Classes
class	BarcodeDetector
	Class for enabling the detection of barcodes. More...
class	BarcodeFormatFilter
	Filter type for defining which barcode formats to look for when reading barcodes. More...
class	LinearBarcodeDetectionResult
	Information about a detected linear (1D) barcode. More...
class	LocalPointCloudRegistrationResult
	The result of a call to localPointCloudRegistration() More...
class	MatrixBarcodeDetectionResult
	Information about a detected matrix (2D) barcode. More...

Typedefs
using	LinearBarcodeFormatFilter = BarcodeFormatFilter<LinearBarcodeFormat>
	Filter type for defining which linear (1D) barcode formats to look for when reading barcodes.
using	MatrixBarcodeFormatFilter = BarcodeFormatFilter<MatrixBarcodeFormat>
	Filter type for defining which matrix (2D) barcode formats to look for when reading barcodes.
using	Pose = Zivid::Calibration::Pose

Enumerations
enum class	LinearBarcodeFormat : uint32_t { code128 = (1 << 0) , code93 = (1 << 1) , code39 = (1 << 2) , ean13 = (1 << 3) , ean8 = (1 << 4) , upcA = (1 << 5) , upcE = (1 << 6) }
	Enum describing the supported linear (1D) barcode formats. More...
enum class	MatrixBarcodeFormat : uint32_t { qrcode = (1 << 0) , dataMatrix = (1 << 1) }
	Enum describing the supported matrix (2D) barcode formats. More...

Functions
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const LinearBarcodeDetectionResult &result)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const MatrixBarcodeDetectionResult &result)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const BarcodeDetector &barcodeDetector)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT std::string	toString (LinearBarcodeFormat format)
	Get string representation of a barcode format.
ZIVID_CORE_EXPORT std::string	toString (MatrixBarcodeFormat format)
	Get string representation of a barcode format.
template<typename FormatEnum>
constexpr BarcodeFormatFilter< FormatEnum >	operator\| (FormatEnum lhs, FormatEnum rhs)
template<typename FormatEnum>
constexpr BarcodeFormatFilter< FormatEnum >	operator\| (FormatEnum lhs, BarcodeFormatFilter< FormatEnum > rhs)
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const LocalPointCloudRegistrationResult &result)
	Serialize the value to a stream.
ZIVID_CORE_EXPORT LocalPointCloudRegistrationResult	localPointCloudRegistration (const UnorganizedPointCloud &target, const UnorganizedPointCloud &source, const LocalPointCloudRegistrationParameters &params, const Pose &initialTransform=Pose{ Matrix4x4::identity() })
	Compute alignment transform between two point clouds.

Typedef Documentation

◆ LinearBarcodeFormatFilter

using Zivid::Experimental::Toolbox::LinearBarcodeFormatFilter = BarcodeFormatFilter<LinearBarcodeFormat>

Filter type for defining which linear (1D) barcode formats to look for when reading barcodes.

When calling functions that has an argument of this type, one can specify the filter with single or multiple values of LinearBarcodeFormat. Examples:

LinearBarcodeFormat::code128 -> Only look for code128 barcodes
LinearBarcodeFormat::ean13 | LinearBarcodeFormat::ean8 -> Only look for these two types of barcode.
LinearBarcodeFormatFilter::all() -> Look for all supported formats.

◆ MatrixBarcodeFormatFilter

using Zivid::Experimental::Toolbox::MatrixBarcodeFormatFilter = BarcodeFormatFilter<MatrixBarcodeFormat>

Filter type for defining which matrix (2D) barcode formats to look for when reading barcodes.

When calling functions that has an argument of this type, one can specify the filter with single or multiple values of MatrixBarcodeFormat. Examples:

MatrixBarcodeFormat::qrcode -> Only look for QR code barcodes
MatrixBarcodeFormat::qrcode | MatrixBarcodeFormat::dataMatrix -> Only look for these two types of barcode.
MatrixBarcodeFormatFilter::all() -> Look for all supported formats.

◆ Pose

using Zivid::Experimental::Toolbox::Pose = Zivid::Calibration::Pose

Enumeration Type Documentation

◆ LinearBarcodeFormat

enum class Zivid::Experimental::Toolbox::LinearBarcodeFormat : uint32_t

strong

Enum describing the supported linear (1D) barcode formats.

This enum is used for two things:

Giving information about the format of a detected barcode (see LinearBarcodeDetectionResult).
Allowing the user to specify which formats to look for when reading barcodes (see LinearBarcodeFormatFilter).

Enumerator
code128
code93
code39
ean13
ean8
upcA
upcE

◆ MatrixBarcodeFormat

enum class Zivid::Experimental::Toolbox::MatrixBarcodeFormat : uint32_t

strong

Enum describing the supported matrix (2D) barcode formats.

This enum is used for two things:

Giving information about the format of a detected barcode (see MatrixBarcodeDetectionResult).
Allowing the user to specify which formats to look for when reading barcodes (see MatrixBarcodeFormatFilter).

Enumerator
qrcode
dataMatrix

Function Documentation

◆ localPointCloudRegistration()

ZIVID_CORE_EXPORT LocalPointCloudRegistrationResult Zivid::Experimental::Toolbox::localPointCloudRegistration	(	const UnorganizedPointCloud &	target,
		const UnorganizedPointCloud &	source,
		const LocalPointCloudRegistrationParameters &	params,
		const Pose &	initialTransform = Pose{ Matrix4x4::identity() } )

Compute alignment transform between two point clouds.

Given a source point cloud and a target point cloud, this function attempts to compute the transform that must be applied to the source in order to align it with the target. This can be used to create a "stitched" unorganized point cloud of an object by combining data collected from different camera angles.

This function takes an argument initialTransform which is used as a starting-point for the computation of the transform that best aligns source with target. This initial guess is usually found from e.g. reference markers or robot capture pose, and this function is then used to refine the alignment. If the overlap of source and target is already quite good, one can pass the identity matrix as initialTransform.

The returned transform represents the total transform needed to align source with target, i.e. it includes both initialTransform and the refinement found by the algorithm.

Performance is very dependent on the number of points in either point cloud. To improve performance, voxel downsample one or both point clouds before passing them into this function. The resulting alignment transform can then be applied to the non-downsampled point clouds to still obtain a dense result.

Performance is also very dependent on MaxCorrespondenceDistance. To improve performance, try reducing this value. However, keep the value larger than the typical point-to-point distance in the point clouds, and larger than the expected translation error in the initial guess.

Parameters

target	The point cloud to align with
source	The point cloud to be aligned with target
params	Parameters for the registration process and its convergence criteria
initialTransform	Initial guess applied to source point cloud before refinement

Returns: Instance of LocalPointCloudRegistrationResult

◆ operator<<() [1/4]

ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Toolbox::operator<<	(	std::ostream &	stream,
		const BarcodeDetector &	barcodeDetector )

Serialize the value to a stream.

◆ operator<<() [2/4]

ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Toolbox::operator<<	(	std::ostream &	stream,
		const LinearBarcodeDetectionResult &	result )

Serialize the value to a stream.

◆ operator<<() [3/4]

ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Toolbox::operator<<	(	std::ostream &	stream,
		const LocalPointCloudRegistrationResult &	result )

Serialize the value to a stream.

◆ operator<<() [4/4]

ZIVID_CORE_EXPORT std::ostream & Zivid::Experimental::Toolbox::operator<<	(	std::ostream &	stream,
		const MatrixBarcodeDetectionResult &	result )

Serialize the value to a stream.

◆ operator|() [1/2]

template<typename FormatEnum>

BarcodeFormatFilter< FormatEnum > Zivid::Experimental::Toolbox::operator\|	(	FormatEnum	lhs,
		BarcodeFormatFilter< FormatEnum >	rhs )

constexpr

◆ operator|() [2/2]

template<typename FormatEnum>

BarcodeFormatFilter< FormatEnum > Zivid::Experimental::Toolbox::operator\|	(	FormatEnum	lhs,
		FormatEnum	rhs )

constexpr

◆ toString() [1/2]

ZIVID_CORE_EXPORT std::string Zivid::Experimental::Toolbox::toString ( LinearBarcodeFormat format )

Get string representation of a barcode format.

Returns: LinearBarcodeFormat as a string

◆ toString() [2/2]

ZIVID_CORE_EXPORT std::string Zivid::Experimental::Toolbox::toString ( MatrixBarcodeFormat format )

Get string representation of a barcode format.

Returns: MatrixBarcodeFormat as a string

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ LinearBarcodeFormatFilter

◆ MatrixBarcodeFormatFilter

◆ Pose

Enumeration Type Documentation

◆ LinearBarcodeFormat

◆ MatrixBarcodeFormat

Function Documentation

◆ localPointCloudRegistration()

◆ operator<<() [1/4]

◆ operator<<() [2/4]

◆ operator<<() [3/4]

◆ operator<<() [4/4]

◆ operator|() [1/2]

◆ operator|() [2/2]

◆ toString() [1/2]

◆ toString() [2/2]