数据类型

Zivid SDK API 中使用的值类型、容器和实用工具类型。它们是相机、捕获和处理 API 所返回和使用的基本构建模块。

有关每种类型的详尽参考，请参阅 Zivid API 文档。

几何 

逐点几何类型：3D 点、2D 点、仅深度点、向量以及图像坐标系中的 2D 边界框。

C++

PointXYZstruct

Point with three coordinates as float.

Public Types

ValueType=floatusing : The type of the coordinate values.

Public Functions

PointXYZ()=default : Constructor.

PointXYZ( floatxCoord, floatyCoord, floatzCoord)inlineconstexpr: Constructor.

isNaN()constinlinebool 

Check if the point is Not-a-Number (invalid)

A point is defined as NaN if the z-coordinate is NaN

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PointXYZ &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PointXYZ &rhs) const: Check for inequality.

Public Members

ValueTypex : The x element of the point.

ValueTypey : The y element of the point.

ValueTypez : The z element of the point.

PointXYZWstruct

Point with four coordinates as float.

Storing the point coordinates in 4D can be useful in some scenarios. For example if the points are to be passed to a different library which expects 4 floats for point coordinates. It is also useful when applying 4x4 transformation matrices.

Public Types

ValueType=floatusing : The type of the coordinate values.

Public Functions

PointXYZW()=default : Constructor.

PointXYZW( floatxCoord, floatyCoord, floatzCoord, floatwCoord)inline: Constructor.

isNaN()constinlinebool 

Check if the point is Not-a-Number (invalid)

A point is defined as NaN if the z-coordinate is NaN

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PointXYZW &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PointXYZW &rhs) const: Check for inequality.

Public Members

ValueTypex : The x element of the point.

ValueTypey : The y element of the point.

ValueTypez : The z element of the point.

ValueTypew : The w element of the point.

PointXYstruct

Point with two coordinates as float.

Public Types

ValueType=floatusing : The type of the coordinate values.

Public Functions

PointXY()=default : Constructor.

PointXY( floatxCoord, floatyCoord)inlineconstexpr: Constructor.

isNaN()constinlinebool 

Check if the point is Not-a-Number (invalid)

A point is defined as NaN if the y-coordinate is NaN

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PointXY &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PointXY &rhs) const: Check for inequality.

Public Members

ValueTypex : The x element of the point.

ValueTypey : The y element of the point.

PointZstruct

Point with Z coordinate.

Public Types

ValueType=floatusing : The type of the coordinate values.

Public Functions

PointZ()=default : Constructor.

PointZ( floatzCoord)inline: Constructor.

isNaN()constinlinebool : Check if the point is Not-a-Number (invalid)

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PointZ &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PointZ &rhs) const: Check for inequality.

Public Members

ValueTypez : The z element of the point.

VectorXYZstruct

Vector with three coordinates as float.

Subclassed by Zivid::NormalXYZ

Public Types

ValueType=floatusing : The type of the coordinate values.

Public Functions

VectorXYZ()=default : Constructor.

VectorXYZ( floatxCoord, floatyCoord, floatzCoord)inline: Constructor.

isNaN()constinlinebool 

Check if the vector is Not-a-Number (invalid)

A vector is defined as NaN if the z-coordinate is NaN

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const VectorXYZ &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const VectorXYZ &rhs) const: Check for inequality.

Public Members

ValueTypex : The x element of the vector.

ValueTypey : The y element of the vector.

ValueTypez : The z element of the vector.

BoundingBoxstruct

Defines a 2D rectangular bounding box in image coordinates.

Public Types

ValueType=intusing : summary>Constructor

Public Functions

BoundingBox( intxCoord, intyCoord, intboxWidth, intboxHeight)inlineconstexpr: Constructor.

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const BoundingBox &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const BoundingBox &rhs) const: Check for inequality.

Public Members

ValueTypex : Top-left corner x coordinate.

ValueTypey : Top-left corner y coordinate.

ValueTypewidth : Width of the bounding box.

ValueTypeheight : Height of the bounding box.

C#

PointXYZstruct: Point with three coordinates as float.

PointXYZWstruct: Point with four coordinates as float (homogeneous coordinates)

PointXYstruct: Point with two coordinates as float.

PointZstruct: Point with only the Z coordinate as float.

Python

点和向量数据以 NumPy 数组形式提供。

classBoundingBox(:intx , :inty , :intwidth , :intheight )

Defines a 2D rectangular bounding box in image coordinates.

Initialization

Construct a BoundingBox object.

参数:

x -- Top-left corner x coordinate as int
y -- Top-left corner y coordinate as int
width -- Width of the bounding box as int
height -- Height of the bounding box as int

propertyx int:

Get the top-left corner x coordinate.

返回:: The x coordinate as int

propertyy int:

Get the top-left corner y coordinate.

返回:: The y coordinate as int

propertywidth int:

Get the width of the bounding box.

返回:: The width as int

propertyheight int:

Get the height of the bounding box.

返回:: The height as int

颜色 

不同通道顺序的逐像素颜色类型，包含或不包含 alpha 通道，具有 8 位和浮点精度，并支持线性和 sRGB 色彩空间。

C++

ColorRGBA:publicZividColorRGBABaseuint8_tstruct ::<>

Color with 8-bit red, green, blue and alpha channels.

The order of the members is r, g, b, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorBGRA only in the order of the channels (RGBA vs. BGRA).

This format holds linear color values, which are suitable as input to computer vision algorithms. For showing colors on a display for viewing, consider using the ColorRGBA_SRGB format.

Public Functions

ColorRGBABase()=default : Constructor.

ColorRGBABase(Tred , Tgreen , Tblue , Talpha )inline: Constructor.

ColorBGRA:publicZividColorBGRABaseuint8_tstruct ::<>

Color with 8-bit blue, green, red and alpha channels.

The order of the members is b, g, r, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorRGBA only in the order of the channels (BGRA vs. RGBA).

This format holds linear color values, which are suitable as input to computer vision algorithms. For showing colors on a display for viewing, consider using the ColorRGBA_SRGB format.

Public Functions

ColorBGRABase()=default : Constructor.

ColorBGRABase(Tblue , Tgreen , Tred , Talpha )inline: Constructor.

ColorRGB:publicZividColorRGBBaseuint8_tstruct ::<>

Color with 8-bit red, green and blue channels (no alpha)

The order of the members is r, g, b and each member is represented as an uint8_t. The members have values from 0 to 255. This format is identical to ColorRGBA but skips the alpha channel for ~25% bandwidth savings on the device-side path.

This format holds linear color values, which are suitable as input to computer vision algorithms. For showing colors on a display for viewing, consider using the ColorRGB_SRGB format.

Public Functions

ColorRGBBase()=default : Constructor.

ColorRGBBase(Tred , Tgreen , Tblue )inline: Constructor.

ColorBGR:publicZividColorBGRBaseuint8_tstruct ::<>

Color with 8-bit blue, green and red channels (no alpha)

The order of the members is b, g, r and each member is represented as an uint8_t. The members have values from 0 to 255. This format is identical to ColorBGRA but skips the alpha channel for ~25% bandwidth savings on the device-side path.

This format holds linear color values, which are suitable as input to computer vision algorithms. For showing colors on a display for viewing, consider using the ColorBGR_SRGB format.

Public Functions

ColorBGRBase()=default : Constructor.

ColorBGRBase(Tblue , Tgreen , Tred )inline: Constructor.

ColorRGBAf:publicZividColorRGBABasefloatstruct ::<>

Color with 32-bit red, green, blue and alpha channels.

The order of the members is r, g, b, a, and each member is represented as a 32-bit float. The members have values from 0 to 1.

This format holds linear color values, which are suitable as input to computer vision algorithms. It is the floating-point counterpart of ColorRGBA, covering the same range with 0 to 255 mapped to 0 to 1. It carries more precision than ColorRGBA, which is this value quantized to 8 bits per channel, so ColorRGBAf * 255 and ColorRGBA agree only to within half a quantization step. For showing colors on a display for viewing, consider using the ColorRGBA_SRGB format.

Public Functions

ColorRGBABase()=default : Constructor.

ColorRGBABase(Tred , Tgreen , Tblue , Talpha )inline: Constructor.

ColorSRGB:publicZividColorRGBABaseuint8_tstruct ::<>

Color with 8-bit red, green, blue and alpha channels in the sRGB color space.

The order of the members is r, g, b, a and each member is represented as an uint8_t. The members have values from 0 to 255.

The sRGB color space is suitable for showing an image on a display for human viewing. It is easier to see details in darker areas of an image in sRGB than in linear RGB, as more of the dynamic range is dedicated to darker colors. This format is assumed by default by most monitors and should be used when displaying an image.

The name of this type is deprecated as of SDK 2.15. The type will be replaced in the next SDK major version (SDK 3.0). Prefer to use the new type name ColorRGBA_SRGB.

Public Functions

ColorRGBABase()=default : Constructor.

ColorRGBABase(Tred , Tgreen , Tblue , Talpha )inline: Constructor.

ColorSRGBColorRGBA_SRGBtypedef 

Color with 8-bit red, green, blue and alpha channels in the sRGB color space.

The order of the members is r, g, b, a and each member is represented as an uint8_t. The members have values from 0 to 255.

The sRGB color space is suitable for showing an image on a display for human viewing. It is easier to see details in darker areas of an image in sRGB than in linear RGB, as more of the dynamic range is dedicated to darker colors. This format is assumed by default by most monitors and should be used when displaying an image.

ColorBGRA_SRGB:publicZividColorBGRABaseuint8_tstruct ::<>

Color with 8-bit blue, green, red and alpha channels in the sRGB color space.

The order of the members is b, g, r, a and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorRGBA_SRGB only in the order of the channels (BGRA vs. RGBA).

The sRGB color space is suitable for showing an image on a display for human viewing. It is easier to see details in darker areas of an image in sRGB than in linear RGB, as more of the dynamic range is dedicated to darker colors. This format is assumed by default by most monitors and should be used when displaying an image.

Public Functions

ColorBGRABase()=default : Constructor.

ColorBGRABase(Tblue , Tgreen , Tred , Talpha )inline: Constructor.

ColorRGB_SRGB:publicZividColorRGBBaseuint8_tstruct ::<>

Color with 8-bit red, green and blue channels (no alpha) in the sRGB color space.

The order of the members is r, g, b and each member is represented as an uint8_t. The members have values from 0 to 255. This format is identical to ColorRGBA_SRGB but skips the alpha channel for ~25% bandwidth savings on the device-side path.

The sRGB color space is suitable for showing an image on a display for human viewing.

Public Functions

ColorRGBBase()=default : Constructor.

ColorRGBBase(Tred , Tgreen , Tblue )inline: Constructor.

ColorBGR_SRGB:publicZividColorBGRBaseuint8_tstruct ::<>

Color with 8-bit blue, green and red channels (no alpha) in the sRGB color space.

The order of the members is b, g, r and each member is represented as an uint8_t. The members have values from 0 to 255. This format is identical to ColorBGRA_SRGB but skips the alpha channel for ~25% bandwidth savings on the device-side path.

The sRGB color space is suitable for showing an image on a display for human viewing.

Public Functions

ColorBGRBase()=default : Constructor.

ColorBGRBase(Tblue , Tgreen , Tred )inline: Constructor.

C#

ColorRGBAstruct

Color with 8-bit red, green, blue and alpha channels.

The order of the members is r, g, b, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorBGRA only in the order of the channels (RGBA vs. BGRA).

This format holds linear color values, which are suitable as input to computer vision algorithms. For showing colors on a display for viewing, consider using the ColorRGBA_SRGB format.

ColorBGRAstruct

Color with 8-bit blue, green, red and alpha channels.

The order of the members is b, g, r, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorRGBA only in the order of the channels (BGRA vs. RGBA).

This format holds linear color values, which are suitable as input to computer vision algorithms. For showing colors on a display for viewing, consider using the ColorRGBA_SRGB format.

ColorRGBAfstruct

Color with four float channels (red, green, blue, alpha)

Each channel is a 32-bit float in the range [0.0, 1.0]. This format holds linear color values, which are suitable as input to computer vision algorithms and GPU processing.

ColorSRGBstruct

Color with 8-bit red, green, blue and alpha channels in the sRGB color space.

The sRGB color space is suitable for showing an image on a display for human viewing. It is easier to see details in darker areas of an image in sRGB than in linear RGB, as more of the dynamic range is dedicated to darker colors. This format is assumed by default by most monitors and should be used when displaying an image.

The order of the members is r, g, b, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorRGBA only in that it is intended to use with color values in the sRGB color space.

This type has been deprecated as of SDK 2.15. The type will be removed in the next SDK major version (SDK 3.0). Prefer to use the new equivalent type ColorRGBA_SRGB.

ColorRGBA_SRGBstruct

Color with 8-bit red, green, blue and alpha channels in the sRGB color space.

The sRGB color space is suitable for showing an image on a display for human viewing. It is easier to see details in darker areas of an image in sRGB than in linear RGB, as more of the dynamic range is dedicated to darker colors. This format is assumed by default by most monitors and should be used when displaying an image.

The order of the members is r, g, b, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorRGBA only in that it is intended to use with color values in the sRGB color space.

ColorBGRA_SRGBstruct

Color with 8-bit blue, green, red and alpha channels in the sRGB color space.

The sRGB color space is suitable for showing an image on a display for human viewing. It is easier to see details in darker areas of an image in sRGB than in linear RGB, as more of the dynamic range is dedicated to darker colors. This format is assumed by default by most monitors and should be used when displaying an image.

The order of the members is b, g, r, a, and each member is represented as an uint8_t. The members have values from 0 to 255. This type differs from ColorRGBA_SRGB only in the order of the channels (BGRA vs. RGBA).

Python

颜色数据以 NumPy 数组形式提供。请参阅 zivid-python。

逐点复合类型 

结合了点和颜色的类型，以及逐点法线和信噪比。

C++

PointXYZColorRGBAstruct

Struct which contains XYZ point and RGBA color packed together.

Contains one PointXYZ (3*4 bytes) and one ColorRGBA (4*1 bytes), making this a 16 byte struct. This type differs from PointXYZColorBGRA only in the order of the color channels (RGBA vs. BGRA).

Public Functions

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PointXYZColorRGBA &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PointXYZColorRGBA &rhs) const: Check for inequality.

Public Members

PointXYZpoint : Point (contains x, y and z coordinates as floats)

ColorRGBAcolor : Color (RGBA order with 8 bits per channel)

PointXYZColorBGRAstruct

Struct which contains XYZ point and BGRA color packed together.

Contains one PointXYZ (3*4 bytes) and one ColorBGRA (4*1 bytes), making this a 16 byte struct. This type differs from PointXYZColorRGBA only in the order of the color channels (BGRA vs. RGBA).

Public Functions

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PointXYZColorBGRA &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PointXYZColorBGRA &rhs) const: Check for inequality.

Public Members

PointXYZpoint : Point (contains x, y and z coordinates as floats)

ColorBGRAcolor : Color (BGRA order with 8 bits per channel)

NormalXYZ:publicZividVectorXYZstruct ::: Normal vector with three coordinates as float.

SNRstruct

Signal-to-Noise ratio (SNR)

Public Types

ValueType=floatusing : The type of the SNR value.

Public Functions

ZIVID_UTILS_EXPORT std::string toString () const: Get the value as string.

ZIVID_UTILS_EXPORT bool operator== (const SNR &rhs) const: Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const SNR &rhs) const: Check for inequality.

Public Members

ValueTypevalue : SNR value.

C#

PointXYZColorRGBAstruct

Struct which contains XYZ point and RGBA color packed together.

Contains one PointXYZ (3*4 bytes) and one ColorRGBA (4*1 bytes), making this a 16 byte struct. This type differs from PointXYZColorBGRA only in the order of the color channels (RGBA vs. BGRA).

PointXYZColorBGRAstruct

Struct which contains XYZ point and BGRA color packed together.

Contains one PointXYZ (3*4 bytes) and one ColorBGRA (4*1 bytes), making this a 16 byte struct. This type differs from PointXYZColorRGBA only in the order of the color channels (BGRA vs. RGBA).

NormalXYZstruct: Normal vector with three coordinates as float.

SNRstruct: Signal-to-noise ratio value as float.

Python

复合点数据以结构化 NumPy 数组形式提供。请参阅 zivid-python。

容器 

点云和图像 API 所使用的通用 1D 和 2D 数组容器。

C++

< DataFormattemplatetypename> Array1Dclass

One-dimensional container of data.

Array1D manages the data using implicit sharing via reference counting. Copy or assignment of an Array1D object is shallow (only a pointer to the data is copied), which makes copy/assignment of Array1D fast. The data stored in the array is deallocated when there are no Array1D instances pointing to it.

The type of the elements stored in the array is given by template parameter DataFormat.

Public Types

ValueType=DataFormatusing : The type of the elements stored in the Array.

ConstIterator=constDataFormatusing *

The iterator type for immutable access.

It iterates over individual Array1D elements.

Public Functions

Array1D()inline: Create an empty Array1D.

size_tsize()constinline : Get the number of elements in the array.

isEmpty()constinlinebool : Check if the array is empty.

DataFormat*data()constinlineconst 

Pointer to the first data element of the array.

If the array is empty then this method returns nullptr

DataFormat&()operator(size_tidx )constinlineconst 

Constant reference to an element given by an index.

No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the Array1D is empty causes undefined behavior.

参数:: idx -- Index (from 0 to size - 1)

ConstIteratorbegin()constinline : Iterator to the beginning of the array.

ConstIteratorend()constinline : Iterator to the end of the array.

ConstIteratorcbegin()constinline : Iterator to the beginning of the array.

ConstIteratorcend()constinline : Iterator to the end of the array.

stdstringtoString()constinline:: : Get array information as string.

< DataFormattemplatetypename> Array2Dclass

Two-dimensional container of data.

Array2D manages the data using implicit sharing via reference counting. Copy or assignment of an Array2D object is shallow (only a pointer to the data is copied), which makes copy/assignment of Array2D fast. The data stored in the array is deallocated when there are no Array2D instances pointing to it.

The type of the elements stored in the array is given by template parameter DataFormat. Elements are stored sequentially in row-major order. Use data to get a pointer to the first element (row 0, column 0).

Public Types

ValueType=DataFormatusing : The type of the elements stored in the Array2D.

ConstIterator=constDataFormatusing *

The iterator type for immutable access.

It iterates over individual Array2D elements in row major order.

Public Functions

Array2D()inline: Create an empty Array2D.

size_twidth()constinline : Get the width of the array (number of columns)

size_theight()constinline : Get the height of the array (number of rows)

size_tsize()constinline 

Get the number of elements in the array.

This is identical to width() * height()

isEmpty()constinlinebool : Check if the array is empty.

DataFormat*data()constinlineconst 

Pointer to the first data element of the array.

If the array is empty then this method returns nullptr

DataFormat&()operator(size_tidx )constinlineconst 

Constant reference to an element given by a 1D linear index.

Data is stored in row-major order. No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the Array2D is empty causes undefined behavior.

参数:: idx -- Index (from 0 to size - 1)

DataFormat&()operator(size_ti , size_tj )constinlineconst 

Constant reference to an element given by row and column.

Data is stored in row-major order. No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the Array2D is empty causes undefined behavior.

参数:

i -- Row, from 0 to height - 1
j -- Column, from 0 to width - 1

ConstIteratorbegin()constinline : Iterator to the beginning of the array.

ConstIteratorend()constinline : Iterator to the end of the array.

ConstIteratorcbegin()constinline : Iterator to the beginning of the array.

ConstIteratorcend()constinline : Iterator to the end of the array.

stdstringtoString()constinline:: : Get array information as string.

C#

数组容器通过 C++ 和 Python API 提供。完整参考请参阅 Zivid API 文档。

Python

数组数据以 NumPy 数组形式提供。请参阅 zivid-python。

classPixelFormat(args*, kwds**)

Color format of a device array or DeviceArrayView.

The 4-channel formats are 3D (height x width x 4): RGBA / BGRA are 8-bit, RGBA_SRGB / BGRA_SRGB are 8-bit sRGB-encoded, and RGBAF is float32. The 3-channel formats are 3D (height x width x 3, no alpha): RGB / BGR are 8-bit, RGB_SRGB / BGR_SRGB are 8-bit sRGB-encoded.

Not every accessor accepts every format. create_device_array_view accepts all color formats; the Frame2D color accessors (allocate and fill) cover all color formats, while the point-cloud color accessors cover a subset.

Initialization

RGBA='rgba' 

BGRA='bgra' 

RGBA_SRGB='rgba_srgb' 

BGRA_SRGB='bgra_srgb' 

RGBAF='rgbaf' 

RGB='rgb' 

RGB_SRGB='rgb_srgb' 

BGR='bgr' 

BGR_SRGB='bgr_srgb' 

掩膜 

捕获后应用于点云或帧的二值掩膜，例如用于仅保留某一感兴趣区域。由 PointCloud 和 Frame 上的 mask() / masked() 方法使用。

C++

Mask:publicZividArray2Duint8_tclass ::<>

A mask for filtering point cloud data.

The Mask class represents a 2D binary mask that can be used to filter point cloud data. Zero values in the mask indicate that the corresponding point should be preserved, while non-zero values indicate that the point should be masked out (set to NaN).

Public Functions

ZIVID_UTILS_EXPORTMask() : Create an empty mask.

ZIVID_UTILS_EXPORTMask( Resolution&const resolution)explicit 

Create a nonzero-filled mask with the specified resolution.

参数:: resolution -- The resolution (width x height) of the mask

ZIVID_UTILS_EXPORTMask( Resolution&const resolution, uint8_t*const beginIt, uint8_t*const endIt) 

Create a mask from third-party mask data (e.g., OpenCV Mat)

The data is copied, so the original data can be safely freed after construction.

参数:

resolution -- The resolution (width x height) of the mask
beginIt -- Pointer to the beginning of mask data (uint8_t array)
endIt -- Pointer to the end of mask data (uint8_t array)

< Iterator stdenable_if_tstdis_convertible_vtypenamestditerator_traitsIterator::value_type uint8_t,stdnullptr_t >templatetypename,typename::<::< ::<>,> ::>=nullptr Mask( Resolution&const resolution, IteratorbeginIt , IteratorendIt )inline

Create a mask from iterator range.

参数:

resolution -- The resolution (width x height) of the mask
beginIt -- Iterator to the beginning of mask data
endIt -- Iterator to the end of mask data

ZIVID_UTILS_EXPORT Resolution resolution () const

Get the resolution of the mask.

返回:: Resolution object containing width and height of the mask

ZIVID_UTILS_EXPORT std::string toString () const: Get string representation of the mask.

inline ZIVID_UTILS_EXPORT uint8_t * data ()

Mutable pointer to the first data element of the mask.

If the mask is empty then this method returns nullptr

inline ZIVID_UTILS_EXPORT const uint8_t * data () const

Const pointer to the first data element of the mask.

If the mask is empty then this method returns nullptr

inline ZIVID_UTILS_EXPORT uint8_t * begin ()

Mutable iterator to the beginning of the mask.

Returns an iterator to the first element of the mask

inline ZIVID_UTILS_EXPORT uint8_t * end ()

Mutable iterator to the end of the mask.

Returns an iterator to one past the last element of the mask

inline ZIVID_UTILS_EXPORT uint8_t & operator() (size_t idx)

Mutable reference to an element given by a 1D linear index.

Data is stored in row-major order. No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the mask is empty causes undefined behavior.

参数:: idx -- Index (from 0 to size - 1)

inline ZIVID_UTILS_EXPORT uint8_t & operator() (size_t i, size_t j)

Mutable reference to an element given by row and column.

Data is stored in row-major order. No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the mask is empty causes undefined behavior.

参数:

i -- Row, from 0 to height - 1
j -- Column, from 0 to width - 1

inline ZIVID_UTILS_EXPORT const uint8_t & operator() (size_t idx) const

Const reference to an element given by a 1D linear index.

Data is stored in row-major order. No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the mask is empty causes undefined behavior.

参数:: idx -- Index (from 0 to size - 1)

inline ZIVID_UTILS_EXPORT const uint8_t & operator() (size_t i, size_t j) const

Const reference to an element given by row and column.

Data is stored in row-major order. No bounds checking is performed. Calling this operator with an argument that is out of range causes undefined behavior. Calling this operator when the mask is empty causes undefined behavior.

参数:

i -- Row, from 0 to height - 1
j -- Column, from 0 to width - 1

C#

Maskclass

Binary mask for filtering point cloud data.

The Mask class represents a 2D binary mask that can be used to filter point cloud data. Zero values in the mask indicate that the corresponding point should be preserved, while non-zero values indicate that the point should be masked out (set to NaN).

Public Functions

Mask (Resolution ^ resolution)

Create a nonzero-filled mask with specified resolution.

参数:: resolution -- The resolution (width and height) of the mask

Mask (Resolution ^ resolution, cli::array< System::Byte > ^ data)

Create a mask from raw data.

参数:

resolution -- The resolution (width and height) of the mask
data -- Raw mask data as byte array

Resolution ^ GetResolution (): Get the resolution of the mask.

System::String ^ ToString () override: Get a string representation of the mask.

Properties

size_tWidth : Get the width of the mask.

size_tHeight : Get the height of the mask.

System::Byte default [int, int]

Access mask element at given coordinates.

Param x:: X coordinate (column)
Param y:: Y coordinate (row)

Python

classMask(mask_data)

Binary mask for filtering point cloud data.

The Mask class represents a 2D binary mask that can be used to filter point cloud data. Non-zero values in the mask indicate that the corresponding point should be masked out (set to NaN), while zero values indicate that the point should be preserved.

Initialization

Initialize Mask wrapper.

参数:

mask_data -- Can be one of: - A 2D numpy array of booleans or uint8 values - A zivid.Resolution object to create a mask that masks out every point

抛出:

TypeError -- If argument type is not supported
ValueError -- If numpy array dimensions are incorrect

propertywidth int:

Get the width of the mask.

返回:: Width as an integer

propertyheight int:

Get the height of the mask.

返回:: Height as an integer

propertyresolution Resolution:

Get the resolution of the mask.

返回:: Resolution object with width and height

to_array() → ndarray

Convert mask to numpy array.

返回:: 2D numpy array of uint8 values

release() → None: Release the underlying resources.

数学与实用工具 

一种矩阵类型（用于变换）、一个数值范围以及一个 2D 分辨率。

C++

< T size_trowCount size_tcolCounttemplatetypename, , > Matrixclass

A fixed size matrix in row major order.

Public Types

ValueType=Tusing : The type stored in the matrix.

Iterator=typenameStorageiteratorusing ::

The matrix iterator type for mutable access.

It iterates over individual matrix elements in row major order.

ConstIterator=typenameStorageconst_iteratorusing ::

The matrix iterator type for immutable access.

It iterates over individual matrix elements in row major order.

Public Functions

Matrix()=default : Constructor.

Matrix( stdstring&const:: fileName)inline: Load the matrix from a file.

Matrix( stdarrayT colCount*rowCount arrArrconst::<, >&)inlineexplicit: Constructor.

< Utemplatetypename> Matrix( Matrix U rowCount colCount sourceMatrixconst<,,>&)inlineexplicit: Constructor.

< Iteratortemplatetypename> Matrix(IteratorbeginIt , IteratorendIt )inline: Constructor.

Matrix(stdinitializer_listT ::<>values)inlineexplicit: Constructor.

Matrix(stdinitializer_liststdinitializer_listT>values::<::<> )inlineexplicit: Constructor.

Iteratorbegin()inline : Iterator to the beginning of the matrix.

Iteratorend()inline : Iterator to the end of the matrix.

ConstIteratorbegin()constinline : Iterator to the beginning of the matrix.

ConstIteratorend()constinline : Iterator to the end of the matrix.

ConstIteratorcbegin()constinline : Iterator to the beginning of the matrix.

ConstIteratorcend()constinline : Iterator to the end of the matrix.

T&at(size_trow , size_tcol )inline : Access specified element with bounds checking.

T&at(size_trow , size_tcol )constinlineconst : Access specified element with bounds checking.

T&()operator(size_trow , size_tcol )inline : Access specified element without bounds checking.

T&()operator(size_trow , size_tcol )constinlineconst : Access specified element without bounds checking.

T*data()inline : Pointer to the underlying data.

T*data()constinlineconst : Pointer to the underlying data.

save( stdstring&const:: fileName)constvoid 

Save the matrix to the given file.

The matrix is saved in YAML format.

load( stdstring&const:: fileName)void

Load the matrix from the given file.

Loads the matrix into the object it was invoked on, does not return a value.

template<typename Q = T, typename = typename std::enable_if_t<invertSupported, Q>> ZIVID_UTILS_EXPORT Matrix inverse () const

Get the inverse of this matrix.

An exception is thrown if the matrix is not invertible.

返回:: A new matrix, holding the inverse

stdstringtoString()constinline:: 

Get string representation of the Matrix.

返回:: Matrix as string

Public Static Functions

< Q=T stdenable_if_tidentitySupported Q>templatetypename ,typename=typename::<,> Matrixidentity()staticinline 

Get the identity matrix of given type and size.

返回:: An identity matrix of the given type and size

Public Static Attributes

size_trows={rowCountstaticconstexpr }: The number of rows in the matrix.

size_tcols={colCountstaticconstexpr }: The number of columns in the matrix.

< Ttemplatetypename> Rangeclass

Class describing a range of values for a given type T.

The range is inclusive, in other words both the minimum and maximum values are included in the range.

Public Types

Type=Tusing : Underlying type.

Public Functions

Range()=defaultconstexpr : Default constructor.

Range(Tmin , Tmax )inlineconstexpr: Constructor.

T&min()constinlineconstexprconst : Get the minimum value of the range.

T&max()constinlineconstexprconst : Get the maximum value of the range.

isInRange( T&const value)constinlineconstexprbool 

Check if the value is in range.

The range is inclusive, in other words both the minimum and maximum values are included in the range.

==operator( Range T otherconst<>&)constinlinebool : Comparison operator.

!=operator( Range T otherconst<>&)constinlinebool : Comparison operator.

stdstringtoString()constinline:: : Get the range as string.

Resolutionclass

Class describing a resolution with a width and a height.

Public Functions

ZIVID_UTILS_EXPORTResolution(size_twidth , size_theight ) : Construct a Resolution from width and height.

ZIVID_UTILS_EXPORT size_t width () const: Get the width value of the resolution.

ZIVID_UTILS_EXPORT size_t height () const: Get the height value of the resolution.

ZIVID_UTILS_EXPORT size_t size () const: Get the size (area) that is the product of the width and height.

ZIVID_UTILS_EXPORT bool operator== (const Resolution &other) const: Comparison operator.

ZIVID_UTILS_EXPORT bool operator!= (const Resolution &other) const: Comparison operator.

ZIVID_UTILS_EXPORT std::string toString () const: Get a string representation of the resolution.

C#

< Ttemplatetypename> Rangestruct

Class describing a range of values for a given type T.

Public Functions

Range(Tmin , Tmax ): Constructor.

System::String ^ ToString () override: Get string representation of the object.

Properties

TMin : The minimum value.

TMax : The maximum value.

Resolutionclass

Class describing a resolution with a width and a height.

Public Functions

Resolution(size_twidth , size_theight ): Construct a Resolution from width and height.

System::String ^ ToString () override: Get a string representation of the resolution.

Properties

size_tSize : Get the size (area) that is the product of the width and height.

size_tWidth : Get the width value of the resolution.

size_tHeight : Get the height value of the resolution.

Python

classMatrix4x4(=argNone)

Matrix of size 4x4 containing 32-bit floats.

Initialization

Overloaded constructor.

Does different kinds of initializations depending on the argument:

None or no arguments -> Zero initializes all values.
1 dimensional List or numpy.ndarray of 16 floats -> Map 1D array of 16 values into this 2D array of 4x4.
2 dimensional List or numpy.ndarray of 4x4 floats -> Copy 2D array of size 4x4.
str or pathlib.Path -> Load the matrix from a file.

参数:: arg -- Any of the above-mentioned.

inverse() → Matrix4x4

Return the inverse of this matrix.

An exception is thrown if the matrix is not invertible.

返回:: A new matrix, holding the inverse

load(:strfile_path ) → None

Load the matrix from the given file.

参数:: file_path -- path for the file to load the matrix from.

save(:strfile_path ) → None

Save the matrix to the given file.

参数:: file_path -- path for the new file to save the matrix in.

staticidentity() → Matrix4x4

Return the identity matrix.

返回:: A new matrix, holding the identity matrix.

classResolution(:intwidth , :intheight )

Class describing a resolution with a width and a height.

A Resolution represents the dimensions (width x height) of 2D data structures such as images, point clouds, or masks.

Initialization

Construct a Resolution from width and height.

参数:

width -- Width as a positive integer
height -- Height as a positive integer

抛出:

TypeError -- If width or height are not integers
ValueError -- If width or height are not positive

propertywidth int:

Get the width value of the resolution.

返回:: Width as an integer

propertyheight int:

Get the height value of the resolution.

返回:: Height as an integer

propertysize int:

Get the size (area) that is the product of the width and height.

返回:: Area as an integer (width * height)

捕获输出与缓冲区 

Image — 2D 图像容器（基础应用）。
DeviceArray、DeviceArrayView、StreamOrQueue、ComputeDevice 以及 CUDA/OpenCL 后端指针类型 — 用于零拷贝互操作的 GPU 设备缓冲区（进阶：数据访问）。

相机内参 

CameraIntrinsics 和 Experimental::PixelMapping — 相机矩阵、畸变系数以及传感器到投影仪的像素映射（相机内参）。

标定结果 

Calibration::Pose、Calibration::DetectionResult、Calibration::DetectionResultFiducialMarkers、Calibration::MarkerShape 和 Calibration::MarkerDictionary — 机器人位姿、标定板与标记检测（手眼标定）。
Calibration::HandEyeInput、Calibration::HandEyeOutput 和 Calibration::HandEyeResidual — 手眼标定（手眼标定）。
Calibration::MultiCameraOutput 和 Calibration::MultiCameraResidual — 多相机标定（多相机标定）。

检测结果 

Experimental::Toolbox::LinearBarcodeDetectionResult、Experimental::Toolbox::LinearBarcodeDecodingResult 和 Experimental::Toolbox::MatrixBarcodeDecodingResult — 条码检测（条码检测）。
Experimental::Toolbox::LocalPointCloudRegistrationResult — 点云配准（点云配准）。

信息与维护 

CameraInfo、CameraState、CameraHealth、SceneConditions 和 FrameInfo — 相机元数据、遥测信息、健康状态以及逐帧信息（相机信息与维护）。