AQS12DensePointCloudSegmentor Class Reference

Segmentor object to configure face segmentation of AQS12 calibration piece on dense point clouds. More...

#include <cvb/foundation/metric_aqs12.hpp>

Inherits DensePointCloudSegmentor.

Public Member Functions
std::unique_ptr< Image >	FaceSegmentationFromPiece (const DensePointCloud &cloud) override
	Segments the AQS12 calibration piece from the given dense point cloud. More...
std::unique_ptr< Image >	FaceSegmentationFromPiece (const DensePointCloud &cloud, Rect< int > aoi) override
	Segments the AQS12 calibration piece from the dense point cloud on the given area of interest. More...
std::vector< Point3D< double > >	ExtractProjectedPointsFromPiece (const DensePointCloud &cloud) override
	Extracts 12 intersection points of the AQS12 calibration piece from the given dense point cloud. More...
std::vector< Point3D< double > >	ExtractProjectedPointsFromPiece (const DensePointCloud &cloud, Rect< int > aoi) override
	Extracts 12 intersection points of the AQS12 calibration piece from the dense point cloud on the given area of interest. More...
Public Member Functions inherited from DensePointCloudSegmentor
int	WindowSize () const
	Gets window size for calculation of normals (used for the classification of the target faces). More...
void	SetWindowSize (int windowSize) const
	Sets window size for the calculation of normals (used for the classification of the target faces). More...
void *	Handle () const noexcept
	Returns C-API style handle to Node Object. More...

Static Public Member Functions
static std::shared_ptr< AQS12DensePointCloudSegmentor >	Create (const SegmentationMethod method)
	Creates a AQS12 segmentor for dense point clouds based on given segmentation method. More...
Static Public Member Functions inherited from DensePointCloudSegmentor
static std::shared_ptr< DensePointCloudSegmentor >	FromHandle (HandleGuard< DensePointCloudSegmentor > &&guard)
	Creates a segmentor from a classic API handle. More...

Detailed Description

Segmentor object to configure face segmentation of AQS12 calibration piece on dense point clouds.

Member Function Documentation

Create()

static std::shared_ptr< AQS12DensePointCloudSegmentor > Create ( const SegmentationMethod  method )

inlinestatic

Creates a AQS12 segmentor for dense point clouds based on given segmentation method.

Note, that the segmentation is done on the projected xy plane. That means, that the base plane has to be more or less parallel to the xy plane.

Parameters

[in]

method

Segmentation method to be applied (so far only KmeansClustering is supported).

Returns

The variable to receive the resulting segmentation object.

Examples

Foundation/CppMetricCalibrationInclinationLaserPlane, and Foundation/CppMetricCalibrationRigidBodyTrafo.

ExtractProjectedPointsFromPiece() [1/2]

std::vector< Point3D< double > > ExtractProjectedPointsFromPiece ( const DensePointCloud &  cloud )

inlineoverridevirtual

Extracts 12 intersection points of the AQS12 calibration piece from the given dense point cloud.

Note, that lower roof points are projected to the base plane.

Parameters

[in]

cloud

Dense point cloud.

Returns

Extracted points.

Exceptions

Any	exception derived from std::exception including CvbException.

Implements DensePointCloudSegmentor.

ExtractProjectedPointsFromPiece() [2/2]

std::vector< Point3D< double > > ExtractProjectedPointsFromPiece ( const DensePointCloud &  cloud, Rect< int >  aoi  )

inlineoverridevirtual

Extracts 12 intersection points of the AQS12 calibration piece from the dense point cloud on the given area of interest.

Note, that lower roof points are projected to the base plane.

Note

The area of interest must be selected on the grid of the dense point cloud. Left, top, right and bottom are indices for row and column.

Parameters

[in]	cloud	Dense point cloud.
[in]	aoi	Area of interest.

Returns

Extracted points.

Exceptions

Any	exception derived from std::exception including CvbException.

Implements DensePointCloudSegmentor.

FaceSegmentationFromPiece() [1/2]

std::unique_ptr< Image > FaceSegmentationFromPiece ( const DensePointCloud &  cloud )

inlineoverridevirtual

Segments the AQS12 calibration piece from the given dense point cloud.

The AQS12 calibration piece is segmented into top, base and 10 faces. Note, that the segmentation is done on the projected xy plane. That means, that the base plane has to be more or less parallel to the xy plane.

Parameters

[in]

cloud

Dense point cloud.

Returns

Pointer to the segmentation image.

Exceptions

Any	exception derived from std::exception including CvbException.

Implements DensePointCloudSegmentor.

FaceSegmentationFromPiece() [2/2]

std::unique_ptr< Image > FaceSegmentationFromPiece ( const DensePointCloud &  cloud, Rect< int >  aoi  )

inlineoverridevirtual

Segments the AQS12 calibration piece from the dense point cloud on the given area of interest.

The AQS12 calibration piece is segmented into top, base and 10 faces. Note, that the segmentation is done on the projected xy plane. That means, that the base plane has to be more or less parallel to the xy plane.

Note

The area of interest must be selected on the grid of the dense point cloud. Left, top, right and bottom are indices for row and column.

Parameters

[in]	cloud	Dense point cloud.
[in]	aoi	Area of interest.

Returns

Pointer to the segmentation image.

Exceptions

Any	exception derived from std::exception including CvbException.

Implements DensePointCloudSegmentor.