Routines calibrating laser triangulation systems. More...

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

static Tuple< AffineMatrix3D, AffineTransformationParameters?>	CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, CalibrationConfiguration config, out Point3Dd[] residuals)
	Calculates an extrinsic calibration and the correction for the laser plane inclination (affine transformation) from the given cloud of an AQS12 calibration piece. More...

static Tuple< AffineMatrix3D, AffineTransformationParameters?>	CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, CalibrationConfiguration config, out Point3Dd[] residuals, Rect aoi)
	Calculates an extrinsic calibration and the correction for the laser plane inclination (affine transformation) from the given cloud of an AQS12 calibration piece. More...

static Tuple< AffineMatrix3D, AffineTransformationParameters >	CalculateRigidBodyTransformationFromAqs12Piece (DensePointCloud cloud, AQS12DensePointCloudSegmentor segmentor, AQS12Piece piece, out Point3Dd[] residuals)
	Calculates the rigid body transformation from the given cloud of an AQS12 calibration piece. More...

static Tuple< AffineMatrix3D, AffineTransformationParameters >	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. More...

static unsafe Tuple< AffineMatrix3D, AffineTransformationParameters, Point3Dd[]>	CalculateRigidBodyTransformation (Point3Dd[] referencePoints, Point3Dd[] measuredPoints, bool calculateResiduals=true)
	Calculates a rigid body transformation (rotation matrix and translation) from given referencePoints and measuredPoints . More...

static unsafe Tuple< AffineMatrix3D, AffineTransformationParameters?, Point3Dd[]>	CalculateCorrectionOfLaserPlaneInclination (Point3Dd[] referencePoints, Point3Dd[] measuredPoints, CalibrationConfiguration.ExtrinsicCalibrationModel model=CalibrationConfiguration.ExtrinsicCalibrationModel.SpecificTransformationParameters, bool estimateEncoderStep=true, bool calculateResiduals=true)
	Calculates an extrinsic calibration and the correction for the laser plane inclination. More...

static unsafe AffineMatrix3D	CalculateAffineTransformation (Point3Dd[] referencePoints, Point3Dd[] measuredPoints)
	Calculates an affine transformation from the given referencePoints and measuredPoints . More...

Detailed Description

Routines calibrating laser triangulation systems.

Member Function Documentation

◆ CalculateAffineTransformation()

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

static

Calculates an affine transformation from the given referencePoints and measuredPoints .

This function estimates translation and the individual elements of an affine matrix. If you rather like to estimate the specific transformation parameters rotation, scale and shear (which is recommended for laser triangulation systems), please use function CalculateCorrectionOfLaserPlaneInclination instead.

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.

◆ CalculateCorrectionOfLaserPlaneInclination()

static unsafe Tuple< AffineMatrix3D, AffineTransformationParameters?, Point3Dd[]> CalculateCorrectionOfLaserPlaneInclination	(	Point3Dd[]	referencePoints,
		Point3Dd[]	measuredPoints,
		CalibrationConfiguration.ExtrinsicCalibrationModel	model = `CalibrationConfiguration.ExtrinsicCalibrationModel.SpecificTransformationParameters`,
		bool	estimateEncoderStep = `true`,
		bool	calculateResiduals = `true`
	)

static

Calculates an extrinsic calibration and the correction for the laser plane inclination.

Parameters

referencePoints	Reference points of the body.
measuredPoints	Corresponding measured points of the body.
model	Extrinsic calibration model.
estimateEncoderStep	True if encoder step (scale in Y) should be estimated. Note: If AffineMatrix is selected as extrinsic calibration model, the encoder step is always estimated.
calculateResiduals	True if residuals should be calculated.

Returns: Affine transformation and transformation parameters and optional array with residuals (if calculateResiduals = true) .

Exceptions

ArgumentNullException	When measuredPoints or referencePoints is null.
CvbException	When an error during calculation occurs.
ArgumentException	When measuredPoints or referencePoints contain to few points, or not the same amount of points.

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [1/2]

static Tuple< AffineMatrix3D, AffineTransformationParameters?> CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece	(	DensePointCloud	cloud,
		AQS12DensePointCloudSegmentor	segmentor,
		CalibrationConfiguration	config,
		out Point3Dd[]	residuals
	)

static

Calculates an extrinsic calibration and the correction for the laser plane inclination (affine transformation) from the given cloud of an AQS12 calibration piece.

For this function, create an extrinsic calibration configuration object using FromAQS12PieceExtrinsic() and change the extrinsic calibration Model if desired.

Parameters

cloud	The point cloud.
segmentor	The segmentor.
config	The calibration configuration.
residuals	Residuals.

Returns: Affine transformation and - if SpecificTransformationParameters is selected as extrinsic calibration model - optional transformation parameters.

Exceptions

ArgumentNullException When cloud is null.

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [2/2]

static Tuple< AffineMatrix3D, AffineTransformationParameters?> CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece	(	DensePointCloud	cloud,
		AQS12DensePointCloudSegmentor	segmentor,
		CalibrationConfiguration	config,
		out Point3Dd[]	residuals,
		Rect	aoi
	)

static

Calculates an extrinsic calibration and the correction for the laser plane inclination (affine transformation) from the given cloud of an AQS12 calibration piece.

For this function, create an extrinsic calibration configuration object using FromAQS12PieceExtrinsic() and change the extrinsic calibration Model if desired.

Note: 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.

Parameters

cloud	The point cloud.
segmentor	The segmentor.
config	The calibration configuration.
residuals	Residuals.
aoi	The area of interest in the cloud .

Returns: Affine transformation and - if SpecificTransformationParameters is selected as extrinsic calibration model - optional transformation parameters.

Exceptions

ArgumentNullException When cloud is null.

◆ CalculateRigidBodyTransformation()

static unsafe Tuple< AffineMatrix3D, AffineTransformationParameters, Point3Dd[]> CalculateRigidBodyTransformation	(	Point3Dd[]	referencePoints,
		Point3Dd[]	measuredPoints,
		bool	calculateResiduals = `true`
	)

static

Calculates a rigid body transformation (rotation matrix and translation) from given referencePoints and measuredPoints .

Parameters

referencePoints	Reference points of the body. (At least 4)
measuredPoints	Corresponding measured points of the body. (At least 4)
calculateResiduals	True if residuals should be calculated.

Returns: Affine transformation, transformation parameters and optional array with residuals (if calculateResiduals = true) .

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 Tuple< AffineMatrix3D, AffineTransformationParameters > 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.

Parameters

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

Returns: Affine transformation and transformation parameters.

Exceptions

ArgumentNullException When cloud is null.

◆ CalculateRigidBodyTransformationFromAqs12Piece() [2/2]

static Tuple< AffineMatrix3D, AffineTransformationParameters > 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.

Note: 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.

Parameters

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

Returns: Affine transformation and transformation parameters.

Exceptions

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

◆ CalibratorFromAqs12Piece() [1/2]

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

static

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

This function calculates homography and - if set in the calibration configuration object - an extrinsic calibration and the correction for the laser plane inclination (see also ExtrinsicCalibrationModel). Create an intrinsic calibration configuration object using FromAQS12Piece() and change the extrinsic calibration Model if desired. The calibration parameters are saved to a newly created calibrator object.

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 and extrinsic calibrator from the given rangeMapPlane of an AQS12 calibration piece.

This function calculates homography and - if set in the calibration configuration object - an extrinsic calibration and the correction for the laser plane inclination (see also ExtrinsicCalibrationModel). Create an intrinsic calibration configuration object using FromAQS12Piece() and change the extrinsic calibration Model if desired. The calibration parameters are saved to a newly created calibrator object.

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.


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Static Public Member Functions

Detailed Description

Member Function Documentation

◆ CalculateAffineTransformation()

◆ CalculateCorrectionOfLaserPlaneInclination()

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [1/2]

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [2/2]

◆ CalculateRigidBodyTransformation()

◆ CalculateRigidBodyTransformationFromAqs12Piece() [1/2]

◆ CalculateRigidBodyTransformationFromAqs12Piece() [2/2]

◆ CalibratorFromAqs12Piece() [1/2]

◆ CalibratorFromAqs12Piece() [2/2]