Laser line extraction

Functions to extract laser line. More...

Data Structures
struct	CVMLineExtractionParameters
	All necessary parameters for laser line extraction. More...

Enumerations
enum	CVMFIRFilter { CVMFF_None = 1 , CVMFF_Mean }
	Filter parameters. More...
enum	CVMPeakLocalizationMethod { CVMPLM_Argmax = 1 , CVMPLM_CoG }
	Peak location parameters. More...

Functions
cvbres_t	CVMExtractLaserLineFromMonoImage (IMG MonoImage, const CVMLineExtractionParameters &Params, int LineOut, IMG RangeMapImage, IMG IntensityImage)
	Extracts the laser line from a given MonoImage and stores it to pre-allocated RangeMapImage at given LineOut. More...

Detailed Description

Functions to extract laser line.

Enumeration Type Documentation

CVMFIRFilter

enum CVMFIRFilter

Filter parameters.

Enumerator
CVMFF_None	No active filtering.
CVMFF_Mean	Mean filtering.

CVMPeakLocalizationMethod

enum CVMPeakLocalizationMethod

Peak location parameters.

Enumerator
CVMPLM_Argmax	The center peak is set to the highest value in a given set.
CVMPLM_CoG	Estimation of the center peak with center of gravity (CoG).

Function Documentation

CVMExtractLaserLineFromMonoImage()

cvbres_t CVMExtractLaserLineFromMonoImage	(	IMG	MonoImage,
		const CVMLineExtractionParameters &	Params,
		int	LineOut,
		IMG	RangeMapImage,
		IMG	IntensityImage
	)

Extracts the laser line from a given MonoImage and stores it to pre-allocated RangeMapImage at given LineOut.

If the intensity values of the laser peaks should not be computed IntensityImage has to be a nullptr. Otherwise it has to be allocated correctly, see attention below.

Attention

RangeMapImage and IntesityImage must be allocated correctly, e.g. with CreateGenericImageDT. The following constraints must be met:

• The width of MonoImage and RangeMapImage (or IntensityImage) must be equal.
• The height of RangeMapImage (or IntensityImage) must be greater than LineOut.
• The data type of RangeMapImage (or IntensityImage) must be signed float or double.

Parameters

[in]	MonoImage	Handle of mono image with laser line.
[in]	Params	Parameter defining algorithm used for the extraction of the laser line.
[in]	LineOut	Line in RangeMapImage (or IntensityImage) where results will be stored.
[out]	RangeMapImage	Handle for range map where results are stored. It has to be allocated correctly.
[out]	IntensityImage	Handle where intensity values are stored. If the intensity should be not computed, it has to be a nullptr. Otherwise it has to be allocated correctly.

Returns

• CVC_ERROR(CVC_E_OK) on success.
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if LineOut is not inside RangeMapImage or IntensityImage.
• CVC_ERROR(CVC_E_WRONGOBJECT) if MonoImage is not a valid mono image or if RangeMapImage or IntensityImage is not a valid signed float image.