ByteRangeC - Range images with one byte per pixel.

User Documentation

Centre for Vision, Speech & Signal Processing

Comments:
ByteRangeC is a BIG object.

The i/o routines do have basic error checks.

A valid image point is one in which a range measurement is available. How it is stored is dependent on the data structure but can be checked by calling the function IsValid(). In byte format, 0 is invalid and in vector format, z=-MAXFLOAT is invalid.

Any conversion from a vector representation will result in a rounding down of the x and y values to the grid positions. To compensate for this conversion from byte to vector will round up the positions to the centre of the grid boxes.

All loads are soft except Load, soft means no exit on error.

 Files that can be read    .pgm .dep .ris .XYZim
                   written      .pgm .dep .ris

Parent Classes:

BaseRangeC

Variables:

const ByteGreyValueT InvalidZ;
const ByteGreyValueT InvalidZ = 0;

Methods:

ByteRangeC(): Constructs an empty Range image
ByteRangeC(char * fname): Constructs and use .Load
ByteRangeC(int rows,int cols): Constructs a Range with space allocated
ByteRangeC(const ByteImageC & image): Constructs a Range from a byte image
ByteRangeC(const ByteRangeC & range): Copy constructor
ByteRangeC(const FloatRangeC & range): Construct a byte range image from a float one
ByteRangeC(const VectRangeC & range): Construct a byte range image from a vector one
This will round down positions of points to the lower left grid position by storing in byte image.
ByteRangeC & operator=(const ByteRangeC & range): Assignment
~ByteRangeC(): Destructor
ByteRangeC Copy(void) const: Returns a new copy (big object!)

Access to parameters
ByteImageC & ImageHandle(): Access to the internal image, use sparingly!
ByteGreyValueT & operator[](const PixelC & pxl): Access operator with reference
ByteGreyValueT GetByteZ(const PixelC & pxl) const: Access depth given position
float GetFloatZ(const PixelC & pxl) const: Access depth given position
Vector3dC GetVect(const PixelC & pxl) const: Access vector given grid position
void PutByteZ(const PixelC & pxl,ByteGreyValueT z): Set depth at given position
void PutFloatZ(const PixelC & pxl,float z): Set depth at given position
void PutVect(const PixelC & pxl,Vector3dC vect): Set vector at given position
int IsValid(const PixelC & pixel) const: Determine whether given pixel is valid

Saving and Loading
int SoftLoad(char * fname): load from any file, if error then return 0 else 1
void Load(char * fname): load from any file, if error then exit
int SoftSave(char * fname): save to file, if error then return 0 else 1
void Save(char * fname): save to file
int LoadPgm(char * fname): load .pgm file, if error then return 0 else 1
int LoadDep(char * fname): load .dep bae file, if error then return 0 else 1
int LoadRis(char * fname): load .ris file, if error then return 0 else 1
int LoadZim(char * fname): load .XYZim file, if error then return 0 else 1
void SavePgm(char * fname): save .pgm file
void SaveDep(char * fname): save .dep bae file
void SaveRis(char * fname): save .ris file

Image manipulation
ByteRangeC SubImage(const ImageRectangleC & rect) const: extract and create a new subimage
ByteRangeC ScaleImage(double f,int dx = 0,int dy = 0) const: change scale by factor f using resampling with an offset of (dx,dy)
void CalculateExtremes(): Determines extreme values of x,y and z
This determines the max and min x,y,z values for the valid image points.

Conversion to other representations
ByteImageC ExportZasByte(int reversevideo = 0): generate a byteimage of the z data
ByteImageC ExportDXasByte(): generate a byteimage of the x data
ByteImageC ExportDYasByte(): generate a byteimage of the y data
ostream & operator<<(ostream & s,const ByteRangeC & range)

#include "amma/BaseRange.hh"

BaseRangeC & operator=(const BaseRangeC & range): Assignment
int NRows() const: Access number of rows
int NCols() const: Access number of cols
Vector3dC Min() const: Access minimum corner of bounding box
Vector3dC Max() const: Access maximum corner of bounding box
Vector3dC GridMin() const: Access minimum corner of grid bounding box
Vector3dC GridMax() const: Access maximum corner of grid bounding box
Vector3dC GridSize() const: Access spacing of the grid
ByteGreyValueT GetByteZ(const PixelC & pxl) const: Access depth given position
float GetFloatZ(const PixelC & pxl) const: Access depth given position
Vector3dC GetVect(const PixelC & pxl) const: Access vector given grid position
void PutByteZ(const PixelC & pxl,ByteGreyValueT z): Set depth at given position
void PutFloatZ(const PixelC & pxl,float z): Set depth at a given position
void PutVect(const PixelC & pxl,Vector3dC vect): Set vector at given position
void PutVect(const Vector3dC vect): Determines position in array and inserts vector. Must pass IsInside()
int IsValid(const PixelC & pixel) const: Determine whether given pixel is valid
int IsInside(const Vector3dC vect) const: Determines whether a vector is within the grid extremes
int IsInsideXY(const Vector3dC vect) const: Determines whether x,y of vect is within the grid extremes
PixelC OfVect(const Vector3dC vect) const: Determines pixel position in array of a vector
void SetXGridExtremes(double xmin,double xmax): Sets extremes and determines spacing
void SetYGridExtremes(double ymin,double ymax): Sets extremes and determines spacing
void SetZGridExtremes(double zmin,double zmax): Sets extremes and determines spacing

Loading and Saving
int SoftLoad(char * fname): load from any file, if error then return 0 else 1
void Load(char * fname): load from any file, if error then exit
int SoftSave(char * fname): save to file, if error then return 0 else 1
void Save(char * fname): save to file
void CalculateExtremes(): Determines extreme values of x,y and z
This determines the max and min x,y,z values for the valid image points. If the image is not gridded then grid min and max values are extrapolated to give result that would be achieved if the invalid points had been included in the calculation.

Conversion to other representations
ByteImageC ExportZasByte(int reversevideo = 0): generate a byteimage of the z data
ByteImageC ExportDXasByte(): generate a byteimage of the x data
ByteImageC ExportDYasByte(): generate a byteimage of the y data
ByteImageC ExportValidasByte(): generate a byte image of the valid points
PolopsC ExportPol(double steepestslope = 100.0): generate a polops class of the data.
Steepest slope is a ratio of dz/sqrt(dx^2+dy*2)
PolopsC ExportPol2(double steepestslope = 100.0): generate a triangulation mesh.
steepest slope is max angle of triangle to z-axis. NB: Trianglation indexed without using Polops().Purify() for effieciency
ostream & operator<<(ostream & s,const BaseRangeC & range)

Programmer:Robert Crida lib=Range, Documentation by CxxDoc: Tue Mar 20 10:48:08 2001

ByteRangeC

Range images with one byte per pixel.

include	"amma/ByteRange.hh"
User Level:	Default
Library:	Range
Example:	poltool.cc
Section:	3D Surface.Range Images
In Scope:	std

Access to parameters

Saving and Loading

Image manipulation

Conversion to other representations

Loading and Saving

Conversion to other representations