Cvb/CppPointCloudCreateCalibrated

// ----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
 
#include <iostream>
 
#include "cvb/point_cloud_factory.hpp"
#include "cvb/point_cloud.hpp"
#include "cvb/calibrator_3d.hpp"
 
Cvb::Plane3D CutAqs12RoofAndCalculateNormal(const Cvb::PointCloud& cloud, double zRangeRoof, double xRangeRoofPlane, double yRangeRoofPlane);
 
int main()
{
  try
  {
    auto path = Cvb::InstallPath();  
 
    // create calibrated (dense) point cloud
    Cvb::ImagePtr rangemap = Cvb::Image::Load(path + CVB_LIT("tutorial/Metric/Images/RangeMapCalibrationPattern.tif"));
    auto calibrator = Cvb::Calibrator3D::Load<Cvb::Calibrator3D>(path + CVB_LIT("tutorial/Metric/Images/SICalibration.json"));
    calibrator->SetRangeMapIgnoreValue(0.0);
    auto cloudAqs12 = Cvb::PointCloudFactory::Create(rangemap->Plane(0), *calibrator, 
      Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZ);
 
    // do something, e.g.
    // cut roof part of AQS12 and calculate its normal
    auto plane = CutAqs12RoofAndCalculateNormal(*cloudAqs12, 10.0, 50.0, 1000.0);
 
  }
  catch (const std::exception & error)
  {
    std::cout << error.what() << std::endl;
  }
 
  return 0;
}
 
Cvb::Plane3D CutAqs12RoofAndCalculateNormal(const Cvb::PointCloud &cloud, double zRangeRoof, double xRangeRoofPlane, double yRangeRoofPlane)
{
  auto dx = xRangeRoofPlane / 2;
  auto dy = yRangeRoofPlane / 2;
 
  // crop roof roughly
  auto bbRoof = cloud.CalculateBoundingBox();
  bbRoof.SetZRange({ bbRoof.ZRange().Max() - zRangeRoof, bbRoof.ZRange().Max() + 1 });
  auto roof = cloud.Crop<Cvb::DensePointCloud>(bbRoof);
 
  // use only midmost part of roof
  auto cog = roof->CalculateCenterOfGravity();
  auto bbRoofPlane = roof->CalculateBoundingBox();
  bbRoofPlane.SetXRange({ cog.X() - dx, cog.X() + dx });
  bbRoofPlane.SetYRange({ cog.Y() - dy, cog.Y() + dy });
  auto roofPlane = roof->Crop(bbRoofPlane);
 
  // calculate and return plane
  return roof->FitPlane();
}