CANDELOR SDK  13.2.131
A computer vision library for 3D scene interpretation.
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candelor.h File Reference

Contains all CANDELOR functionality. More...

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Macros

#define CANDELOR_SUCCESS   0
 everything is fine
 
#define CANDELOR_ERROR_ALLOCATION   1
 memory allocation failed
 
#define CANDELOR_ERROR_FILE_ACCESS   2
 could not access file
 
#define CANDELOR_ERROR_CONFIGURATION   3
 could not load configuration
 
#define CANDELOR_ERROR_PREPARATION   4
 initializing of the algorithm fails
 
#define CANDELOR_ERROR_CONFIG_FIELD   5
 Configuration field not found.
 
#define CANDELOR_ERROR_UNKNOWN   6
 An unknown error has occured.
 
#define CANDELOR_ERROR_NOT_PREPARED   7
 Before locating, the algorithm has to be prepared. Call e.g. ca_rango_prepare()
 
#define CANDELOR_ERROR_NOT_ENOUGH_POINTS   8
 Not enough points for the algorithm.
 
#define CANDELOR_ERROR_NOT_INITIALIZED   9
 a variable was not initialized / is NULL
 
#define CANDELOR_ERROR_UNLICENSED   10
 Returned in case of a license error.
 

Typedefs

typedef void(* ca_log_callback_t )(int severity, const char *message, void *user_info)
 Callback function prototype to receive logging information.
 

Functions

int ca_points_load (float **points, const char *points_file_name, int *num_points)
 Loads and allocates 3D point data.
 
int ca_points_save (const float *points, const char *points_file_name, int num_points)
 Saves the float array as a text file.
 
int ca_points_destroy (float **data)
 Destroys points or transforms previously created with ca_points_load.
 
int ca_transforms_destroy (float **data)
 Destroys transforms or transforms previously created with ca_points_load.
 
int ca_chars_destroy (char **data)
 Destroys character data allocated e.g. when retrieving field data.
 
int ca_build_version (const char **data)
 Reads the version of the CANDELOR SDK.
 
int ca_build_date (int *build_date)
 Gets timestamp of the build.
 
int ca_rango_create (ca_rango_t **r)
 Creates RANGO - RANdomized Global Object localization.
 
int ca_rango_destroy (ca_rango_t **r)
 Destroys the data assciated with the handle, and sets the handle to 0.
 
int ca_rango_cfg_load (ca_rango_t *r, const char *config_file_name)
 Loads the configuration file into an existing RANGO handle.
 
int ca_rango_cfg_save (const ca_rango_t *r, const char *config_file_name)
 Saves the current configuration into the given file name.
 
int ca_rango_cfg_autotune_from_file (ca_rango_t *r, const char *file_name, float resolution, float upvector_x, float upvector_y, float upvector_z)
 Creates a configuration for the specified model.
 
int ca_rango_cfg_autotune_from_points (ca_rango_t *r, const float *points, int num_points, float resolution, float upvector_x, float upvector_y, float upvector_z)
 Creates a configuration for the specified model.
 
int ca_rango_cfg_autotune_from_pointsnormals (ca_rango_t *r, const float *points, const float *normals, int num_points, float upvector_x, float upvector_y, float upvector_z)
 Creates a configuration for the specified model.
 
int ca_rango_cfg_set (ca_rango_t *r, const char *field_name, const char *value)
 Sets a configuration parameters.
 
int ca_rango_cfg_get (const ca_rango_t *r, const char *field_name, char **value, int *num_chars)
 Gets the value behind the field_name as a character array.
 
int ca_rango_prepare_from_model_file (ca_rango_t *r)
 Prepares the RANGO matcher to get ready for locating objects.
 
int ca_rango_prepare_from_points (ca_rango_t *r, const float *points, int num_points)
 Prepares the RANGO matcher with the given 3D points as the model.
 
int ca_rango_prepare_from_pointsnormals (ca_rango_t *r, const float *points, const float *normals, int num_points)
 Prepares the RANGO matcher with the given 3D points as the model.
 
int ca_rango_extract_model_points (const ca_rango_t *r, float **points, int *num_points)
 Extracts the points associated with the model.
 
int ca_rango_extract_model_pointsnormals (const ca_rango_t *r, float **points, float **normals, int *num_points)
 Extracts the points associated with the model.
 
int ca_rango_locate_in_points (const ca_rango_t *r, const float *points, int num_points, float **transform_results, int *num_results)
 Performs RANGO location on the given points.
 
int ca_rango_locate_in_pointsnormals (const ca_rango_t *r, const float *points, const float *normals, int num_points, float **transform_results, int *num_results)
 Performs RANGO location on the given points & normals.
 
int ca_rango_show (const ca_rango_t *r, const float *scene_points, int num_scene_points, const float *transform_results, int num_transform_results, float max_distance)
 Visualizes a scene with the model as points.
 
int ca_rango_log_callback (ca_rango_t *r, ca_log_callback_t lc, void *user_data)
 Sets a callback for log messages.
 

Detailed Description

Contains all CANDELOR functionality.

Author
marti.nosp@m.n.an.nosp@m.kerl@.nosp@m.prof.nosp@m.actor.nosp@m..at