Functions to configure the AQS12 Segmentor object. More...

Data Structures
struct	CVMAQS12SEGMENTOR3DClustering
	Parameters for clustering a point cloud to the 12 faces of the AQS12 piece. More...

Enumerations
enum	CVMAQS12SegmentationMethod { CVMSM_KmeansClustering = 1 , CVMSM_PointCloudNormalDeviationClustering }
	Contains the possible segmentation methods for the faces of AQS12 piece. More...

enum	CVMAQS12SEGMENTOR3DFilterFeature { CVMAQS12_None = 0 , CVMAQS12_Planarity , CVMAQS12_Variation , CVMAQS12_Sphericity }
	Contains possible features for point cloud filtering (pre- processing step for the segmentation). More...

Functions
cvbres_t	CVMAQS12CreateSegmentorForDensePointCloud (CVMAQS12SegmentationMethod SegmentationMethod, CVMAQS12SEGMENTOR3D &Segmentor)
	Creates a default AQS12 segmentor for dense point clouds. More...

cvbres_t	CVMAQS12CreateSegmentorForPointCloud (CVMAQS12SegmentationMethod SegmentationMethod, CVMAQS12SEGMENTOR3D &Segmentor)
	Creates a default AQS12 segmentor for dense or sparse point clouds. More...

cvbres_t	CVMAQS12CreateSegmentorForRangeMap (CVMAQS12SegmentationMethod SegmentationMethod, CVMAQS12SEGMENTOR2D &Segmentor)
	Creates a default AQS12 segmentor for range maps with default range map ignore value equal zero. More...

cvbres_t	CVMAQS12SegmentorDensePointCloudGetWindowSize (CVMAQS12SEGMENTOR3D Segmentor, cvbdim_t &WindowSize)
	Gets window size for calculation of normals (used for the classification of the AQS12 faces). More...

cvbres_t	CVMAQS12SegmentorDensePointCloudSetWindowSize (CVMAQS12SEGMENTOR3D Segmentor, cvbdim_t WindowSize)
	Sets window size segmentor for calculation of normals (used for the classification of the AQS12 faces). More...

cvbres_t	CVMAQS12SegmentorPointCloudDisablePreprocessingFilterGeometricFeature (CVMAQS12SEGMENTOR3D Segmentor)
	Disables filtering the point cloud. More...

cvbres_t	CVMAQS12SegmentorPointCloudDisablePreprocessingResample (CVMAQS12SEGMENTOR3D Segmentor)
	Disables resampling the point cloud. More...

cvbres_t	CVMAQS12SegmentorPointCloudDisablePreprocessingScaleXZ (CVMAQS12SEGMENTOR3D Segmentor)
	Disables scaling in x and z. More...

cvbres_t	CVMAQS12SegmentorPointCloudGetClustering (CVMAQS12SEGMENTOR3D Segmentor, CVMAQS12SEGMENTOR3DClustering &Parameter)
	Gets the parameters for clustering AQS12 points into 12 faces. More...

cvbres_t	CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature (CVMAQS12SEGMENTOR3D Segmentor, CVMAQS12SEGMENTOR3DFilterFeature &Feature, double &Threshold, size_t &NumberNeighbors)
	Gets the parameters for filtering the point cloud using a geometric feature. More...

cvbres_t	CVMAQS12SegmentorPointCloudGetPreprocessingResample (CVMAQS12SEGMENTOR3D Segmentor, size_t &NumberVoxel)
	Gets the parameters for resampling the point cloud. More...

cvbres_t	CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ (CVMAQS12SEGMENTOR3D Segmentor, double &FactorX, double &FactorZ)
	Gets the parameters for scaling in x and z. More...

cvbres_t	CVMAQS12SegmentorPointCloudSetClustering (CVMAQS12SEGMENTOR3D Segmentor, const CVMAQS12SEGMENTOR3DClustering &Parameter)
	Sets the parameters for clustering AQS12 points into 12 faces. More...

cvbres_t	CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature (CVMAQS12SEGMENTOR3D Segmentor, const CVMAQS12SEGMENTOR3DFilterFeature &Feature, double Threshold, size_t NumberNeighbors)
	Sets the parameters for filtering the point cloud using a geometric feature. More...

cvbres_t	CVMAQS12SegmentorPointCloudSetPreprocessingResample (CVMAQS12SEGMENTOR3D Segmentor, size_t NumberVoxel)
	Sets the parameters for resampling the point cloud. More...

cvbres_t	CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ (CVMAQS12SEGMENTOR3D Segmentor, double FactorX, double FactorZ)
	Sets the parameters for scaling in x and z. More...

cvbres_t	CVMAQS12SegmentorRangeMapGetIgnoreValue (CVMAQS12SEGMENTOR2D Segmentor, double &Value)
	Gets range map ignore value of an AQS12 segmentor for range maps. More...

cvbres_t	CVMAQS12SegmentorRangeMapGetWindowSize (CVMAQS12SEGMENTOR2D Segmentor, cvbdim_t &WindowSize)
	Gets window size for calculation of normals (used for the classification of the AQS12 faces). More...

cvbres_t	CVMAQS12SegmentorRangeMapSetIgnoreValue (CVMAQS12SEGMENTOR2D Segmentor, double Value)
	Sets range map ignore value to AQS12 segmentor for range maps. More...

cvbres_t	CVMAQS12SegmentorRangeMapSetWindowSize (CVMAQS12SEGMENTOR2D Segmentor, cvbdim_t WindowSize)
	Sets window size segmentor for calculation of normals (used for the classification of the AQS12 faces). More...

Detailed Description

Functions to configure the AQS12 Segmentor object.

Enumeration Type Documentation

◆ CVMAQS12SegmentationMethod

enum CVMAQS12SegmentationMethod

Contains the possible segmentation methods for the faces of AQS12 piece.

Enumerator

CVMSM_KmeansClustering

The faces of the AQS12 piece are clustered by the kmeans alogrithm.

This method can be applied for range maps or dense point clouds, where the base plane of the AQS12 is parallel to the xy plane. Pixels are clustered to 8 groups (top, base plane and 4 faces) using the kmeans.

CVMSM_PointCloudNormalDeviationClustering

The faces of the AQS12 piece are clustered by a condition region growing clustering algorithm on point clouds.

Since: Common Vision Blox 14.0

This method can be applied with dense or sparse point clouds. For the region growing clustering the AQS12 points are grouped by similar normals. In order to configure the clustering and necessary pre-processing steps, use function CVMAQS12CreateSegmentorForPointCloud.

◆ CVMAQS12SEGMENTOR3DFilterFeature

enum CVMAQS12SEGMENTOR3DFilterFeature

Contains possible features for point cloud filtering (pre- processing step for the segmentation).

The feature is calculated using a given number of neighbor points. The filtering can be configured with function CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature.

Enumerator
CVMAQS12_None	No feature is calculated.
CVMAQS12_Planarity	Planarity is calculated.
CVMAQS12_Variation	Variation is calculated.
CVMAQS12_Sphericity	Sphericity is caculated.

Function Documentation

◆ CVMAQS12CreateSegmentorForDensePointCloud()

cvbres_t CVMAQS12CreateSegmentorForDensePointCloud	(	CVMAQS12SegmentationMethod	SegmentationMethod,
		CVMAQS12SEGMENTOR3D &	Segmentor
	)

Creates a default AQS12 segmentor for dense point clouds.

Since: Common Vision Blox 13.4

Attention

The following constraints for the point cloud have to be met:

The point cloud must be dense.
The AQS12 may not be tilted. The xy plane must be parallel to the base plane of the AQS12.
Disturbing background must be eliminated by setting these points to non-confident. You can create a calibrated dense point cloud with function CVC3DCreateCalibratedPointCloudFromRangeMap. Before creating the cloud, set the range map ignore value with function CVC3DCalibratorSetRangeMapIgnoreValue. All pixels with this value will be interpreted as non-confident.

Note: If this function returns successfully you need to release the returned Segmentor via ReleaseObject if not needed anymore.

Parameters

[in]	SegmentationMethod	Segmentation method to be applied (so far only CVMSM_KmeansClustering is supported).
[out]	Segmentor	Variable to receive the resulting segmentor object.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_PARAMETER) segmentation method not supported
CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the Segmentor.

See also: CVMAQS12CreateSegmentorForRangeMap, CVMAQS12CalculateCorrectionOfLaserPlaneInclinationFromPiece, CVMAQS12CalculateRigidBodyTransformationFromPiece

◆ CVMAQS12CreateSegmentorForPointCloud()

cvbres_t CVMAQS12CreateSegmentorForPointCloud	(	CVMAQS12SegmentationMethod	SegmentationMethod,
		CVMAQS12SEGMENTOR3D &	Segmentor
	)

Creates a default AQS12 segmentor for dense or sparse point clouds.

Since: Common Vision Blox 14.0

Attention

If CVMSM_KmeansClustering is chosen as segmentation method, the following constraints for the point cloud have to be met:

The point cloud must be dense.
The AQS12 may not be tilted. The xy plane must be parallel to the base plane of the AQS12.
Disturbing background must be eliminated by setting these points to non-confident. You can create a calibrated dense point cloud with function CVC3DCreateCalibratedPointCloudFromRangeMap. Before creating the cloud, set the range map ignore value with function CVC3DCalibratorSetRangeMapIgnoreValue. All pixels with this value will be interpreted as non-confident.

Note: If this function returns successfully you need to release the returned Segmentor via ReleaseObject if not needed anymore.

Parameters

[in]	SegmentationMethod	Segmentation method to be applied.
[out]	Segmentor	Variable to receive the resulting segmentor object.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the Segmentor.

See also: CVMAQS12CreateSegmentorForRangeMap, CVMAQS12CreateSegmentorForDensePointCloud, CVMAQS12CalculateCorrectionOfLaserPlaneInclinationFromPiece, CVMAQS12CalculateRigidBodyTransformationFromPiece

◆ CVMAQS12CreateSegmentorForRangeMap()

cvbres_t CVMAQS12CreateSegmentorForRangeMap	(	CVMAQS12SegmentationMethod	SegmentationMethod,
		CVMAQS12SEGMENTOR2D &	Segmentor
	)

Creates a default AQS12 segmentor for range maps with default range map ignore value equal zero.

Since: Common Vision Blox 13.4

Note: If this function returns successfully you need to release the returned Segmentor via ReleaseObject if not needed anymore.

Parameters

[in]	SegmentationMethod	Segmentation method to be applied (so far only CVMSM_KmeansClustering is supported).
[out]	Segmentor	Variable to receive the resulting segmentor object.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_PARAMETER) segmentation method not supported
CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the Segmentor.

See also: CVMAQS12SegmentorRangeMapSetIgnoreValue, CVMAQS12CreateSegmentorForDensePointCloud, CVMAQS12CreateIntrinsicCalibratorFromPiece

◆ CVMAQS12SegmentorDensePointCloudGetWindowSize()

cvbres_t CVMAQS12SegmentorDensePointCloudGetWindowSize	(	CVMAQS12SEGMENTOR3D	Segmentor,
		cvbdim_t &	WindowSize
	)

Gets window size for calculation of normals (used for the classification of the AQS12 faces).

If WindowSize is set to zero, the window size will be calculated automatically.

Note: The window size is only valid for dense point cloud segementors, where the segmentation method CVMSM_KmeansClustering is applied.

Parameters

[in]	Segmentor	Dense point cloud segmentor object.
[out]	WindowSize	Side length of squared window.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a valid segmentor object for dense point clouds

See also: CVMAQS12SegmentorDensePointCloudSetWindowSize, CVMAQS12CreateSegmentorForDensePointCloud

◆ CVMAQS12SegmentorDensePointCloudSetWindowSize()

cvbres_t CVMAQS12SegmentorDensePointCloudSetWindowSize	(	CVMAQS12SEGMENTOR3D	Segmentor,
		cvbdim_t	WindowSize
	)

Sets window size segmentor for calculation of normals (used for the classification of the AQS12 faces).

If WindowSize is set to zero, the window size will be calculated automatically. If it is an even number, it will be extended with one.

Note: This function only works for dense point cloud segementors, where the segmentation method CVMSM_KmeansClustering is applied.

Parameters

[in]	Segmentor	Dense point cloud segmentor object to be modified.
[in]	WindowSize	Side length of squared window.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a valid segmentor object for dense point clouds
CVC_ERROR(CVC_E_PARAMETER) if WindowSize is negative

See also: CVMAQS12SegmentorRangeMapGetWindowSize, CVMAQS12CreateSegmentorForRangeMap

◆ CVMAQS12SegmentorPointCloudDisablePreprocessingFilterGeometricFeature()

cvbres_t CVMAQS12SegmentorPointCloudDisablePreprocessingFilterGeometricFeature ( CVMAQS12SEGMENTOR3D Segmentor )

Disables filtering the point cloud.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in] Segmentor Segmentor object where filtering should be disabled.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature

◆ CVMAQS12SegmentorPointCloudDisablePreprocessingResample()

cvbres_t CVMAQS12SegmentorPointCloudDisablePreprocessingResample ( CVMAQS12SEGMENTOR3D Segmentor )

Disables resampling the point cloud.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in] Segmentor Segmentor object where resampling should be disabled.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetPreprocessingResample, CVMAQS12SegmentorPointCloudSetPreprocessingResample

◆ CVMAQS12SegmentorPointCloudDisablePreprocessingScaleXZ()

cvbres_t CVMAQS12SegmentorPointCloudDisablePreprocessingScaleXZ ( CVMAQS12SEGMENTOR3D Segmentor )

Disables scaling in x and z.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in] Segmentor Segmentor object where scaling should be disabled.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ

◆ CVMAQS12SegmentorPointCloudGetClustering()

cvbres_t CVMAQS12SegmentorPointCloudGetClustering	(	CVMAQS12SEGMENTOR3D	Segmentor,
		CVMAQS12SEGMENTOR3DClustering &	Parameter
	)

Gets the parameters for clustering AQS12 points into 12 faces.

The faces of the AQS12 piece are clustered by a condition region growing clustering algorithm on point clouds. The points are grouped by similar normals.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[out]	Parameter	Parameters to configure clustering.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudSetClustering, CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudGetPreprocessingResample, CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature

◆ CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature()

cvbres_t CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature	(	CVMAQS12SEGMENTOR3D	Segmentor,
		CVMAQS12SEGMENTOR3DFilterFeature &	Feature,
		double &	Threshold,
		size_t &	NumberNeighbors
	)

Gets the parameters for filtering the point cloud using a geometric feature.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[out]	Feature	Geometric feature used for filtering
[out]	Threshold	Threshold for feature to remove points
[out]	NumberNeighbors	Number of neighbors used to calculate geometric feature (if it is below 2, it will be calculated considering the number of points in cloud).

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_NOTPRESENT) if the filtering is not set to the Segmentor
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudGetPreprocessingResample, CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudGetClustering

◆ CVMAQS12SegmentorPointCloudGetPreprocessingResample()

cvbres_t CVMAQS12SegmentorPointCloudGetPreprocessingResample	(	CVMAQS12SEGMENTOR3D	Segmentor,
		size_t &	NumberVoxel
	)

Gets the parameters for resampling the point cloud.

The point cloud is downsized via an octree resampling. The parameter NumberVoxel specifies the approximate number of voxel (points) the resampled point should have. Note, that the real number of points can strongly deviate from this value depending on the distribution of the points in the cloud.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[out]	NumberVoxel	Desired (approximate) number of voxel the resampled point cloud should have.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_NOTPRESENT) if the reampling is not set to the Segmentor
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudSetPreprocessingResample, CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudGetClustering

◆ CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ()

cvbres_t CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ	(	CVMAQS12SEGMENTOR3D	Segmentor,
		double &	FactorX,
		double &	FactorZ
	)

Gets the parameters for scaling in x and z.

The proportions (X:Y:Z) of the point cloud will be FactorX:1:FactorZ after scaling.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[out]	FactorX	Width of point cloud relative to length.
[out]	FactorZ	Height of point cloud relative to length.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_NOTPRESENT) if the scaling is not set to the Segmentor
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudGetPreprocessingResample, CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudGetClustering

◆ CVMAQS12SegmentorPointCloudSetClustering()

cvbres_t CVMAQS12SegmentorPointCloudSetClustering	(	CVMAQS12SEGMENTOR3D	Segmentor,
		const CVMAQS12SEGMENTOR3DClustering &	Parameter
	)

Sets the parameters for clustering AQS12 points into 12 faces.

The faces of the AQS12 piece are clustered by a condition region growing clustering algorithm on point clouds. The points are grouped by similar normals.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[in]	Parameter	Parameters to configure clustering.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetClustering, CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudSetPreprocessingResample, CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature

◆ CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature()

cvbres_t CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature	(	CVMAQS12SEGMENTOR3D	Segmentor,
		const CVMAQS12SEGMENTOR3DFilterFeature &	Feature,
		double	Threshold,
		size_t	NumberNeighbors
	)

Sets the parameters for filtering the point cloud using a geometric feature.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[in]	Feature	Geometric feature used for filtering.
[in]	Threshold	Threshold for feature to remove points (valid range is [0;1]).
[in]	NumberNeighbors	Number of neighbors used to calculate geometric feature (if it is below 2, it will be calculated considering the number of points in cloud).

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds
CVC_ERROR(CVC_E_Parameter) if Feature or Threshold is invalid

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudDisablePreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudSetPreprocessingResample, CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudSetClustering

◆ CVMAQS12SegmentorPointCloudSetPreprocessingResample()

cvbres_t CVMAQS12SegmentorPointCloudSetPreprocessingResample	(	CVMAQS12SEGMENTOR3D	Segmentor,
		size_t	NumberVoxel
	)

Sets the parameters for resampling the point cloud.

The point cloud is downsized via an octree resampling. The parameter NumberVoxel specifies the approximate number of voxel (points) the resampled point should have. Note, that the real number of points can strongly deviate from this value depending on the distribution of the points in the cloud.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[in]	NumberVoxel	Desired (approximate) number of voxel the resampled point cloud should have.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds
CVC_ERROR(CVC_E_Parameter) if NumberVoxel is invalid

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetPreprocessingResample, CVMAQS12SegmentorPointCloudDisablePreprocessingResample, CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudSetClustering

◆ CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ()

cvbres_t CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ	(	CVMAQS12SEGMENTOR3D	Segmentor,
		double	FactorX,
		double	FactorZ
	)

Sets the parameters for scaling in x and z.

The proportions (X:Y:Z) of the point cloud will be FactorX:1:FactorZ after scaling.

Note: This function can only be used with an AQS12 segmentor for (sparse) point clouds applying the CVMSM_PointCloudNormalDeviationClustering segmentation method.

Since: Common Vision Blox 14.0

Parameters

[in]	Segmentor	Segmentor object.
[in]	FactorX	Width of point cloud relative to length.
[in]	FactorZ	Height of point cloud relative to length.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for (sparse) point clouds

See also: CVMAQS12CreateSegmentorForPointCloud, CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ, CVMAQS12SegmentorPointCloudDisablePreprocessingScaleXZ, CVMAQS12SegmentorPointCloudSetPreprocessingResample, CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature, CVMAQS12SegmentorPointCloudSetClustering

◆ CVMAQS12SegmentorRangeMapGetIgnoreValue()

cvbres_t CVMAQS12SegmentorRangeMapGetIgnoreValue	(	CVMAQS12SEGMENTOR2D	Segmentor,
		double &	Value
	)

Gets range map ignore value of an AQS12 segmentor for range maps.

Since: Common Vision Blox 13.4

Parameters

[in]	Segmentor	Segmentor object
[out]	Value	Range map values to be ignored during the segmentation.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for range maps

See also: CVMAQS12SegmentorRangeMapGetIgnoreValue, CVMAQS12CreateSegmentorForRangeMap

◆ CVMAQS12SegmentorRangeMapGetWindowSize()

cvbres_t CVMAQS12SegmentorRangeMapGetWindowSize	(	CVMAQS12SEGMENTOR2D	Segmentor,
		cvbdim_t &	WindowSize
	)

Gets window size for calculation of normals (used for the classification of the AQS12 faces).

If WindowSize is set to zero, the window size will be calculated automatically.

Parameters

[in]	Segmentor	Segmentor object.
[out]	WindowSize	Side length of squared window.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for range maps

See also: CVMAQS12SegmentorRangeMapSetWindowSize, CVMAQS12CreateSegmentorForRangeMap

◆ CVMAQS12SegmentorRangeMapSetIgnoreValue()

cvbres_t CVMAQS12SegmentorRangeMapSetIgnoreValue	(	CVMAQS12SEGMENTOR2D	Segmentor,
		double	Value
	)

Sets range map ignore value to AQS12 segmentor for range maps.

Since: Common Vision Blox 13.4

Parameters

[in]	Segmentor	Segmentor object to be modified
[in]	Value	Range map values to be ignored during the segmentation.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for range maps

See also: CVMAQS12SegmentorRangeMapGetIgnoreValue, CVMAQS12CreateSegmentorForRangeMap

◆ CVMAQS12SegmentorRangeMapSetWindowSize()

cvbres_t CVMAQS12SegmentorRangeMapSetWindowSize	(	CVMAQS12SEGMENTOR2D	Segmentor,
		cvbdim_t	WindowSize
	)

Sets window size segmentor for calculation of normals (used for the classification of the AQS12 faces).

If WindowSize is set to zero, the window size will be calculated automatically. If it is an even number, it will be extended with one.

Parameters

[in]	Segmentor	Range map segmentor object to be modified.
[in]	WindowSize	Side length of squared window.

Returns

CVC_ERROR(CVC_E_OK) on success
CVC_ERROR(CVC_E_WRONGOBJECT) if Segmentor is a nullptr or not a segmentor object for range maps
CVC_ERROR(CVC_E_PARAMETER) if WindowSize is negative

See also: CVMAQS12SegmentorRangeMapGetWindowSize, CVMAQS12CreateSegmentorForRangeMap

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CVMAQS12SegmentationMethod

◆ CVMAQS12SEGMENTOR3DFilterFeature

Function Documentation

◆ CVMAQS12CreateSegmentorForDensePointCloud()

◆ CVMAQS12CreateSegmentorForPointCloud()

◆ CVMAQS12CreateSegmentorForRangeMap()

◆ CVMAQS12SegmentorDensePointCloudGetWindowSize()

◆ CVMAQS12SegmentorDensePointCloudSetWindowSize()

◆ CVMAQS12SegmentorPointCloudDisablePreprocessingFilterGeometricFeature()

◆ CVMAQS12SegmentorPointCloudDisablePreprocessingResample()

◆ CVMAQS12SegmentorPointCloudDisablePreprocessingScaleXZ()

◆ CVMAQS12SegmentorPointCloudGetClustering()

◆ CVMAQS12SegmentorPointCloudGetPreprocessingFilterGeometricFeature()

◆ CVMAQS12SegmentorPointCloudGetPreprocessingResample()

◆ CVMAQS12SegmentorPointCloudGetPreprocessingScaleXZ()

◆ CVMAQS12SegmentorPointCloudSetClustering()

◆ CVMAQS12SegmentorPointCloudSetPreprocessingFilterGeometricFeature()

◆ CVMAQS12SegmentorPointCloudSetPreprocessingResample()

◆ CVMAQS12SegmentorPointCloudSetPreprocessingScaleXZ()

◆ CVMAQS12SegmentorRangeMapGetIgnoreValue()

◆ CVMAQS12SegmentorRangeMapGetWindowSize()

◆ CVMAQS12SegmentorRangeMapSetIgnoreValue()

◆ CVMAQS12SegmentorRangeMapSetWindowSize()