AffineTransformationParameters Struct Reference

Parameters of a 3D affine transformation matrix correcting an inclined laser plane. More...

Properties
Point3Dd	RotationAngles [get, set]
	Rotation angles about x, y and z in [degree].
Factors3D	Scale [get, set]
	Scale factors.
double	Syx [get, set]
	Shear Syx (induced by InclinationZ).
double	Syz [get, set]
	Shear Syz (induced by InclinationX).
double	InclinationX [get, set]
	Inclination of laser plane (rotation about x axis) in [degree].
double	InclinationZ [get, set]
	Inclination of laser plane (rotation about z axis) in [degree].

Detailed Description

Parameters of a 3D affine transformation matrix correcting an inclined laser plane.

The parameters of this struct allow for the transformation of an intrinsically calibrated point cloud to a world coordinate system. In addition to three rotation angles and three scaling factors, the struct includes two shear parameters Syx and Syz which correct an inclined laser plane. The affine transformation matrix can be derived from these parameters using the formula shown below:

and where

m11,...m33: individual elements of the affine matrix

Syx and Syz: shear parameters that correct an inclined laser plane

InclinationX and InclinationZ: inclination of the laser plane about X and Z axis

Scale.X,Y,Z: scaling factors

R: 3D rotation matrix calculated from the RotationAngles.

The transformation parameters are an optional output of calibration functions like CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece and CalculateCorrectionOfLaserPlaneInclination. If given in the calibrator, they can be accessed via LaserPlaneCalibrator3D.CorrectionOfLaserPlaneInclination.

See also

ExtrinsicCalibrationModel