FloatRangeC - Range image where each pixel is stored using a float.

Developer Documentation

Centre for Vision, Speech & Signal Processing

Comments:
FloatRangeC 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=-1e38 is invalid.

With each range image, the minimum and maximum x, y and z values are stored. In each case, the values are obtained by scanning all of the valid image points and finding the extremes in each dimension. These values are kept in xmin,xmax,ymin,ymax,zmin,zmax.

In addition, the minimum and maximum x and y values of the sample grid are obtained if available from the input data file. This is required for converting between vector and byte format and mapping the range image onto a grid. gridxmin,gridxmax,gridymin,gridymax are defined to have the same values as those stored in the .dep file format. This is assumed to be that the min and max are both the rounded down corners of the extreme bins.

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
                   written      .pgm .dep

Parent Classes:

BaseRangeC

Variables:

ImageC f_data;
const float InvalidZ;
const float InvalidZ = -1e38;

Methods:

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

Access to parameters
ImageC<float> & ImageHandle(): Access to the internal image, use sparingly!
float & 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 LoadDep(char * fname): load .dep bae file, if error then return 0 else 1
BUG: Warning: Does not consider Endian of machine so problems arise when saving on one architecture and loading on another.
int LoadNrcc(char * fname): load .nrcc 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 SaveDep(char * fname): save .dep bae file
BUG: Warning: Does not consider Endian of machine so problems arise when saving on one architecture and loading on another.
void SaveRis(char * fname): save .ris file

Image manipulation
void CalculateExtremes(): Determines extreme values of x,y and z
FloatRangeC SubImage(const ImageRectangleC & rect) const: extract and create a new subimage
FloatRangeC ScaleImage(double f,int dx = 0,int dy = 0) const: change scale by factor f using resampling with an offset of (dx,dy)

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 FloatRangeC & range)

#include "amma/BaseRange.hh"

void ExtremesForSubImage(const ImageRectangleC & rect): Calculates new grid extreme values
Determined using the spacing and ratios of the overall size
BooleanT TestFace(const Vector3dC & v0,const Vector3dC & v1,const Vector3dC & v2,const RealT min_cos_angle): Test if cos angle of face normal to z-axis is > min_cos_angle
void InsertFace(IntT & counter,ImageC<int> & countimage,DListC<Vector3dC> & v_list,DListC<FaceT> & f_list,const PixelC p0,const PixelC p1,const PixelC p2): function used in ExportPol2 to insert a triangle in the mesh
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 10:49:27 2001

FloatRangeC

Range image where each pixel is stored using a float.

include	"amma/FloatRange.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