2) AQS12 Segmentation and Point Extraction

Functions to segment the faces of the AQS12 and to extract intersection points. More...

Functions
cvbres_t	CVMAQS12CreateFaceSegmentationImageFromDensePointCloud (CVCOMPOSITE DenseCloud, CVMAQS12SEGMENTOR3D Segmentor, IMG &LabelImage)
	Segments the given dense point cloud DenseCloud into the different faces of the AQS12 calibration piece. More...
cvbres_t	CVMAQS12CreateFaceSegmentationImageFromDensePointCloudRect (CVCOMPOSITE DenseCloud, cvbdim_t Left, cvbdim_t Top, cvbdim_t Right, cvbdim_t Bottom, CVMAQS12SEGMENTOR3D Segmentor, IMG &LabelImage)
	Segments the given dense point cloud DenseCloud into the different faces of the AQS12 calibration piece. More...
cvbres_t	CVMAQS12CreateFaceSegmentationImageFromRangeMap (IMG RangeMapImage, cvbdim_t PlaneIndex, CVMAQS12SEGMENTOR2D Segmentor, IMG &LabelImage)
	Segments the given RangeMapImage into the different faces of the AQS12 calibration piece. More...
cvbres_t	CVMAQS12CreateFaceSegmentationImageFromRangeMapRect (IMG RangeMapImage, cvbdim_t PlaneIndex, cvbdim_t Left, cvbdim_t Top, cvbdim_t Right, cvbdim_t Bottom, CVMAQS12SEGMENTOR2D Segmentor, IMG &LabelImage)
	Segments the given RangeMapImage into the different faces of the AQS12 calibration piece. More...
cvbres_t	CVMAQS12ExtractProjectedPointsFromDensePointCloud (CVCOMPOSITE DenseCloud, CVMAQS12SEGMENTOR3D Segmentor, CVC3DPointD ExtractedPoints[12])
	Extracts intersection points of faces of AQS12 calibration piece from a dense point cloud. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane. More...
cvbres_t	CVMAQS12ExtractProjectedPointsFromDensePointCloudRect (CVCOMPOSITE DenseCloud, cvbdim_t Left, cvbdim_t Top, cvbdim_t Right, cvbdim_t Bottom, CVMAQS12SEGMENTOR3D Segmentor, CVC3DPointD ExtractedPoints[12])
	Extracts intersection points of faces of AQS12 calibration piece from a dense point cloud. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane. More...
cvbres_t	CVMAQS12ExtractProjectedPointsFromRangeMap (IMG RangeMapImage, cvbdim_t PlaneIndex, CVMAQS12SEGMENTOR2D Segmentor, CVC3DPointD ExtractedPoints[12])
	Extracts intersection points of faces of AQS12 calibration piece from a range map. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane. More...
cvbres_t	CVMAQS12ExtractProjectedPointsFromRangeMapRect (IMG RangeMapImage, cvbdim_t PlaneIndex, cvbdim_t Left, cvbdim_t Top, cvbdim_t Right, cvbdim_t Bottom, CVMAQS12SEGMENTOR2D Segmentor, CVC3DPointD ExtractedPoints[12])
	Extracts intersection points of faces of AQS12 calibration piece from a range map. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane. More...
cvbres_t	CVMAQS12ProjectBottomRoofPointsToBasePlane (const CVC3DPointD Points[12], double &TopBasePlaneDistance, CVC3DPointD PointsProjected[12])
	Projects points on bottom side of the roof of the AQS12 calibration piece onto the base plane. More...

Detailed Description

Functions to segment the faces of the AQS12 and to extract intersection points.

Function Documentation

CVMAQS12CreateFaceSegmentationImageFromDensePointCloud()

cvbres_t CVMAQS12CreateFaceSegmentationImageFromDensePointCloud	(	CVCOMPOSITE	DenseCloud,
		CVMAQS12SEGMENTOR3D	Segmentor,
		IMG &	LabelImage
	)

Segments the given dense point cloud DenseCloud into the different faces of the AQS12 calibration piece.

This is the full image variant of CVMAQS12CreateFaceSegmentationImageFromDensePointCloudRect. Detailed information can be found there.

Note

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

Parameters

[in]	DenseCloud	Handle of dense point cloud.
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForDensePointCloud.
[out]	LabelImage	Variable to receive the result image handle.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_WRONGOBJECT) if DenseCloud is a nullptr or not dense or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the label image.

See also

CVMAQS12CreateSegmentorForDensePointCloud, CVMAQS12CreateFaceSegmentationImageFromRangeMap

CVMAQS12CreateFaceSegmentationImageFromDensePointCloudRect()

cvbres_t CVMAQS12CreateFaceSegmentationImageFromDensePointCloudRect	(	CVCOMPOSITE	DenseCloud,
		cvbdim_t	Left,
		cvbdim_t	Top,
		cvbdim_t	Right,
		cvbdim_t	Bottom,
		CVMAQS12SEGMENTOR3D	Segmentor,
		IMG &	LabelImage
	)

Segments the given dense point cloud DenseCloud into the different faces of the AQS12 calibration piece.

This function expects a point cloud showing the AQS12 calibration piece in the following orientation:

Attention

The base plane of the point cloud has to be parallel to the xy plane.

The LabelImage will have the same dimension as RangeMapImage and a cvbdatatype_t of 8 (Mono 8bpp).

Label	Value	Comment
Ignore	0	not part of calibration piece
Base	1	part of the base plane.
Top face	2	part of the top face.
Face 0°	3	part of 0° face (right)
Face 40°	4	part of 40° face (right/down)
Face 140°	5	part of 140° face (left/down)
Face 180°	6	part of 180° face (left)
Face 220°	7	part of 220° face (left/top)
Face 320°	8	part of 320° face (right/top)

Note

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

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

Parameters

[in]	DenseCloud	Handle of dense point cloud.
[in]	Left	First column for region of interest in dense cloud.
[in]	Top	First row for region of interest in dense cloud.
[in]	Right	Last column for region of interest in dense cloud (inclusive).
[in]	Bottom	Last row for region of interest in dense cloud (inclusive).
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForDensePointCloud.
[out]	LabelImage	Variable to receive the result image handle.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_WRONGOBJECT) if DenseCloud is a nullptr or not dense or if Segmentor is invalid.
• CVC_ERROR(CVC_E_PARAMETER) if aoi is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the label image.

See also

CVMAQS12CreateSegmentorForDensePointCloud, CVMAQS12CreateFaceSegmentationImageFromRangeMap

CVMAQS12CreateFaceSegmentationImageFromRangeMap()

cvbres_t CVMAQS12CreateFaceSegmentationImageFromRangeMap	(	IMG	RangeMapImage,
		cvbdim_t	PlaneIndex,
		CVMAQS12SEGMENTOR2D	Segmentor,
		IMG &	LabelImage
	)

Segments the given RangeMapImage into the different faces of the AQS12 calibration piece.

This is the full image variant of CVMAQS12CreateFaceSegmentationImageFromRangeMapRect. Detailed information can be found there.

Note

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

Parameters

[in]	RangeMapImage	Handle of 2½D image.
[in]	PlaneIndex	Plane of RangeMapImage to use in the range of [0 .. ImageDimension[.
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForRangeMap.
[out]	LabelImage	Variable to receive the result image handle.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if PlaneIndex is out of range.
• CVC_ERROR(CVC_E_WRONGOBJECT) if RangeMapImage is neither a IImageVPA nor IPlaneEnum object or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the label image.

See also

CVMAQS12CreateSegmentorForRangeMap CVMAQS12CreateFaceSegmentationImageFromRangeMapRect

CVMAQS12CreateFaceSegmentationImageFromRangeMapRect()

cvbres_t CVMAQS12CreateFaceSegmentationImageFromRangeMapRect	(	IMG	RangeMapImage,
		cvbdim_t	PlaneIndex,
		cvbdim_t	Left,
		cvbdim_t	Top,
		cvbdim_t	Right,
		cvbdim_t	Bottom,
		CVMAQS12SEGMENTOR2D	Segmentor,
		IMG &	LabelImage
	)

Segments the given RangeMapImage into the different faces of the AQS12 calibration piece.

This function expects a range map showing the AQS12 calibration piece in the following orientation:

The LabelImage will have the same dimension as RangeMapImage and a cvbdatatype_t of 8 (Mono 8bpp). Everything outside of the ROI will be set to Ignore.

Label	Value	Comment
Ignore	0	not part of calibration piece
Base	1	part of the base plane.
Top face	2	part of the top face.
Face 0°	3	part of 0° face (right)
Face 40°	4	part of 40° face (right/down)
Face 140°	5	part of 140° face (left/down)
Face 180°	6	part of 180° face (left)
Face 220°	7	part of 220° face (left/top)
Face 320°	8	part of 320° face (right/top)

Note

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

Parameters

[in]	RangeMapImage	Handle of 2½D image.
[in]	PlaneIndex	Plane of RangeMapImage to use in the range of [0 .. ImageDimension[.
[in]	Left	Left border of region of interest in pixels.
[in]	Top	Top border of region of interest in pixels.
[in]	Right	Right border of region of interest in pixels (inclusive).
[in]	Bottom	Bottom border of region of interest in pixels (inclusive).
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForRangeMap.
[out]	LabelImage	Variable to receive the result image handle.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if PlaneIndex is out of range.
• CVC_ERROR(CVC_E_PARAMETER) if aoi is invalid.
• CVC_ERROR(CVC_E_WRONGOBJECT) if RangeMapImage is neither a IImageVPA nor IPlaneEnum object or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available to create the label image.

See also

CVMAQS12CreateSegmentorForRangeMap CVMAQS12CreateFaceSegmentationImageFromRangeMap

CVMAQS12ExtractProjectedPointsFromDensePointCloud()

cvbres_t CVMAQS12ExtractProjectedPointsFromDensePointCloud	(	CVCOMPOSITE	DenseCloud,
		CVMAQS12SEGMENTOR3D	Segmentor,
		CVC3DPointD	ExtractedPoints[12]
	)

Extracts intersection points of faces of AQS12 calibration piece from a dense point cloud. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane.

Attention

The base plane of the point cloud has to be parallel to the xy plane.

Parameters

[in]	DenseCloud	Handle of dense point cloud.
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForDensePointCloud.
[out]	ExtractedPoints	Extracted points.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if PlaneIndex is out of range.
• CVC_ERROR(CVC_E_WRONGOBJECT) if DenseCloud is a nullptr or not dense or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available

See also

CVMAQS12CreateFaceSegmentationImageFromRangeMapRect, CVMAQS12ExtractProjectedPointsFromRangeMap, CVMAQS12ExtractProjectedPointsFromDensePointCloudRect, CVMAQS12CreateSegmentorForDensePointCloud

CVMAQS12ExtractProjectedPointsFromDensePointCloudRect()

cvbres_t CVMAQS12ExtractProjectedPointsFromDensePointCloudRect	(	CVCOMPOSITE	DenseCloud,
		cvbdim_t	Left,
		cvbdim_t	Top,
		cvbdim_t	Right,
		cvbdim_t	Bottom,
		CVMAQS12SEGMENTOR3D	Segmentor,
		CVC3DPointD	ExtractedPoints[12]
	)

Extracts intersection points of faces of AQS12 calibration piece from a dense point cloud. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane.

Attention

The base plane of the point cloud has to be parallel to the xy plane.

Note

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

Parameters

[in]	DenseCloud	Handle of dense point cloud.
[in]	Left	First column for region of interest in dense cloud.
[in]	Top	First row for region of interest in dense cloud.
[in]	Right	Last column for region of interest in dense cloud (inclusive).
[in]	Bottom	Last row for region of interest in dense cloud (inclusive).
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForDensePointCloud.
[out]	ExtractedPoints	Extracted points.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if PlaneIndex is out of range.
• CVC_ERROR(CVC_E_PARAMETER) if aoi is invalid.
• CVC_ERROR(CVC_E_WRONGOBJECT) if DenseCloud is a nullptr or not dense or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available

See also

CVMAQS12CreateFaceSegmentationImageFromRangeMapRect, CVMAQS12ExtractProjectedPointsFromRangeMap, CVMAQS12ExtractProjectedPointsFromDensePointCloud, CVMAQS12CreateSegmentorForDensePointCloud

CVMAQS12ExtractProjectedPointsFromRangeMap()

cvbres_t CVMAQS12ExtractProjectedPointsFromRangeMap	(	IMG	RangeMapImage,
		cvbdim_t	PlaneIndex,
		CVMAQS12SEGMENTOR2D	Segmentor,
		CVC3DPointD	ExtractedPoints[12]
	)

Extracts intersection points of faces of AQS12 calibration piece from a range map. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane.

Note

The point extraction on range maps is considerably slower than on point clouds (with CVMAQS12ExtractProjectedPointsFromDensePointCloud).

Parameters

[in]	RangeMapImage	Handle of 2½D image.
[in]	PlaneIndex	Plane of RangeMapImage to use in the range of [0 .. ImageDimension[.
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForRangeMap.
[out]	ExtractedPoints	Extracted points.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if PlaneIndex is out of range.
• CVC_ERROR(CVC_E_WRONGOBJECT) if RangeMapImage is neither a IImageVPA nor IPlaneEnum object or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available

See also

CVMAQS12CreateFaceSegmentationImageFromRangeMapRect, CVMAQS12ExtractProjectedPointsFromRangeMapRect, CVMAQS12ExtractProjectedPointsFromDensePointCloud, CVMAQS12CreateSegmentorForRangeMap

CVMAQS12ExtractProjectedPointsFromRangeMapRect()

cvbres_t CVMAQS12ExtractProjectedPointsFromRangeMapRect	(	IMG	RangeMapImage,
		cvbdim_t	PlaneIndex,
		cvbdim_t	Left,
		cvbdim_t	Top,
		cvbdim_t	Right,
		cvbdim_t	Bottom,
		CVMAQS12SEGMENTOR2D	Segmentor,
		CVC3DPointD	ExtractedPoints[12]
	)

Extracts intersection points of faces of AQS12 calibration piece from a range map. Note, that the intersection points between faces and the base plane are computed. That means, that the lower roof points of AQS12 are projected to the base plane.

Note

The point extraction on range maps is considerably slower than on point clouds (with CVMAQS12ExtractProjectedPointsFromDensePointCloudRect).

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

Parameters

[in]	RangeMapImage	Handle of 2½D image.
[in]	PlaneIndex	Plane of RangeMapImage to use in the range of [0 .. ImageDimension[.
[in]	Left	Left border of region of interest in pixels.
[in]	Top	Top border of region of interest in pixels.
[in]	Right	Right border of region of interest in pixels (inclusive).
[in]	Bottom	Bottom border of region of interest in pixels (inclusive).
[in]	Segmentor	Segmentor created by the function CVMAQS12CreateSegmentorForRangeMap.
[out]	ExtractedPoints	Extracted points.

Returns

• CVC_ERROR(CVC_E_OK) on success
• CVC_ERROR(CVC_E_INVALIDDIMENSION) if PlaneIndex is out of range.
• CVC_ERROR(CVC_E_PARAMETER) if aoi is invalid.
• CVC_ERROR(CVC_E_WRONGOBJECT) if RangeMapImage is neither a IImageVPA nor IPlaneEnum object or if Segmentor is invalid.
• CVC_ERROR(CVC_E_NOTENOUGHDATA) if calibration piece could not be located properly.
• CVC_ERROR(CVC_E_MEMORY) if not enough memory was available

See also

CVMAQS12CreateFaceSegmentationImageFromRangeMapRect, CVMAQS12ExtractProjectedPointsFromRangeMap, CVMAQS12ExtractProjectedPointsFromDensePointCloud, CVMAQS12CreateSegmentorForRangeMap

CVMAQS12ProjectBottomRoofPointsToBasePlane()

cvbres_t CVMAQS12ProjectBottomRoofPointsToBasePlane	(	const CVC3DPointD	Points[12],
		double &	TopBasePlaneDistance,
		CVC3DPointD	PointsProjected[12]
	)

Projects points on bottom side of the roof of the AQS12 calibration piece onto the base plane.

Roof points:
 
                1
               / \
              6   2
              |   |
              |   |
              5   3
               \ /
                4
 
 
Bottom side of roof (points to be projected on base plane):
 
                7
              /   \
             /     \      
           12       8
            |       |
            |       |
            |       |
            |       |
           11       9
             \     /
              \   /
                10

Parameters

[in]	Points	The 12 points of the AQS12 target.
[in]	TopBasePlaneDistance	Distance between the top plane and the base plane (same units as Points). If it is zero, the TopBasePlaneDistance is computed. Attention, this only works, if the base plane lies on z=0.
[out]	PointsProjected	Points, where points 7-12 are projected on base plane.

Returns

• CVC_ERROR(CVC_E_OK) on success