Calibrator3D Class Reference

Object used to reconstruct point clouds. More...

Inherits INativeHandle.

Inherited by LaserPlaneCalibrator3D, MatrixCalibrator3D, and PinholeCameraCalibrator3D.

Public Member Functions
void	Dispose ()
	IDisposable implementation.
PointCloud	CreatePointCloud< T > (Image rangeMap)
	Creates a calibrated PointCloud with point type T from the given rangeMap . More...
PointCloud	CreatePointCloud (Image rangeMap, PointCloudFlags flags)
	Creates a calibrated PointCloud using the given rangeMap and flags . More...
PointCloud	CreatePointCloud (Image rangeMap, PointCloudFlags flags, SensorSettings settings, double encoderStep)
	Creates a calibrated PointCloud using the given rangeMap and flags . More...

Static Public Member Functions
static Calibrator3D	FromFile (string fileName)
	Loads a 3D calibration file (ASCII string version). More...
static T	FromFile< T > (string fileName)
	Loads a 3D calibration file (ASCII string version). More...
static Calibrator3D	FromHandle (IntPtr nativeHandle, ShareObject doShare)
	Create a Calibrator3D from a native handle and potentially increment the unmanaged reference count on the native handle. More...

Protected Member Functions
	Calibrator3D (IntPtr handle)
	Constructor. More...
virtual void	Dispose (bool disposing)
	IDisposable helper function. More...

Properties
IntPtr	Handle [get]
	Native handle of the calibrator.
bool	IsDisposed [get]
	Gets if the native handle has been disposed.
AffineMatrix3D	ExtrinsicMatrix [get, set]
	Gets/sets the extrinsic transformation matrix of the calibrator. More...
double?	RangeMapIgnoreValue [get, set]
	Gets/sets the ignore value for range maps. More...
Properties inherited from INativeHandle
IntPtr	Handle [get]
	The native handle of the object.
bool	IsDisposed [get]
	Possibility to check whether the object has already been disposed of.

Events
NativeHandleEventDelegate	ObjectDisposing
	Raised when this object is about to be disposed via the IDisposable.Dispose method. More...
Events inherited from INativeHandle
NativeHandleEventDelegate	ObjectDisposing
	Raised when this object is about to be disposed via the IDisposable.Dispose method. More...

Detailed Description

Object used to reconstruct point clouds.

Constructor & Destructor Documentation

Calibrator3D()

Calibrator3D ( IntPtr  handle )

protected

Constructor.

Parameters

handle

Native handle of the calibrator.

Exceptions

ArgumentException

When handle is IntPtr.Zero.

Member Function Documentation

CreatePointCloud() [1/2]

PointCloud CreatePointCloud	(	Image	rangeMap,
		PointCloudFlags	flags
	)

Creates a calibrated PointCloud using the given rangeMap and flags .

Parameters

rangeMap	Range map to use.
flags	Flags used for point cloud creation.

Returns

Newly created, calibrated point cloud.

CreatePointCloud() [2/2]

PointCloud CreatePointCloud	(	Image	rangeMap,
		PointCloudFlags	flags,
		SensorSettings	settings,
		double	encoderStep
	)

Creates a calibrated PointCloud using the given rangeMap and flags .

Parameters

rangeMap	Range map to use.
flags	Flags used for point cloud creation.
settings	Sensor settings applied during the acquisition of the range map.
encoderStep	Encoder step.

Returns

Newly created, calibrated point cloud.

CreatePointCloud< T >()

PointCloud CreatePointCloud< T >

(

Image

rangeMap

)

Creates a calibrated PointCloud with point type T from the given rangeMap .

Template Parameters

T	Point type to create; e.g. Point3Dcf.

Parameters

rangeMap

Range map to use.

Returns

Newly created, calibrated point cloud.

Type Constraints

T

:

struct

Dispose()

virtual void Dispose ( bool  disposing )

protectedvirtual

IDisposable helper function.

Parameters

disposing

FromFile()

static Calibrator3D FromFile ( string  fileName )

static

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

Parameters

fileName

Full path to the file to load.

Returns

Calibrator for the loaded calibration file.

Exceptions

ArgumentException	When the fileName is null or empty.
CvbException	When loading the Calibrator3D from file failed.

FromFile< T >()

static T FromFile< T > ( string  fileName )

static

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

Parameters

fileName

Full path to the file to load.

Template Parameters

T	Type of the calibrator.

Returns

Calibrator for the loaded calibration file.

Exceptions

ArgumentException	When the fileName is null or empty.
CvbException	When loading the Calibrator3D from file failed.

Type Constraints

T

:

Calibrator3D

FromHandle()

static Calibrator3D FromHandle ( IntPtr  nativeHandle, ShareObject  doShare  )

static

Create a Calibrator3D from a native handle and potentially increment the unmanaged reference count on the native handle.

Note that this function is not intended for general use. Providing invalid values on the nativeHandle parameter will most likely lead to severe problems in your application.

Parameters

nativeHandle	Handle to create the image from.
doShare	ShareObject.Yes if nativeHandle is to be shared.

Returns

Newly created calibrator or null of no object could be created.

Property Documentation

ExtrinsicMatrix

AffineMatrix3D ExtrinsicMatrix

getset

Gets/sets the extrinsic transformation matrix of the calibrator.

Exceptions

CvbException

When setting or getting the extrinsic matrix failed.

RangeMapIgnoreValue

double? RangeMapIgnoreValue

getset

Gets/sets the ignore value for range maps.

An value equal to this one in an input range map will have its confidence in the resulting point being set to 0.

If a non-null value is set the resulting point cloud will always have a confidence plane!

Value to ignore in an input range map; null if no values are to be ignored.

Event Documentation

ObjectDisposing

NativeHandleEventDelegate ObjectDisposing

Raised when this object is about to be disposed via the IDisposable.Dispose method.

This event is raised right before this object is disposed. The dispose itself cannot be canceled.