eVision.Easy3D.ELaserLineExtractor Class Reference

Manages a laser line extraction context. More...

Public Member Functions
None	__init__ (self, int frameWidth, int frameHeight, int numFramesPerMap, float zResolution)
	Creates an eVision.Easy3D.ELaserLineExtractor object.
None	__init__ (self, int frameWidth, int frameHeight, int numFramesPerMap)
	Creates an eVision.Easy3D.ELaserLineExtractor object.
None	__init__ (self, eVision.Easy3D.ELaserLineExtractor other)
	Creates an eVision.Easy3D.ELaserLineExtractor object.
bool	ExtractProfileFromFrame (self, eVision.EROIBW8 frame)
	Extracts a profile from a frame and adds it to the current depth map.
None	Save (self, str file)
	Save the eVision.Easy3D.ELaserLineExtractor configuration.
None	Save (self, eVision.ESerializer|None serializer)
	Save the eVision.Easy3D.ELaserLineExtractor configuration.
None	Load (self, str file)
	Load the eVision.Easy3D.ELaserLineExtractor configuration.
None	Load (self, eVision.ESerializer|None serializer)
	Load the eVision.Easy3D.ELaserLineExtractor configuration.
None	SetSmoothingParameters (self, int param0, int param1, int param2)
	Sets the parameters of the smoothing kernel.
None	DrawLastProfile (self, eVision.EDrawAdapter|None drawAdapter, float zoomX, float zoomY, float panX, float panY)
	Draws the last extracted profile.
None	DrawLastProfile (self, eVision.EDrawAdapter|None drawAdapter, float zoomX, float zoomY, float panX)
	Draws the last extracted profile.
None	DrawLastProfile (self, eVision.EDrawAdapter|None drawAdapter, float zoomX, float zoomY)
	Draws the last extracted profile.
None	DrawLastProfile (self, eVision.EDrawAdapter|None drawAdapter, float zoomX)
	Draws the last extracted profile.
None	DrawLastProfile (self, eVision.EDrawAdapter|None drawAdapter)
	Draws the last extracted profile.

Static Public Member Functions
None	DrawProfile (eVision.EDrawAdapter|None drawAdapter, int frameWidth, int frameHeight, list[float] profile, float zoomX, float zoomY, float panX, float panY)
	Draws a profile.
None	DrawProfile (eVision.EDrawAdapter|None drawAdapter, int frameWidth, int frameHeight, list[float] profile, float zoomX, float zoomY, float panX)
	Draws a profile.
None	DrawProfile (eVision.EDrawAdapter|None drawAdapter, int frameWidth, int frameHeight, list[float] profile, float zoomX, float zoomY)
	Draws a profile.
None	DrawProfile (eVision.EDrawAdapter|None drawAdapter, int frameWidth, int frameHeight, list[float] profile, float zoomX)
	Draws a profile.
None	DrawProfile (eVision.EDrawAdapter|None drawAdapter, int frameWidth, int frameHeight, list[float] profile)
	Draws a profile.

Properties
	FrameWidth = property(_FrameWidth__getter, None)
	Width of the frames from which the profiles are extracted.
	FrameHeight = property(_FrameHeight__getter, None)
	Height of the frames from which the profiles are extracted.
	NumFramesPerMap = property(_NumFramesPerMap__getter, None)
	Number of frames from which the profiles are be extracted.
	ZResolution = property(_ZResolution__getter, None)
	Z resolution of the extracted profile.
	NumExtractedProfile = property(_NumExtractedProfile__getter, None)
	Number of extracted profiles.
	Profile = property(_Profile__getter, None)
	Returns the last extracted profile.
	AnalysisThreshold = property(_AnalysisThreshold__getter, _AnalysisThreshold__setter)
	Analysis threshold.
	AnalysisMode = property(_AnalysisMode__getter, _AnalysisMode__setter)
	Analysis mode.
	EnableSmoothing = property(_EnableSmoothing__getter, _EnableSmoothing__setter)
	Enables or disables grayscale profile smoothing before extraction.
	SmoothingParameter0 = property(_SmoothingParameter0__getter, _SmoothingParameter0__setter)
	Smoothing parameter 0.
	SmoothingParameter1 = property(_SmoothingParameter1__getter, _SmoothingParameter1__setter)
	Smoothing parameter 1.
	SmoothingParameter2 = property(_SmoothingParameter2__getter, _SmoothingParameter2__setter)
	Smoothing parameter 2.
	DepthMap = property(_DepthMap__getter, None)
	Returns the current depth map.

Detailed Description

Manages a laser line extraction context.

Remarks:

License(s): Easy3DLaserLine

Constructor & Destructor Documentation

__init__() [1/3]

None eVision.Easy3D.ELaserLineExtractor.__init__	(		self,
		int	frameWidth,
		int	frameHeight,
		int	numFramesPerMap,
		float	zResolution )

Creates an eVision.Easy3D.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.

__init__() [2/3]

None eVision.Easy3D.ELaserLineExtractor.__init__	(		self,
		int	frameWidth,
		int	frameHeight,
		int	numFramesPerMap )

Creates an eVision.Easy3D.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.

__init__() [3/3]

None eVision.Easy3D.ELaserLineExtractor.__init__	(		self,
		eVision.Easy3D.ELaserLineExtractor	other )

Creates an eVision.Easy3D.ELaserLineExtractor object.

Parameters

other

The object that should be copied

Member Function Documentation

DrawLastProfile() [1/5]

None eVision.Easy3D.ELaserLineExtractor.DrawLastProfile	(		self,
		eVision.EDrawAdapter | None	drawAdapter )

Draws the last extracted profile.

Parameters

drawAdapter

Draw adapter.

DrawLastProfile() [2/5]

None eVision.Easy3D.ELaserLineExtractor.DrawLastProfile	(		self,
		eVision.EDrawAdapter | None	drawAdapter,
		float	zoomX )

Draws the last extracted profile.

Parameters

drawAdapter	Draw adapter.
zoomX	Horizontal zooming factor.

DrawLastProfile() [3/5]

None eVision.Easy3D.ELaserLineExtractor.DrawLastProfile	(		self,
		eVision.EDrawAdapter | None	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]

None eVision.Easy3D.ELaserLineExtractor.DrawLastProfile	(		self,
		eVision.EDrawAdapter | None	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]

None eVision.Easy3D.ELaserLineExtractor.DrawLastProfile	(		self,
		eVision.EDrawAdapter | None	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]

None eVision.Easy3D.ELaserLineExtractor.DrawProfile ( eVision.EDrawAdapter | None drawAdapter, int frameWidth, int frameHeight, list[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]

None eVision.Easy3D.ELaserLineExtractor.DrawProfile ( eVision.EDrawAdapter | None drawAdapter, int frameWidth, int frameHeight, list[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]

None eVision.Easy3D.ELaserLineExtractor.DrawProfile ( eVision.EDrawAdapter | None drawAdapter, int frameWidth, int frameHeight, list[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]

None eVision.Easy3D.ELaserLineExtractor.DrawProfile ( eVision.EDrawAdapter | None drawAdapter, int frameWidth, int frameHeight, list[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]

None eVision.Easy3D.ELaserLineExtractor.DrawProfile ( eVision.EDrawAdapter | None drawAdapter, int frameWidth, int frameHeight, list[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	(		self,
		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]

None eVision.Easy3D.ELaserLineExtractor.Load	(		self,
		eVision.ESerializer | None	serializer )

Load the eVision.Easy3D.ELaserLineExtractor configuration.

The settings are loaded and the profiles are discarded.

Parameters

serializer

Serializer. Must be in read mode.

Load() [2/2]

None eVision.Easy3D.ELaserLineExtractor.Load	(		self,
		str	file )

Load the eVision.Easy3D.ELaserLineExtractor configuration.

The settings are loaded and the profiles are discarded.

Parameters

file	File path.

Save() [1/2]

None eVision.Easy3D.ELaserLineExtractor.Save	(		self,
		eVision.ESerializer | None	serializer )

Save the eVision.Easy3D.ELaserLineExtractor configuration.

The settings are saved but the profiles aren't.

Parameters

serializer

Serializer. Must be in write mode.

Save() [2/2]

None eVision.Easy3D.ELaserLineExtractor.Save	(		self,
		str	file )

Save the eVision.Easy3D.ELaserLineExtractor configuration.

The settings are saved but the profiles aren't.

Parameters

file	File path.

SetSmoothingParameters()

None eVision.Easy3D.ELaserLineExtractor.SetSmoothingParameters	(		self,
		int	param0,
		int	param1,
		int	param2 )

Sets the parameters of the smoothing kernel.

Remarks:

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

Parameters

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

Property Documentation

AnalysisMode

eVision.Easy3D.ELaserLineExtractor.AnalysisMode = property(_AnalysisMode__getter, _AnalysisMode__setter)

static

Analysis mode.

AnalysisThreshold

eVision.Easy3D.ELaserLineExtractor.AnalysisThreshold = property(_AnalysisThreshold__getter, _AnalysisThreshold__setter)

static

Analysis threshold.

Set this value to eliminate noise.

Remarks:

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

DepthMap

eVision.Easy3D.ELaserLineExtractor.DepthMap = property(_DepthMap__getter, None)

static

Returns the current depth map.

Remarks:

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

EnableSmoothing

eVision.Easy3D.ELaserLineExtractor.EnableSmoothing = property(_EnableSmoothing__getter, _EnableSmoothing__setter)

static

Enables or disables grayscale profile smoothing before extraction.

FrameHeight

eVision.Easy3D.ELaserLineExtractor.FrameHeight = property(_FrameHeight__getter, None)

static

Height of the frames from which the profiles are extracted.

FrameWidth

eVision.Easy3D.ELaserLineExtractor.FrameWidth = property(_FrameWidth__getter, None)

static

Width of the frames from which the profiles are extracted.

NumExtractedProfile

eVision.Easy3D.ELaserLineExtractor.NumExtractedProfile = property(_NumExtractedProfile__getter, None)

static

Number of extracted profiles.

NumFramesPerMap

eVision.Easy3D.ELaserLineExtractor.NumFramesPerMap = property(_NumFramesPerMap__getter, None)

static

Number of frames from which the profiles are be extracted.

Profile

eVision.Easy3D.ELaserLineExtractor.Profile = property(_Profile__getter, None)

static

Returns the last extracted profile.

Remarks:

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

SmoothingParameter0

eVision.Easy3D.ELaserLineExtractor.SmoothingParameter0 = property(_SmoothingParameter0__getter, _SmoothingParameter0__setter)

static

Smoothing parameter 0.

SmoothingParameter1

eVision.Easy3D.ELaserLineExtractor.SmoothingParameter1 = property(_SmoothingParameter1__getter, _SmoothingParameter1__setter)

static

Smoothing parameter 1.

SmoothingParameter2

eVision.Easy3D.ELaserLineExtractor.SmoothingParameter2 = property(_SmoothingParameter2__getter, _SmoothingParameter2__setter)

static

Smoothing parameter 2.

ZResolution

eVision.Easy3D.ELaserLineExtractor.ZResolution = property(_ZResolution__getter, None)

static

Z resolution of the extracted profile.

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