Point Cloud Calibration

Functions to create, load and apply calibration to range maps and PointCloud objects. More...

Data Structures
struct	CVC3DSensorSettings
	Camera sensor settings. More...

Typedefs
typedef void *	CVC3DCALIBRATOR
	Handle to calibration object. More...

Enumerations
enum	CVC3DCalibratorType {   CVC3DC_Unknown = 0 , CVC3DC_Factors , CVC3DC_LaserPlaneMatrixH , CVC3DC_LaserPlanePolynom ,   CVC3DC_LaserPlaneZigZag , CVC3DC_LaserPlaneAT , CVC3DC_MatrixH , CVC3DC_Pinhole }
enum	CVC3DSensorPixelPosition { CVC3DSPP_Absolute = 0 , CVC3DSPP_Relative }
enum	CVC3DSensorPixelsMirrored { CVC3DSPM_None = 0 << 0 , CVC3DSPM_X = 1 << 0 , CVC3DSPM_Y = 1 << 1 , CVC3DSPM_XY = 3 }

Functions
cvbres_t	CVC3DATCalibratorGetSensorRoi (CVC3DCALIBRATOR Calibrator, cvbdim_t &OffsetLeft, cvbdim_t &OffsetTop, cvbdim_t &Width, cvbdim_t &Height)
	Gets the current AT sensor ROI from the given Calibrator. More...
cvbres_t	CVC3DATCalibratorGetYFactor (CVC3DCALIBRATOR Calibrator, double &YFactor)
	Gets the current YFactor from the given Calibrator. More...
cvbres_t	CVC3DATCalibratorGetZFactor (CVC3DCALIBRATOR Calibrator, double &ZFactor)
	Gets the current ZFactor from the given Calibrator. More...
cvbres_t	CVC3DATCalibratorSetSensorRoi (CVC3DCALIBRATOR Calibrator, cvbdim_t OffsetLeft, cvbdim_t OffsetTop, cvbdim_t Width, cvbdim_t Height)
	Sets the sensor ROI to an AT Calibrator. More...
cvbres_t	CVC3DATCalibratorSetYFactor (CVC3DCALIBRATOR Calibrator, double YFactor)
	Sets the YFactor to the given AT Calibrator. More...
cvbres_t	CVC3DATCalibratorSetZFactor (CVC3DCALIBRATOR Calibrator, double ZFactor)
	Sets the ZFactor to the given AT Calibrator. More...
cvbres_t	CVC3DCalibratorGetExtrinsicMatrix (CVC3DCALIBRATOR Calibrator, CVC3DTransformation &Transformation)
	Gets the extrinsic transformation matrix of the Calibrator. More...
cvbres_t	CVC3DCalibratorGetRangeMapIgnoreValue (CVC3DCALIBRATOR Calibrator, double &Value)
	Gets the current ignore Value in a range map from the given Calibrator. More...
cvbres_t	CVC3DCalibratorGetSensorRoi (CVC3DCALIBRATOR Calibrator, cvbdim_t &OffsetLeft, cvbdim_t &OffsetTop, cvbdim_t &Width, cvbdim_t &Height)
	Gets the current sensor ROI (region of interest) from the given Calibrator. More...
cvbres_t	CVC3DCalibratorGetSettings (CVC3DCALIBRATOR Calibrator, CVC3DSensorSettings &SensorSettings, double &EncoderStep)
	Gets the default sensor settings from the given Calibrator. More...
cvbres_t	CVC3DCalibratorSetCorrectionOfLaserPlaneInclination (CVC3DCALIBRATOR Calibrator, const CVC3DTransformation &IntrinsicAffineMatrix)
	Sets the correction of the laser plane inclination of to Calibrator described by an affine transformation matrix and a translation. More...
cvbres_t	CVC3DCalibratorSetExtrinsicMatrix (CVC3DCALIBRATOR Calibrator, const CVC3DTransformation &Transformation)
	Sets the extrinsic transformation matrix of the Calibrator. More...
cvbres_t	CVC3DCalibratorSetRangeMapIgnoreValue (CVC3DCALIBRATOR Calibrator, double Value)
	Sets a Value to ignore in a range map to the given Calibrator. More...
cvbres_t	CVC3DCalibratorSetSensorRoi (CVC3DCALIBRATOR Calibrator, cvbdim_t OffsetLeft, cvbdim_t OffsetTop, cvbdim_t Width, cvbdim_t Height)
	Sets the current sensor ROI (region of interest) from the given Calibrator. More...
cvbres_t	CVC3DCreateCalibratedPointCloudFromRangeMap (OBJ RangeMapImage, CVC3DCALIBRATOR Calibrator, cvbval_t Flags, CVCOMPOSITE &PointCloud)
	Creates a new calibrated Cartesian 3D PointCloud from the given 2½D RangeMapImage and Calibrator data. More...
cvbres_t	CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings (OBJ RangeMapImage, CVC3DCALIBRATOR Calibrator, const CVC3DSensorSettings &SensorSettings, double EncoderStep, cvbval_t Flags, CVCOMPOSITE &PointCloud)
	Creates a new calibrated Cartesian 3D PointCloud from the given 2½D RangeMapImage and Calibrator data considering sensor settings. More...
cvbres_t	CVC3DCreateFactorsCalibrator (CVC3DFactors Factors, CVC3DCALIBRATOR &Calibrator)
	Creates a simple calibrator based on factors. More...
cvbres_t	CVC3DCreateMatrixHCalibrator (const CVC3DMatrixH M, CVC3DCALIBRATOR &Calibrator)
	Creates a calibrator based on a general homography matrix M. More...
cvbres_t	CVC3DCreatePinholeCameraCalibrator (double Fx, double Fy, double Sz, double CPx, double CPy, CVC3DCALIBRATOR &Calibrator)
	Creates a Calibrator object for reconstructing a range map via the pinhole camera model. More...
cvbres_t	CVC3DGetCalibratorType (CVC3DCALIBRATOR Calibrator, CVC3DCalibratorType &Type)
	Gets the calibrator type. More...
cvbres_t	CVC3DLoadCalibrator (const char *FileName, CVC3DCALIBRATOR &Calibrator)
	Loads a 3D calibration file (ASCII string version). More...
cvbres_t	CVC3DLoadCalibratorW (const wchar_t *FileName, CVC3DCALIBRATOR &Calibrator)
	Loads a 3D calibration file (Unicode string version). More...

Detailed Description

Functions to create, load and apply calibration to range maps and PointCloud objects.

Additional creation functions can be found in the CVMetric library. This library only provides the simple CVC3DCreateFactorsCalibrator and CVC3DCreateMatrixHCalibrator. For available calculations of the CVC3DMatrixH also see the CVMetric library.

Typedef Documentation

CVC3DCALIBRATOR

CVC3DCALIBRATOR

Handle to calibration object.

The exact calibration performed depends on the created/loaded object. It is applied via CVC3DCreateCalibratedPointCloudFromRangeMap.

Enumeration Type Documentation

CVC3DCalibratorType

enum CVC3DCalibratorType

Enumerator
CVC3DC_Unknown	Calibrator is unknown or unsupported.
CVC3DC_Factors	Factors (x,y,z) calibrator.
CVC3DC_LaserPlaneMatrixH	Laserplane calibrator with factors, homogeneous xz matrix and optional Brown-Conrady parameters.
CVC3DC_LaserPlanePolynom	Laserplane calibrator with factors, homogeneous xz matrix, polinomial coefficients and optional Brown-Conrady parameters.
CVC3DC_LaserPlaneZigZag	Laserplane calibrator with factors, polynomial coefficients and lense correction (center point and radial coefficients).
CVC3DC_LaserPlaneAT	Laserplane calibrator provided by cameras from Automation Technology (AT) including factor for y and z component, coordinate center, homogeneous xz matrix, Brown-Conrady parameters and polynomial coefficients.
CVC3DC_MatrixH	Calibrator with homogeneous 4x4 matrix.
CVC3DC_Pinhole	Pinhole calibrator with focal point of x and y component, z divisor and center point.

CVC3DSensorPixelPosition

enum CVC3DSensorPixelPosition

Enumerator
CVC3DSPP_Absolute	Scaled rangemap values represent absolute pixel position on sensor.
CVC3DSPP_Relative	Scaled rangemap values represent relative pixel position to given offset on sensor.

CVC3DSensorPixelsMirrored

enum CVC3DSensorPixelsMirrored

Enumerator
CVC3DSPM_None	No mirroring is applied.
CVC3DSPM_X	Sensor pixel values are mirrored in X (or denoted by u), so that the columns of the range map will be flipped.
CVC3DSPM_Y	Sensor pixel values are mirrored in Y (or denoted by v), so that the range map pixel values will be flipped.
CVC3DSPM_XY	Sensor pixel values are mirrored in X and Y.

Function Documentation

CVC3DATCalibratorGetSensorRoi()

cvbres_t CVC3DATCalibratorGetSensorRoi	(	CVC3DCALIBRATOR	Calibrator,
		cvbdim_t &	OffsetLeft,
		cvbdim_t &	OffsetTop,
		cvbdim_t &	Width,
		cvbdim_t &	Height
	)

Gets the current AT sensor ROI from the given Calibrator.

Note

This parameter is only used with AT (Automation Technology) compact sensors. Therefore this function needs a calibration object created by an calibration file (only xml) provided by AT compact sensors.

Width and Height may be negative. A negative sign means, that column values of the rangemap and height values are mirrored respectively.

Parameters

[in]	Calibrator	Calibrator object to get sensor ROI from.
[out]	OffsetLeft	Variable to receive column offset.
[out]	OffsetTop	Variable to receive row offset.
[out]	Width	Variable to receive width of sensor ROI.
[out]	Height	Variable to receive height of senosor ROI.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_NOTPRESENT) if the sensor ROI is not set in the calibrator object
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid AT calibrator

See also

CVC3DCalibratorGetSettings

CVC3DATCalibratorGetYFactor()

cvbres_t CVC3DATCalibratorGetYFactor	(	CVC3DCALIBRATOR	Calibrator,
		double &	YFactor
	)

Gets the current YFactor from the given Calibrator.

///

Note

This parameter is only used with AT (Automation Technology) compact sensors. Therefore this function needs a calibration object created by an calibration file (xml) provided by AT compact sensors. The YFactor is stored under cx3d.extrinsic.Sy in the xml file.

Parameters

[in]	Calibrator	Calibrator object to get YFactor from.
[out]	YFactor	Variable to receive the value.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid AT calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DATCalibratorGetZFactor()

cvbres_t CVC3DATCalibratorGetZFactor	(	CVC3DCALIBRATOR	Calibrator,
		double &	ZFactor
	)

Gets the current ZFactor from the given Calibrator.

Note

This parameter is only used with AT (Automation Technology) compact sensors. Therefore this function needs a calibration object created by an calibration file (xml) provided by AT compact sensors. The ZFactor is stored under cx3d.intrinsic.rangeScale in the xml file.

Parameters

[in]	Calibrator	Calibrator object to get ZFactor from.
[out]	ZFactor	Variable to receive the value.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid AT calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DATCalibratorSetSensorRoi()

cvbres_t CVC3DATCalibratorSetSensorRoi	(	CVC3DCALIBRATOR	Calibrator,
		cvbdim_t	OffsetLeft,
		cvbdim_t	OffsetTop,
		cvbdim_t	Width,
		cvbdim_t	Height
	)

Sets the sensor ROI to an AT Calibrator.

Note

This parameter is only used with AT (Automation Technology) compact sensors. Therefore this function needs a calibration object created by an calibration file (only xml) provided by AT compact sensors. In addition the parameter sensor size must be set to the Calibrator, in order to check the validity of the sensor ROI. A valid sensor ROI has to meet the following constraints:

• The offsets must be equal or greater zero.
• The offsets must be smaller than the sensor size.
• The difference between Width and OffsetLeft must be equal or smaller than the width of the sensor (same for Height and OffsetTop).

Width and Height may be negative. A negative sign means, that column values of the rangemap and height values are mirrored respectively.

Parameters

[in]	Calibrator	Calibrator object to set sensor ROI on.
[in]	OffsetLeft	Column offset.
[in]	OffsetTop	Row offset.
[in]	Width	Width of sensor ROI.
[in]	Height	Height of senosor ROI.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_NOTPRESENT) if the parameter sensor size is not given in the Calibrator
• #CVC_ERROR (#CVC_E_PARAMETER) if the given sensor roi is not valid.
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid AT calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DATCalibratorSetYFactor()

cvbres_t CVC3DATCalibratorSetYFactor	(	CVC3DCALIBRATOR	Calibrator,
		double	YFactor
	)

Sets the YFactor to the given AT Calibrator.

Note

This parameter is only used with AT (Automation Technology) compact sensors. Therefore this function needs a calibration object created by an calibration file (only xml) provided by AT compact sensors.

Parameters

[in]	Calibrator	Calibrator object to set YFactor on.
[in]	YFactor	Value.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid AT calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DATCalibratorSetZFactor()

cvbres_t CVC3DATCalibratorSetZFactor	(	CVC3DCALIBRATOR	Calibrator,
		double	ZFactor
	)

Sets the ZFactor to the given AT Calibrator.

Note

This parameter is only used with AT (Automation Technology) compact sensors. Therefore this function needs a calibration object created by an calibration file (only xml) provided by AT compact sensors.

Parameters

[in]	Calibrator	Calibrator object to set ZFactor on.
[in]	ZFactor	Value.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid AT calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DCalibratorGetExtrinsicMatrix()

cvbres_t CVC3DCalibratorGetExtrinsicMatrix	(	CVC3DCALIBRATOR	Calibrator,
		CVC3DTransformation &	Transformation
	)

Gets the extrinsic transformation matrix of the Calibrator.

Parameters

[in]	Calibrator	Calibrator to get the extrinsic transformation of.
[out]	Transformation	Variable to receive the extrinsic transformation matrix.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid object.

CVC3DCalibratorGetRangeMapIgnoreValue()

cvbres_t CVC3DCalibratorGetRangeMapIgnoreValue	(	CVC3DCALIBRATOR	Calibrator,
		double &	Value
	)

Gets the current ignore Value in a range map from the given Calibrator.

Parameters

[in]	Calibrator	Calibrator object to get ignore value from.
[out]	Value	Variable to receive the currently set ignore value; NaN if none is set.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid object.

See also

CVC3DCalibratorSetRangeMapIgnoreValue

CVC3DCalibratorGetSensorRoi()

cvbres_t CVC3DCalibratorGetSensorRoi	(	CVC3DCALIBRATOR	Calibrator,
		cvbdim_t &	OffsetLeft,
		cvbdim_t &	OffsetTop,
		cvbdim_t &	Width,
		cvbdim_t &	Height
	)

Gets the current sensor ROI (region of interest) from the given Calibrator.

Note

Width and Height may be negative. A negative sign means, that column values of the rangemap and height values are mirrored respectively.

Parameters

[in]	Calibrator	Calibrator object to get sensor ROI from.
[out]	OffsetLeft	Variable to receive column offset.
[out]	OffsetTop	Variable to receive row offset.
[out]	Width	Variable to receive width of sensor ROI.
[out]	Height	Variable to receive height of senosor ROI.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_NOTPRESENT) if the sensor ROI is not set in the calibrator object
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DCalibratorGetSettings()

cvbres_t CVC3DCalibratorGetSettings	(	CVC3DCALIBRATOR	Calibrator,
		CVC3DSensorSettings &	SensorSettings,
		double &	EncoderStep
	)

Gets the default sensor settings from the given Calibrator.

Note

This function can only be used calibrators, where CVC3DCalibratorType is CVC3DC_LaserPlaneZigZag or CVC3DC_LaserPlaneAT.

For a detailed description of the settings see CVC3DSensorSettings.

Parameters

[in]	Calibrator	Calibrator object to get sensor settings from.
[out]	SensorSettings	Sensor settings CVC3DSensorSettings.
[out]	EncoderStep	Encoder step.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_NOTPRESENT) if the sensor settings are not set in the calibrator object
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings

CVC3DCalibratorSetCorrectionOfLaserPlaneInclination()

cvbres_t CVC3DCalibratorSetCorrectionOfLaserPlaneInclination	(	CVC3DCALIBRATOR	Calibrator,
		const CVC3DTransformation &	IntrinsicAffineMatrix
	)

Sets the correction of the laser plane inclination of to Calibrator described by an affine transformation matrix and a translation.

Since

Common Vision Blox 14.00.000

Parameters

[in]	Calibrator	Calibrator to set the intrinsic affine matrix and translation vector in.
[in]	IntrinsicAffineMatrix	Affine matrix and translation vector to set to the Calibrator.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if IntrinsicAffineMatrix contains a NaN value.
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid object.

CVC3DCalibratorSetExtrinsicMatrix()

cvbres_t CVC3DCalibratorSetExtrinsicMatrix	(	CVC3DCALIBRATOR	Calibrator,
		const CVC3DTransformation &	Transformation
	)

Sets the extrinsic transformation matrix of the Calibrator.

Parameters

[in]	Calibrator	Calibrator to set the extrinsic transformation in.
[in]	Transformation	Matrix to use for extrinsic transformation.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if Transformation contains a NaN value.
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid object.

CVC3DCalibratorSetRangeMapIgnoreValue()

cvbres_t CVC3DCalibratorSetRangeMapIgnoreValue	(	CVC3DCALIBRATOR	Calibrator,
		double	Value
	)

Sets a Value to ignore in a range map to the given Calibrator.

If a z-value in a range map equals the Value its confidence is set to 0.

Note

If no confidence plane is selected in the creation flags of CVC3DCreateCalibratedPointCloudFromRangeMap, one will be generated nevertheless if Value is unequal to NaN.

Parameters

[in]	Calibrator	Calibrator object to set ignore value on.
[in]	Value	New value to ignore in calibration; NaN to use all values.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid object.

See also

CVC3DCalibratorGetRangeMapIgnoreValue, CVC3DCreateCalibratedPointCloudFromRangeMap

CVC3DCalibratorSetSensorRoi()

cvbres_t CVC3DCalibratorSetSensorRoi	(	CVC3DCALIBRATOR	Calibrator,
		cvbdim_t	OffsetLeft,
		cvbdim_t	OffsetTop,
		cvbdim_t	Width,
		cvbdim_t	Height
	)

Sets the current sensor ROI (region of interest) from the given Calibrator.

Note

Width and Height may be negative. A negative sign means, that column values of the rangemap and height values are mirrored respectively. A valid sensor ROI has to meet the following constraints:

• The offsets must be equal or greater zero.
• The offsets must be smaller than the sensor size.
• The difference between Width and OffsetLeft must be equal or smaller than the width of the sensor (same for Height and OffsetTop).

Parameters

[in]	Calibrator	Calibrator object to set sensor ROI on.
[in]	OffsetLeft	Column offset.
[in]	OffsetTop	Row offset.
[in]	Width	Width of sensor ROI.
[in]	Height	Height of senosor ROI.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if the given sensor roi is not valid.
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator is not a valid calibrator

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCalibratorGetSettings

CVC3DCreateCalibratedPointCloudFromRangeMap()

cvbres_t CVC3DCreateCalibratedPointCloudFromRangeMap	(	OBJ	RangeMapImage,
		CVC3DCALIBRATOR	Calibrator,
		cvbval_t	Flags,
		CVCOMPOSITE &	PointCloud
	)

Creates a new calibrated Cartesian 3D PointCloud from the given 2½D RangeMapImage and Calibrator data.

This function simply accesses the first plane of the given RangeMapImage and interprets the pixel data as depth information (z). The resulting point cloud will have at most ImageWidth(RangeMapImage) * ImageHeight(RangeMapImage) points. Each of these generated points will be passed through the Calibrator object.

The following BytesPerPixel as input for signed and unsigned integer cvbdatatype_t values are supported: 1, 2, 4, and 8. For floating point cvbdatatype_t values only 4 and 8 BytesPerPixel are supported.

Depending on the calibration method the resulting point cloud is created via CVC3DCreateSparsePointCloud or CVC3DCreateDensePointCloud.

Note

This function does not take the RangeMapImage coordinate system into account. Note also, that if the output point cloud is dense, the confidence layer is always available. Background range map pixels are set non-confident. In case of a sparse point cloud, points representing background values and also the confidence layer are removed (except the user explicitly wants to keep the confidence layer which can be fixed via the point cloud flags).

Attention

If you are using an AT or ZigZag calibrator, the camera settings applied during the acquisition of the range map have to be known. Default settings are read from the calibrator loaded from a calibration file. If the actual settings differ from the default ones, the user has to set them and create the calibrated point cloud via function CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings. You can get and check the default settings with CVC3DCalibratorGetSettings.

If this function returns successfully you need to release the returned PointCloud via ReleaseObject if not needed anymore.

Parameters

[in]	RangeMapImage	Handle of 2½D image.
[in]	Calibrator	Calibration object to apply.
[in]	Flags	Flags CVC3DPointCloudFlags specifying the kind of point cloud to be created.
[out]	PointCloud	Variable to receive the handle of the point cloud object as a CVCOMPOSITE.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if Flags have unknown combination.
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if RangeMapImage is neither a IImageVPA nor IPlaneEnum object or if Calibrator object is invalid.
• #CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings, CVC3DCreateDensePointCloudFromRangeMap, CVC3DCreateRangeMapFromPointCloud

CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings()

cvbres_t CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings	(	OBJ	RangeMapImage,
		CVC3DCALIBRATOR	Calibrator,
		const CVC3DSensorSettings &	SensorSettings,
		double	EncoderStep,
		cvbval_t	Flags,
		CVCOMPOSITE &	PointCloud
	)

Creates a new calibrated Cartesian 3D PointCloud from the given 2½D RangeMapImage and Calibrator data considering sensor settings.

Note, that the calibration parameters always refer to the whole sensor (with no mirroring of the pixel coordinates). If the camera settings indicate, that a sensor ROI is given or pixel coordinates are mirrored, the range map values will be transformed to the sensor coordinates before applying the calibration parameters. If the user acquires the range map to be calibrated and uses sensor settings different from the default ones, he has to set them correctly via this function.

If you only like to change one or two settings and do not want to care about the other parameters, you can get the default settings via function CVC3DCalibratorGetSettings, change the relevant settings within the struct and pass it to CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings.

If you have not changed your camera settings, please use function CVC3DCreateCalibratedPointCloudFromRangeMap. A detailed documentation about the point cloud creation can also be found there.

For a detailed description of the sensor settings for specific cameras see the CVB online help chapter "Theory of Operation -> Image Manager -> CVB Technology -> 3D Functionality -> Create Point Cloud from Range Map -> Create calibrated point cloud with modified sensor settings".

Note

This function only works for AT and ZigZag calibrators. To check your calibrator type, use function CVC3DGetCalibratorType.

If this function returns successfully you need to release the returned PointCloud via ReleaseObject if not needed anymore.

Parameters

[in]	RangeMapImage	Handle of 2½D image.
[in]	Calibrator	Calibration object to apply.
[in]	SensorSettings	Sensor settings CVC3DSensorSettings set aquiring RangeMapImage.
[in]	EncoderStep	Encoder step.
[in]	Flags	Flags CVC3DPointCloudFlags specifying the kind of point cloud to be created.
[out]	PointCloud	Variable to receive the handle of the point cloud object as a CVCOMPOSITE.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if Flags have unknown combination.
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if RangeMapImage is neither a IImageVPA nor IPlaneEnum object or if Calibrator object is neither an AT Calibrator or ZigZag Calibrator or invalid.
• #CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also

CVC3DCreateRangeMapFromPointCloud, CVC3DCalibratorGetSettings

CVC3DCreateFactorsCalibrator()

cvbres_t CVC3DCreateFactorsCalibrator	(	CVC3DFactors	Factors,
		CVC3DCALIBRATOR &	Calibrator
	)

Creates a simple calibrator based on factors.

You can use this calibrator for pre-calibrated range maps where you need to adjust the scale.

Note

Using this CVC3DCALIBRATOR is effectively the same as calling CVC3DCreateDensePointCloudFromRangeMap (and thus returns a dense point cloud).

If this function returns successfully you need to release the returned Calibrator via ReleaseObject if not needed anymore.

Parameters

[in]	Factors	Transformation factor to apply to each coordinate.
[out]	Calibrator	Variable to receive the resulting calibrator object.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if Factors contain NaN
• #CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the Calibrator.

See also

CVC3DCreateCalibratedPointCloudFromRangeMap, CVC3DCreateDensePointCloudFromRangeMap

CVC3DCreateMatrixHCalibrator()

cvbres_t CVC3DCreateMatrixHCalibrator	(	const CVC3DMatrixH	M,
		CVC3DCALIBRATOR &	Calibrator
	)

Creates a calibrator based on a general homography matrix M.

You can use this calibrator if the pinhole camera model for calibration suffices.

Note

Using the CVC3DCALIBRATOR is effectively the same as calling CVC3DTransformPointCloudH on a point cloud created by CVC3DCreateDensePointCloudFromRangeMap with factors { 1, 1, 1 }. Thus this calibrator returns a sparse point cloud.

If this function returns successfully you need to release the returned Calibrator via ReleaseObject if not needed anymore.

Parameters

[in]	M	homogeneous transformation matrix.
[out]	Calibrator	Variable to receive the resulting calibrator object.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if M is nullptr or contains NaN
• #CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the Calibrator.

See also

CVC3DCreateCalibratedPointCloudFromRangeMap, CVC3DCreateSparsePointCloud

CVC3DCreatePinholeCameraCalibrator()

cvbres_t CVC3DCreatePinholeCameraCalibrator	(	double	Fx,
		double	Fy,
		double	Sz,
		double	CPx,
		double	CPy,
		CVC3DCALIBRATOR &	Calibrator
	)

Creates a Calibrator object for reconstructing a range map via the pinhole camera model.

Parameters

[in]	Fx	Focal length x component.
[in]	Fy	Focal length y component.
[in]	Sz	Z divisor (applied to every z value in the range map).
[in]	CPx	Center point x component.
[in]	CPy	Center point y component.
[out]	Calibrator	Variable to receive the resulting calibrator object.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if a parameter is NaN.
• #CVC_ERROR (#CVC_E_DIVISIONBYZERO) if Sz is 0.
• #CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the Calibrator.

See also

CVC3DCreateCalibratedPointCloudFromRangeMap,

CVC3DGetCalibratorType()

cvbres_t CVC3DGetCalibratorType	(	CVC3DCALIBRATOR	Calibrator,
		CVC3DCalibratorType &	Type
	)

Gets the calibrator type.

Parameters

[in]	Calibrator	Calibration object to be checked.
[out]	Type	CVC3DCalibratorType of Calibrator.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_WRONGOBJECT) if Calibrator object is invalid.

See also

CVC3DCalibratorType for additional calibrator information.

CVC3DLoadCalibrator()

cvbres_t CVC3DLoadCalibrator	(	const char *	FileName,
		CVC3DCALIBRATOR &	Calibrator
	)

Loads a 3D calibration file (ASCII string version).

The type of file to be loaded is determined by the FileName extension and the file's contents. The following file formats are supported:

Name	Extension(s)
CVB Calibration file	json
AT Calibration file	dat, xml

For Automation Technology (AT) dat files version 1 (homography only) and version 2 (added polynomial) are supported. For xml files the homography is required. Brown/Conrady, polynomial and binning mode are also supported.

Note

If this function returns successfully you need to release the returned Calibrator via ReleaseObject if not needed anymore.

Parameters

[in]	FileName	Full path to the file to load.
[out]	Calibrator	Variable to receive the loaded calibrator object handle.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if FileName is nullptr.
• #CVC_ERROR (#CVC_E_FILEIO) if FileName is not accessible/existent
• #CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported

CVC3DLoadCalibratorW()

cvbres_t CVC3DLoadCalibratorW	(	const wchar_t *	FileName,
		CVC3DCALIBRATOR &	Calibrator
	)

Loads a 3D calibration file (Unicode string version).

The type of file to be loaded is determined by the FileName extension and the file's contents. The following file formats are supported:

Name	Extension(s)
CVB Calibration file	json
AT Calibration file	dat, xml

For Automation Technology (AT) dat files version 1 (homography only) and version 2 (added polynomial) are supported. For xml files the homography is required. Brown/Conrady, polynomial and binning mode are also supported.

Note

If this function returns successfully you need to release the returned Calibrator via ReleaseObject if not needed anymore.

Parameters

[in]	FileName	Full path to the file to load.
[out]	Calibrator	Variable to receive the loaded calibrator object handle.

Returns

• #CVC_ERROR (#CVC_E_OK) on success
• #CVC_ERROR (#CVC_E_PARAMETER) if FileName is nullptr.
• #CVC_ERROR (#CVC_E_FILEIO) if FileName is not accessible/existent
• #CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported