Namespace for metric calibration. More...

Namespaces
namespace	AQS12
	Namespace specific to AQS12 calibration pieces.

namespace	LaserLineExtraction
	Namespace for functions and classes extracting lase lines from the Foundation package.

Classes
class	AQS12DensePointCloudSegmentor
	Segmentor object to configure face segmentation of AQS12 calibration piece on dense point clouds. More...

class	AQS12RangeMapSegmentor
	Segmentor object to configure face segmentation of AQS12 calibration piece on range maps. More...

class	CalibrationConfiguration
	Calibration configuration object. More...

class	DensePointCloudSegmentor
	Base class for segmentor object to configure and compute segmentation on dense point clouds. More...

class	RangeMapSegmentor
	Base class for segmentor object to configure and compute segmentation on range maps. More...

Typedefs
using	TransformationResult = std::tuple< AffineMatrix3D, Cvb::optional< std::vector< Point3D< double > > >, Cvb::optional< AffineTransformationParameters > >
	Result for calculating an extrinsic transformation. More...

using	RigidBodyTransformationResult = std::tuple< AffineMatrix3D, Cvb::optional< std::vector< Point3D< double > > >, AffineTransformationParameters >
	Result for calculating a rigid body transformation. More...

using	AQS12CalibratorResult = std::pair< LaserPlaneHomographyCalibrator3DPtr, std::array< Point3D< double >, 12 > >
	Result for calculating the calibrator based on the AQS12 calibration piece. More...

Enumerations
enum class	CalibrationPiece { AQS12 }
	Defines the calibration piece to use for face segmentation. More...

enum class	SegmentationMethod { KmeansClustering = CExports::CVMSM_KmeansClustering }
	Defines the segmentation method for labeling the faces of the calibration piece. More...

Functions
AffineMatrix3D	CalculateAffineTransformation (const std::vector< Point3D< double > > &referencePoints, const std::vector< Point3D< double > > &measuredPoints)
	Calculates an affine transformation. More...

TransformationResult	CalculateCorrectionOfLaserPlaneInclination (const std::vector< Point3D< double > > &referencePoints, const std::vector< Point3D< double > > &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...

RigidBodyTransformationResult	CalculateRigidBodyTransformation (const std::vector< Point3D< double > > &referencePoints, const std::vector< Point3D< double > > &measuredPoints, bool calculateResiduals=true)
	Calculates a rigid body transformation. More...

AQS12CalibratorResult	CreateCalibratorFromAqs12Piece (const ImagePlane &imagePlane, const AQS12RangeMapSegmentor &segmentor, const CalibrationConfiguration &config)
	Calculates intrinsic and extrinsic calibration parameters from the given range map image of an AQS12 calibration piece and creates a new calibration object. More...

AQS12CalibratorResult	CreateCalibratorFromAqs12Piece (const ImagePlane &imagePlane, const AQS12RangeMapSegmentor &segmentor, const CalibrationConfiguration &config, Rect< int > aoi)
	Calculates intrinsic and extrinsic calibration parameters from the range map image of an AQS12 calibration piece on the given area of interest and creates a new calibration object. More...

TransformationResult	CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece (const DensePointCloud &cloud, const AQS12DensePointCloudSegmentor &segmentor, const CalibrationConfiguration &config)
	Calculates an extrinsic calibration and the correction for the laser plane inclination (affine transformation) from the given dense point cloud of an AQS12 calibration piece. More...

TransformationResult	CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece (const DensePointCloud &cloud, const AQS12DensePointCloudSegmentor &segmentor, const CalibrationConfiguration &config, Rect< int > aoi)
	Calculates an extrinsic calibration and the correction for the laser plane inclination (affine transformation) from the dense point cloud of an AQS12 calibration piece on the given area of interest. More...

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. More...

RigidBodyTransformationResult	CalculateRigidBodyTransformationFromAqs12Piece (const DensePointCloud &cloud, const AQS12DensePointCloudSegmentor &segmentor, const AQS12Piece &aqs12, Cvb::Rect< int > aoi)
	Calculates a rigid body transformation from a dense point cloud of an AQS12 calibration piece on the given area of interest. More...

Detailed Description

Namespace for metric calibration.

Remarks: CMake users: Link to imported target CVB::CvbFoundationMetric

Typedef Documentation

◆ AQS12CalibratorResult

using AQS12CalibratorResult = std::pair<LaserPlaneHomographyCalibrator3DPtr, std::array<Point3D<double>, 12> >

Result for calculating the calibrator based on the AQS12 calibration piece.

The first element returned is the calibrator, the second contains the residuals of the 12 AQS12 points.

◆ RigidBodyTransformationResult

using RigidBodyTransformationResult = std::tuple<AffineMatrix3D, Cvb::optional<std::vector<Point3D<double> >>, AffineTransformationParameters>

Result for calculating a rigid body transformation.

The first element returned is the transformation (affine matrix and translation), the second contains optional residuals and the third contains transformation parameters.

◆ TransformationResult

using TransformationResult = std::tuple<AffineMatrix3D, Cvb::optional<std::vector<Point3D<double> >>, Cvb::optional<AffineTransformationParameters> >

Result for calculating an extrinsic transformation.

The first element returned is the transformation (affine matrix and translation), the second contains optional residuals and the third contains optional transformation parameters.

Enumeration Type Documentation

◆ CalibrationPiece

enum class CalibrationPiece

strong

Defines the calibration piece to use for face segmentation.

Enumerator
AQS12	The AQS12 calibration piece.

◆ SegmentationMethod

enum class SegmentationMethod

strong

Defines the segmentation method for labeling the faces of the calibration piece.

Enumerator
KmeansClustering	Clustering top, base and faces using kmeans.

Function Documentation

◆ CalculateAffineTransformation()

AffineMatrix3D CalculateAffineTransformation	(	const std::vector< Point3D< double > > &	referencePoints,
		const std::vector< Point3D< double > > &	measuredPoints
	)

inline

Calculates an affine transformation.

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

[in]	referencePoints	Vector with reference points.
[in]	measuredPoints	Vector with corresponding measured points. Note, that these points have to represent the same body as the reference points.

Returns: Affine transformation.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ CalculateCorrectionOfLaserPlaneInclination()

TransformationResult CalculateCorrectionOfLaserPlaneInclination	(	const std::vector< Point3D< double > > &	referencePoints,
		const std::vector< Point3D< double > > &	measuredPoints,
		CalibrationConfiguration::ExtrinsicCalibrationModel	model = `CalibrationConfiguration::ExtrinsicCalibrationModel::SpecificTransformationParameters`,
		bool	estimateEncoderStep = `true`,
		bool	calculateResiduals = `true`
	)

inline

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

Parameters

[in]	referencePoints	Vector with reference points.
[in]	measuredPoints	Vector with corresponding measured points. Note, that these points have to represent the same body as the reference points.
[in]	model	Extrinsic calibration model.
[in]	estimateEncoderStep	True if encoder step (scale in Y) should be estimated. Note: If AffineTransformation is selected as extrinsic calibration model, the encoder step is always estimated.
[in]	calculateResiduals	True if residuals should be calculated.

Returns: The calibration result: affine transformation, optional array with residuals (if calculateResiduals=true) and optional transformation parameters (if model = SpecificTransformationParameters).

Exceptions

Any	exception derived from std::exception including CvbException.

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [1/2]

TransformationResult CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece	(	const DensePointCloud &	cloud,
		const AQS12DensePointCloudSegmentor &	segmentor,
		const CalibrationConfiguration &	config
	)

inline

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

For this function, create an extrinsic calibration configuration object using CreateExtrinsic() and change the extrinsic calibration model if desired via SetExtrinsicCalibrationModel().

Parameters

[in]	cloud	Dense point cloud.
[in]	segmentor	AQS12 segmentor object for dense point clouds.
[in]	config	Calibration configuration object.

Returns: The calibration result: affine transformation, array with residuals and - if SpecificTransformationParameters is selected as extrinsic calibration model - optional transformation parameters.

Exceptions

Any	exception derived from std::exception including CvbException.

Examples: Foundation/CppMetricCalibrationInclinationLaserPlane.

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [2/2]

TransformationResult CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece	(	const DensePointCloud &	cloud,
		const AQS12DensePointCloudSegmentor &	segmentor,
		const CalibrationConfiguration &	config,
		Rect< int >	aoi
	)

inline

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

For this function, create an extrinsic calibration configuration object using CreateExtrinsic() and change the extrinsic calibration model if desired via SetExtrinsicCalibrationModel().

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

[in]	cloud	Dense point cloud.
[in]	segmentor	AQS12 segmentor object for dense point clouds.
[in]	config	Calibration configuration object.
[in]	aoi	Area of interest of projected xy plane.

Returns: The calibration result: affine transformation, array with residuals and - if SpecificTransformationParameters is selected as extrinsic calibration model - optional transformation parameters.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ CalculateRigidBodyTransformation()

RigidBodyTransformationResult CalculateRigidBodyTransformation	(	const std::vector< Point3D< double > > &	referencePoints,
		const std::vector< Point3D< double > > &	measuredPoints,
		bool	calculateResiduals = `true`
	)

inline

Calculates a rigid body transformation.

Parameters

[in]	referencePoints	Vector with reference points.
[in]	measuredPoints	Vector with corresponding measured points. Note, that these points have to represent the same body as the reference points.
[in]	calculateResiduals	True if residuals should be calculated.

Returns: The calibration result: affine transformation, optional array with residuals (if calculateResiduals=true) and transformation parameters.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ CalculateRigidBodyTransformationFromAqs12Piece() [1/2]

RigidBodyTransformationResult CalculateRigidBodyTransformationFromAqs12Piece	(	const DensePointCloud &	cloud,
		const AQS12DensePointCloudSegmentor &	segmentor,
		const AQS12Piece &	aqs12
	)

inline

Calculates a rigid body transformation from a given dense point cloud of an AQS12 calibration piece.

Parameters

[in]	cloud	Dense point cloud.
[in]	segmentor	AQS12 segmentor object for dense point clouds.
[in]	aqs12	AQS12 calibration piece.

Returns: The calibration result: affine transformation, array with residuals and transformation parameters.

Exceptions

Any	exception derived from std::exception including CvbException.

Examples: Foundation/CppMetricCalibrationRigidBodyTrafo.

◆ CalculateRigidBodyTransformationFromAqs12Piece() [2/2]

RigidBodyTransformationResult CalculateRigidBodyTransformationFromAqs12Piece	(	const DensePointCloud &	cloud,
		const AQS12DensePointCloudSegmentor &	segmentor,
		const AQS12Piece &	aqs12,
		Cvb::Rect< int >	aoi
	)

inline

Calculates a rigid body transformation from a dense point cloud of an AQS12 calibration piece on the given area of interest.

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

[in]	cloud	Dense point cloud.
[in]	segmentor	AQS12 segmentor object for dense point clouds.
[in]	aqs12	AQS12 calibration piece.
[in]	aoi	Area of interest of projected xy plane.

Returns: The calibration result: affine transformation, array with residuals and transformation parameters.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ CreateCalibratorFromAqs12Piece() [1/2]

AQS12CalibratorResult CreateCalibratorFromAqs12Piece	(	const ImagePlane &	imagePlane,
		const AQS12RangeMapSegmentor &	segmentor,
		const CalibrationConfiguration &	config
	)

inline

Calculates intrinsic and extrinsic calibration parameters from the given range map image of an AQS12 calibration piece and creates a new calibration object.

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 Create() and change the extrinsic calibration model if desired via SetExtrinsicCalibrationModel(). The calibration parameters are saved to a newly created calibrator object.

Parameters

[in]	imagePlane	Plane of range map image.
[in]	segmentor	AQS12 segmentor object for range maps.
[in]	config	Calibration configuration object.

Returns: The variable to receive the resulting calibrator object and the residuals.

Exceptions

Any	exception derived from std::exception including CvbException.

Examples: Foundation/CppMetricCalibration.

◆ CreateCalibratorFromAqs12Piece() [2/2]

AQS12CalibratorResult CreateCalibratorFromAqs12Piece	(	const ImagePlane &	imagePlane,
		const AQS12RangeMapSegmentor &	segmentor,
		const CalibrationConfiguration &	config,
		Rect< int >	aoi
	)

inline

Calculates intrinsic and extrinsic calibration parameters from the range map image of an AQS12 calibration piece on the given area of interest and creates a new calibration object.

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 Create() and change the extrinsic calibration model if desired via SetExtrinsicCalibrationModel(). The calibration parameters are saved to a newly created calibrator object.

Parameters

[in]	imagePlane	Plane of range map image.
[in]	segmentor	AQS12 segmentor object for range maps.
[in]	config	Calibration configuration object.
[in]	aoi	Area of interest.

Returns: The variable to receive the resulting calibrator object and the residuals.

Exceptions

Any	exception derived from std::exception including CvbException.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ AQS12CalibratorResult

◆ RigidBodyTransformationResult

◆ TransformationResult

Enumeration Type Documentation

◆ CalibrationPiece

◆ SegmentationMethod

Function Documentation

◆ CalculateAffineTransformation()

◆ CalculateCorrectionOfLaserPlaneInclination()

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [1/2]

◆ CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece() [2/2]

◆ CalculateRigidBodyTransformation()

◆ CalculateRigidBodyTransformationFromAqs12Piece() [1/2]

◆ CalculateRigidBodyTransformationFromAqs12Piece() [2/2]

◆ CreateCalibratorFromAqs12Piece() [1/2]

◆ CreateCalibratorFromAqs12Piece() [2/2]