17#include "cvb/point_cloud_factory.hpp"
18#include "cvb/calibrator_3d.hpp"
19#include "cvb/foundation/metric_aqs12.hpp"
30 std::cout <<
"Estimation of a rigid body transformation (rotation and translation)\n\n";
33 const auto rangemapFile = Cvb::InstallPath() + CVB_LIT(
"tutorial/Metric/Images/RangeMapCalibrationPattern.tif");
35 std::cout <<
"Rangemap loaded with size of " << rangemap->Width() <<
" x " << rangemap->Height() <<
" from " << rangemapFile <<
".\n";
38 auto aqs12 = GetAqs12();
41 const auto calibrationFile = Cvb::InstallPath() + CVB_LIT(
"tutorial/Metric/Images/SICalibration.json");
42 auto calibrator = Cvb::Calibrator3D::Load<Cvb::Calibrator3D>(calibrationFile);
43 calibrator->SetRangeMapIgnoreValue(0.0);
45 std::cout <<
"Dense point cloud created from rangemap and calibration file with " << cloud->NumPoints() <<
" points.\n\n";
52 calibrator->SetExtrinsicMatrix(transformation);
55 PrintTrafo(transformation);
56 PrintTrafo(transformationParameters);
58 PrintResiduals(*residuals);
76 {20.0018, 44.9941, 15.0000},
77 {24.0018, 39.9942, 14.9994},
78 {23.9994, 24.9972, 15.0001},
79 {20.0021, 20.0035, 15.0011},
80 {15.9994, 25.0079, 15.0016},
81 {16.0000, 39.9919, 15.0010},
82 {20.0095, 59.9985, 4.9902},
83 {32.0093, 44.9958, 4.9909},
84 {32.0052, 19.9925, 4.9920},
85 {20.0021, 4.9961, 4.9939},
86 { 8.0024, 19.9980, 5.0009},
87 { 8.0065, 45.0009, 4.9984},
95 std::cout <<
"Estimated transformation:\n";
97 std::cout << transformation.Translation().X() <<
", " << transformation.Translation().Y() <<
", " << transformation.Translation().Z() <<
"]\n";
99 std::cout <<
"transformation matrix: [\n";
100 std::cout << transformation.Matrix()[0][0] <<
", " << transformation.Matrix()[0][1] <<
", " << transformation.Matrix()[0][2] <<
",\n";
101 std::cout << transformation.Matrix()[1][0] <<
", " << transformation.Matrix()[1][1] <<
", " << transformation.Matrix()[1][2] <<
",\n";
102 std::cout << transformation.Matrix()[2][0] <<
", " << transformation.Matrix()[2][1] <<
", " << transformation.Matrix()[2][2] <<
"]\n\n";
113 for (
auto residual : residuals)
115 std::cout << residual.X() <<
" " << residual.Y() <<
" " << residual.Z() <<
"\n";
Affine transformation for 3D containing a transformation matrix and a translation vector.
Definition: affine_matrix_3d.hpp:147
Object to collect all input parameters for the AQS12 calibration piece.
Definition: decl_metric_aqs12_calibration_piece.hpp:28
static std::shared_ptr< AQS12DensePointCloudSegmentor > Create(const SegmentationMethod method)
Creates a AQS12 segmentor for dense point clouds based on given segmentation method.
Definition: decl_metric_segmentor_dense_point_cloud_aqs12.hpp:38
static std::unique_ptr< Image > Load(const String &fileName)
Loads an image with the given file name.
Definition: detail_image.hpp:32
static PointCloudPtr Create(const ImagePlane &rangeMap, const Calibrator3D &calibrator, PointCloudFlags flags)
Creates a new Cartesian 3D point cloud from the given 2.5D range map image.
Definition: point_cloud_factory.hpp:87
@ KmeansClustering
Clustering top, base and faces using kmeans.
RigidBodyTransformationResult CalculateRigidBodyTransformationFromAqs12Piece(const DensePointCloud &cloud, const AQS12DensePointCloudSegmentor &segmentor, const AQS12Piece &aqs12)
Calculates a rigid body transformation from a given dense point cloud of an AQS12 calibration piece.
Definition: metric_aqs12.hpp:235