageType ( const std::string & imageTypeName )

Converts an image type name as string into an ImageType integer.

Parameters

imageTypeName Image type string

Returns: VisionX::ImageType if the image type name is valid

◆ vectorToArray()

template<typename T>

T * vectorToArray ( const std::vector< T > & dataVector )

Namespaces

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ PCLToDebugDrawerConversionMode

Function Documentation

◆ addSegmentIndices() [1/2]

◆ addSegmentIndices() [2/2]

◆ arrayToVector()

◆ callWithPointCloud() [1/2]

◆ callWithPointCloud() [2/2]

◆ callWithPointCloudPtr() [1/2]

◆ callWithPointCloudPtr() [2/2]

◆ callWithPointType() [1/4]

◆ callWithPointType() [2/4]

◆ callWithPointType() [3/4]

◆ callWithPointType() [4/4]

◆ colorizeLabeledPointCloud()

◆ colorizeSegment()

◆ convert() [1/26]

◆ convert() [2/26]

◆ convert() [3/26]

◆ convert() [4/26]

◆ convert() [5/26]

◆ convert() [6/26]

◆ convert() [7/26]

◆ convert() [8/26]

◆ convert() [9/26]

◆ convert() [10/26]

◆ convert() [11/26]

◆ convert() [12/26]

◆ convert() [13/26]

◆ convert() [14/26]

◆ convert() [15/26]

◆ convert() [16/26]

◆ convert() [17/26]

◆ convert() [18/26]

◆ convert() [19/26]

◆ convert() [20/26]

◆ convert() [21/26]

◆ convert() [22/26]

◆ convert() [23/26]

◆ convert() [24/26]

◆ convert() [25/26]

◆ convert() [26/26]

◆ convertEigenMatToVisionX()

◆ convertEigenVecToVisionX()

◆ convertFromPCL() [1/12]

◆ convertFromPCL() [2/12]

◆ convertFromPCL() [3/12]

◆ convertFromPCL() [4/12]

◆ convertFromPCL() [5/12]

◆ convertFromPCL() [6/12]

◆ convertFromPCL() [7/12]

◆ convertFromPCL() [8/12]

◆ convertFromPCL() [9/12]

◆ convertFromPCL() [10/12]

◆ convertFromPCL() [11/12]

◆ convertFromPCL() [12/12]

◆ convertFromPCLToDebugDrawer() [1/4]

◆ convertFromPCLToDebugDrawer() [2/4]

◆ convertFromPCLToDebugDrawer() [3/4]

◆ convertFromPCLToDebugDrawer() [4/4]

◆ convertImage() [1/2]

◆ convertImage() [2/2]

◆ convertIVTtoEigen() [1/2]

◆ convertIVTtoEigen() [2/2]

◆ convertPointFromPCL() [1/9]

◆ convertPointFromPCL() [2/9]

◆ convertPointFromPCL() [3/9]

◆ convertPointFromPCL() [4/9]

◆ convertPointFromPCL() [5/9]

◆ convertPointFromPCL() [6/9]

◆ convertPointFromPCL() [7/9]

◆ convertPointFromPCL() [8/9]

◆ convertPointFromPCL() [9/9]

◆ convertPointToPCL() [1/9]

◆ convertPointToPCL() [2/9]

◆ convertPointToPCL() [3/9]