#include <uimg3dpoint.h>

Inheritance diagram for UImg3Dpoints:

Public Member Functions
UImg3Dpoint *	add (UImg3Dpoint *p)

UImg3Dpoint *	add (double x, double y, double z, int row, int col, int pix, int q)

void	clear ()

void	clear3d (unsigned int imgSerial, UTime imgTime)

virtual const char *	getDataType ()

UPlane	getRansacPlane (int samples, double sigma, UPlane refPlane, double tiltLim, double xLimit, int *cnt)

bool	makePCLFile (const char *name, bool andRGB, bool andRowCol)

void	toRobotCoordinates ()

	UImg3Dpoints ()

	~UImg3Dpoints ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UDataBase ()

virtual	~UDataBase ()

Public Attributes
bool	inSensorCoordinates

UImg3Dpoint *	p3d

int	p3dCnt

int	p3dCntMax

UPosRot	pose

unsigned int	serial

int	sourceImgColor

UTime	time

Detailed Description

Class with 3D point found by stereo calculation

Constructor & Destructor Documentation

UImg3Dpoints::UImg3Dpoints ( )

inline

Constructor

UImg3Dpoints::~UImg3Dpoints ( )

inline

Constructor

Member Function Documentation

UImg3Dpoint* UImg3Dpoints::add ( UImg3Dpoint * p )

inline

Add a 3D point

Parameters

p	is the 3d point to add.

Returns: number of points in the point array.

Referenced by UFuncGndAna::do3dGroundPlane(), UResObj3d::do3dGroundPlane(), UFuncKinect::makeObj3Dcloud(), and UFuncStereo::processImages().

UImg3Dpoint* UImg3Dpoints::add	(	double	x,
		double	y,
		double	z,
		int	row,
		int	col,
		int	pix,
		int	q
	)

inline

Add point based on values

Parameters

x,y,z	is the 3d position to add.
row	source image row.
col	source image column
pix	is the pixel value
q	quality value

Returns: number of points in array

References UImg3Dpoint::column, UImg3Dpoint::pixLeft, UImg3Dpoint::pos, UImg3Dpoint::q, UImg3Dpoint::row, and UPosition::set().

void UImg3Dpoints::clear ( void )

inline

Clear all points from array

Referenced by UFuncKinect::makeObj3Dcloud(), and UFuncStereo::processImages().

void UImg3Dpoints::clear3d	(	unsigned int	imgSerial,
		UTime	imgTime
	)

inline

Clear the 3D data point set

Parameters

imgSerial new serial number valid for the 3D data

virtual const char* UImg3Dpoints::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UDataBase.

UPlane UImg3Dpoints::getRansacPlane	(	int	samples,
		double	sigma,
		UPlane	refPlane,
		double	tiltLim,
		double	xLimit,
		int *	cnt
	)

Estimate largest plane in 3D cloud, using RANSAC

Parameters

samples	is number of samples the RANSAC should try (from probability of false points)
sigma	is the standard deviation for the point distribution around the plane.
refPlane	reference plane for tilt test
tiltLim	is the minimum tilt limit relative to refPlane, for an accepted plane. The value is the dot-product limit in range [0..1], tiltLim=0 accept all planes, tiltLim=1 accept a perfect aligned plane (=refPlane) only.
xLimit	is the maximum acceptable x-value (works as range limit) - only if rngComp=true
cnt	is on return then number of points associated to the plane.

Returns: the estimated plane.

References UPlane::dist(), UPosition::dot(), UPlane::getNormal(), p3d, p3dCnt, UImg3Dpoint::pos, UPlane::set(), and UPosition::x.

Referenced by UFuncGndAna::do3dGroundPlane(), and UResObj3d::do3dGroundPlane().

bool UImg3Dpoints::makePCLFile	(	const char *	name,
		bool	andRGB,
		bool	andRowCol
	)

Make PCL file (for PCD viewer - and the like. creates filename from data

Parameters

name	optional filename. If no provided name, then a name is constructed from data (cloudNNN_time.pcd).
andRGB	will add RGB values in points to the file
andRowCol	will add row and column from source image to the file