Foundation/CppMetricCalibrationInclinationLaserPlane

// ---------------------------------------------------------------------------
// ---------------------------------------------------------------------------
 
 
#include <iostream>
 
#include "cvb/point_cloud_factory.hpp"
#include "cvb/calibrator_3d.hpp"
 
#include "cvb/foundation/metric_aqs12.hpp"
 
 
Cvb::Foundation::Metric::AQS12::AQS12Piece GetAqs12(); 
void PrintTrafo(const Cvb::AffineMatrix3D& transformation);
void PrintTrafo(const Cvb::AffineTransformationParameters& transformationParameters);
void PrintResiduals(const std::vector<Cvb::Point3D<double>>& residuals);
void PrintAqs12Points(const std::vector< Cvb::Point3D<double>>& points);
bool CheckAccuracy(const std::vector<Cvb::Point3D<double>>& residuals, double desiredAccuracy);
 
 
int main()
{
  try
  {
    std::cout << "Estimation of an affine transformation (correcting an inclined laser plane)\n\n";
 
    // load range map of AQS12
    const auto rangemapFile = Cvb::InstallPath() + CVB_LIT("tutorial/Metric/Images/RangeMapCalibrationPattern.tif");
    Cvb::ImagePtr rangemap = Cvb::Image::Load(rangemapFile);
    std::cout << "Rangemap loaded with size of " << rangemap->Width() << " x " << rangemap->Height() << " from " << rangemapFile << ".\n";
 
    // create calibration configuration object
    auto aqs12 = GetAqs12();
    auto config = Cvb::Foundation::Metric::CalibrationConfiguration::Create(aqs12);
    config->SetHomographyCalculated(false);
 
    // create intrinsically calibrated dense point cloud
    const auto calibrationFile = Cvb::InstallPath() + CVB_LIT("tutorial/Metric/Images/SICalibration.json"); // calibration file with homography and scaling
    auto calibrator = Cvb::Calibrator3D::Load<Cvb::LaserPlaneCalibrator3D>(calibrationFile);
    calibrator->SetRangeMapIgnoreValue(0.0);
    auto cloud = Cvb::PointCloudFactory::Create<Cvb::DensePointCloud>(rangemap->Plane(0), *calibrator, Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZConfidence);
    std::cout << "Dense point cloud created from rangemap and calibration file with " << cloud->NumPoints() << " points.\n\n";
 
    // create AQS12 segmentor for dense point clouds
    auto segmentor = Cvb::Foundation::Metric::AQS12DensePointCloudSegmentor::Create(Cvb::Foundation::Metric::SegmentationMethod::KmeansClustering);
 
    // estimate calibration parameters
    auto [transformation, residuals, transformationParameters] = Cvb::Foundation::Metric::CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece(*cloud, *segmentor, *config);
    calibrator->SetCorrectionOfLaserPlaneInclination(transformation, transformationParameters);
 
    // show results
    PrintTrafo(transformation);
    if (transformationParameters)
      PrintTrafo(*transformationParameters);
        
    // check intermediate results if residuals are not ok
    double desiredAccuracy = 0.05;
    if (residuals)
    {
      PrintResiduals(*residuals);
      if (!CheckAccuracy(*residuals, desiredAccuracy))
      {
        std::cout << "Results do not have desired accuracy. Check face segmentation and extracted AQS12 points...\n";
        auto facesAqs12 = segmentor->FaceSegmentationFromPiece(*cloud);
        auto pointsAqs12 = segmentor->ExtractProjectedPointsFromPiece(*cloud);
        PrintAqs12Points(pointsAqs12);
      }
      else
      {
        // create calibrated cloud
        auto calibratedCloud = Cvb::PointCloudFactory::Create(rangemap->Plane(0), *calibrator, Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZConfidence);
        std::cout << "The calibration was successful and accuracy is < " << desiredAccuracy << " mm. :)\n";
      }
    }
    
  }
  catch (const std::exception & error)
  {
    std::cout << error.what() << std::endl;
  }
 
  return 0;
}
 
Cvb::Foundation::Metric::AQS12::AQS12Piece GetAqs12()
{
  // reference points in mm in a right-handed coordinate system  
  std::array< Cvb::Point3D<double>, 12> points =
  { {
    {20.0018, 44.9941, 15.0000},
    {24.0018, 39.9942, 14.9994},
    {23.9994, 24.9972, 15.0001},
    {20.0021, 20.0035, 15.0011},
    {15.9994, 25.0079, 15.0016},
    {16.0000, 39.9919, 15.0010},
    {20.0095, 59.9985,  4.9902},
    {32.0093, 44.9958,  4.9909},
    {32.0052, 19.9925,  4.9920},
    {20.0021,  4.9961,  4.9939},
    { 8.0024, 19.9980,  5.0009},
    { 8.0065, 45.0009,  4.9984},
    } };
 
  return Cvb::Foundation::Metric::AQS12::AQS12Piece(points, 0);
}
 
bool CheckAccuracy(const std::vector<Cvb::Point3D<double>>& residuals, double desiredAccuracy)
{
  for (auto residual : residuals)
  {
    if (std::abs(residual.X()) > desiredAccuracy || std::abs(residual.Y()) > desiredAccuracy || std::abs(residual.Z()) > desiredAccuracy)
    {
      return false;
    }
  }
  return true;
}
 
void PrintTrafo(const Cvb::AffineMatrix3D& transformation)
{
  std::cout << "Estimated transformation:\n";
  std::cout << "translation: [";
  std::cout << transformation.Translation().X() << ", " << transformation.Translation().Y() << ", " << transformation.Translation().Z() << "]\n";
 
  std::cout << "transformation matrix: [\n";
  std::cout << transformation.Matrix()[0][0] << ", " << transformation.Matrix()[0][1] << ", " << transformation.Matrix()[0][2] << ",\n";
  std::cout << transformation.Matrix()[1][0] << ", " << transformation.Matrix()[1][1] << ", " << transformation.Matrix()[1][2] << ",\n";
  std::cout << transformation.Matrix()[2][0] << ", " << transformation.Matrix()[2][1] << ", " << transformation.Matrix()[2][2] << "]\n\n";
}
 
void PrintTrafo(const Cvb::AffineTransformationParameters& transformationParameters)
{
  std::cout << "Rotation angles about X,Y,Z axis in [degree]: " << transformationParameters.RotationAngles[0] << ", " << transformationParameters.RotationAngles[1] << ", " << transformationParameters.RotationAngles[2] << "\n";
  std::cout << "Shear Syx, Syz: " << transformationParameters.Syx << ", " << transformationParameters.Syz << "\n";
  std::cout << "Inclination of laser plane about X,Z axis in [degree]: " << transformationParameters.InclinationX << ", " << transformationParameters.InclinationZ << "\n";
  std::cout << "Scale in X,Y,Z: " << transformationParameters.Scale.X << ", " << transformationParameters.Scale.Y << ", " << transformationParameters.Scale.Z << "\n\n";
}
 
void PrintResiduals(const std::vector<Cvb::Point3D<double>>& residuals)
{
  std::cout << "Residuals:\n";
  for (auto residual : residuals)
  {
    std::cout << residual.X() << " " << residual.Y() << " " << residual.Z() << "\n";
  }
  std::cout << "\n";
}
 
void PrintAqs12Points(const std::vector< Cvb::Point3D<double>>& points)
{
  std::cout << "AQS12 points\n";
  for (auto point: points)
  {
    std::cout << point.X() << " " << point.Y() << " " << point.Z() << "\n";
  }
  std::cout << "\n";
}