Metric calibration routines. More...

Static Public Member Functions
static LaserPlaneHomographyCalibrator3D	CalibratorFromAqs12Piece (ImagePlane rangeMapPlane, AQS12RangeMapSegmentor segmentor, CalibrationConfiguration config, out Point3Dd[] residuals)
	Creates an intrinsic calibrator from the given rangeMapPlane of an AQS12 calibration piece. More...

static LaserPlaneHomographyCalibrator3D	CalibratorFromAqs12Piece (ImagePlane rangeMapPlane, AQS12RangeMapSegmentor segmentor, CalibrationConfiguration config, out Point3Dd[] residuals, Rect aoi)
	Creates an intrinsic calibrator from the given rangeMapPlane of an AQS12 calibration piece. More...

static AffineMatrix3D	CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, CalibrationConfiguration config, out Point3Dd[] residuals)
	Calculates the affine transformation from the given cloud of an AQS12 calibration piece. This transformation corrects errors induced by an inclined laser plane. More...

static AffineMatrix3D	CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, CalibrationConfiguration config, out Point3Dd[] residuals, Rect aoi)
	Calculates the affine transformation from the given cloud of an AQS12 calibration piece. This transformation corrects errors induced by an inclined laser plane. More...

static AffineMatrix3D	CalculateRigidBodyTransformationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, AQS12Piece piece, out Point3Dd[] residuals)
	Calculates the rigid body transformation from the given cloud of an AQS12 calibration piece. The transformation is estimated by the Nelder-Mead method. The rigid body transformation is part of the extrinsic calibration. More...

static AffineMatrix3D	CalculateRigidBodyTransformationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, AQS12Piece piece, out Point3Dd[] residuals, Rect aoi)
	Calculates the rigid body transformation from the given cloud of an AQS12 calibration piece. The transformation is estimated by the Nelder-Mead method. The rigid body transformation is part of the extrinsic calibration. More...

static unsafe AffineMatrix3D	CalculateRigidBodyTransformation (Point3Dd[] referencePoints, Point3Dd[] measuredPoints)
	Calculates a rigid body transformation (rotation matrix and translation) from given referencePoints and measuredPoints . The transformation is estimated by the Nelder-Mead method. More...

static unsafe AffineMatrix3D	CalculateAffineTransformation (Point3Dd[] referencePoints, Point3Dd[] measuredPoints)
	Calculates an affine transformation from the given referencePoints and measuredPoints . The transformation is calculated by a singular value decomposition. More...

Detailed Description

Metric calibration routines.

Member Function Documentation

◆ CalculateAffineTransformation()

static unsafe AffineMatrix3D CalculateAffineTransformation	(	Point3Dd[]	referencePoints,
		Point3Dd[]	measuredPoints
	)

static

Calculates an affine transformation from the given referencePoints and measuredPoints . The transformation is calculated by a singular value decomposition.

Parameters

referencePoints	Reference points of the body. (At least 4)
measuredPoints	Corresponding measured points of the body. (At least 4)

Returns: Affine matrix containing the rotation matrix elements and translation.

Exceptions

ArgumentNullException	When measuredPoints or referencePoints is null.
CvbException	When an error during rigid body calculation occurs.
ArgumentException	When measuredPoints or referencePoints have less than 4 points, or not the same amount of points.

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [1/2]

static AffineMatrix3D CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece	(	DensePointCloud	cloud,
		AQS12DensePointCloudSegmentor	segmentor,
		CalibrationConfiguration	config,
		out Point3Dd[]	residuals
	)

static

Calculates the affine transformation from the given cloud of an AQS12 calibration piece. This transformation corrects errors induced by an inclined laser plane.

Parameters

cloud	The point cloud.
segmentor	The segmentor.
config	The calibration configuration.
residuals	Difference between the reference points and the result.

Returns: Affine transformation, which corrects errors induced by an inclined laser plane.

Exceptions

ArgumentNullException When cloud is null.

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [2/2]

static AffineMatrix3D CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece	(	DensePointCloud	cloud,
		AQS12DensePointCloudSegmentor	segmentor,
		CalibrationConfiguration	config,
		out Point3Dd[]	residuals,
		Rect	aoi
	)

static

Calculates the affine transformation from the given cloud of an AQS12 calibration piece. This transformation corrects errors induced by an inclined laser plane.

Parameters

cloud	The point cloud.
segmentor	The segmentor.
config	The calibration configuration.
residuals	Difference between the reference points and the result.
aoi	The area of interest in the cloud .

Returns: Affine transformation, which corrects errors induced by an inclined laser plane.

Exceptions

ArgumentNullException	When cloud , segmentor or config is null.
CvbException	When an error during calculation of laser plane inclination occurs.

Note, that the area of interest must be selected on the grid of the dense point cloud. Left, top, right and bottom are indices for row and column.

◆ CalculateRigidBodyTransformation()

static unsafe AffineMatrix3D CalculateRigidBodyTransformation	(	Point3Dd[]	referencePoints,
		Point3Dd[]	measuredPoints
	)

static

Calculates a rigid body transformation (rotation matrix and translation) from given referencePoints and measuredPoints . The transformation is estimated by the Nelder-Mead method.

Parameters

referencePoints	Reference points of the body. (At least 4)
measuredPoints	Corresponding measured points of the body. (At least 4)

Returns: Affine matrix containing the rotation matrix elements and translation.

Exceptions

ArgumentNullException	When measuredPoints or referencePoints is null.
CvbException	When an error during rigid body calculation occurs.
ArgumentException	When measuredPoints or referencePoints have less than 3 points, or not the same amount of points.

◆ CalculateRigidBodyTransformationFromAqs12Piece() [1/2]

static AffineMatrix3D CalculateRigidBodyTransformationFromAqs12Piece	(	DensePointCloud	cloud,
		AQS12DensePointCloudSegmentor	segmentor,
		AQS12Piece	piece,
		out Point3Dd[]	residuals
	)

static

Calculates the rigid body transformation from the given cloud of an AQS12 calibration piece. The transformation is estimated by the Nelder-Mead method. The rigid body transformation is part of the extrinsic calibration.

Parameters

cloud	The point cloud.
segmentor	The segmentor.
piece	The AQS12 piece to use.
residuals	Difference between the reference points and the result.

Returns: The rigid body transformation.

Exceptions

ArgumentNullException When cloud is null.

◆ CalculateRigidBodyTransformationFromAqs12Piece() [2/2]

static AffineMatrix3D CalculateRigidBodyTransformationFromAqs12Piece	(	DensePointCloud	cloud,
		AQS12DensePointCloudSegmentor	segmentor,
		AQS12Piece	piece,
		out Point3Dd[]	residuals,
		Rect	aoi
	)

static

Calculates the rigid body transformation from the given cloud of an AQS12 calibration piece. The transformation is estimated by the Nelder-Mead method. The rigid body transformation is part of the extrinsic calibration.

Parameters

cloud	The point cloud.
segmentor	The segmentor.
piece	The AQS12 piece to use.
residuals
aoi	Area of interest in the cloud .

Returns: The rigid body transformation.

Exceptions

ArgumentNullException	When cloud , segmentor or piece is null.
CvbException	When an error during rigid body transformation calculation occurs.

Note, that the area of interest must be selected on the grid of the dense point cloud. Left, top, right and bottom are indices for row and column.

◆ CalibratorFromAqs12Piece() [1/2]

static LaserPlaneHomographyCalibrator3D CalibratorFromAqs12Piece	(	ImagePlane	rangeMapPlane,
		AQS12RangeMapSegmentor	segmentor,
		CalibrationConfiguration	config,
		out Point3Dd[]	residuals
	)

static

Creates an intrinsic calibrator from the given rangeMapPlane of an AQS12 calibration piece.

Parameters

rangeMapPlane	Plane of the range map image to work with.
segmentor	The segmentor.
config	The calibration config.
residuals	Difference between the reference points and the result.

Returns: The created calibrator.

◆ CalibratorFromAqs12Piece() [2/2]

static LaserPlaneHomographyCalibrator3D CalibratorFromAqs12Piece	(	ImagePlane	rangeMapPlane,
		AQS12RangeMapSegmentor	segmentor,
		CalibrationConfiguration	config,
		out Point3Dd[]	residuals,
		Rect	aoi
	)

static

Creates an intrinsic calibrator from the given rangeMapPlane of an AQS12 calibration piece.

Parameters

rangeMapPlane	Plane of the range map image to work with.
segmentor	The segmentor.
config	The calibration config.
residuals	Difference between the reference points and the result.
aoi	The area of interest.

Returns: The created calibrator.

Exceptions

ArgumentNullException When segmentor or config is null.


Contact Legal Privacy Statement	Copyright © 2024.
	All rights reserved.

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ CalculateAffineTransformation()

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [1/2]

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [2/2]

◆ CalculateRigidBodyTransformation()

◆ CalculateRigidBodyTransformationFromAqs12Piece() [1/2]

◆ CalculateRigidBodyTransformationFromAqs12Piece() [2/2]

◆ CalibratorFromAqs12Piece() [1/2]

◆ CalibratorFromAqs12Piece() [2/2]