CVB++ 15.0
Foundation/CppMetricCalibration
1// ---------------------------------------------------------------------------
17// ---------------------------------------------------------------------------
18
19
20#include <iostream>
21
22#include "cvb/point_cloud_factory.hpp"
23#include "cvb/calibrator_3d.hpp"
24#include "cvb/foundation/metric_aqs12.hpp"
25
26
28void PrintTrafo(const Cvb::AffineMatrix3D& transformation);
29void PrintTrafo(const Cvb::AffineTransformationParameters& transformationParameters);
30void PrintResiduals(const std::array<Cvb::Point3D<double>, 12>& residuals);
31void PrintAqs12Points(const std::vector< Cvb::Point3D<double>>& points);
32bool CheckAccuracy(const std::array<Cvb::Point3D<double>, 12>& residuals, double desiredAccuracy);
33
34int main()
35{
36 try
37 {
38 std::cout << "Estimation of homography and affine transformation (correcting an inclined laser plane)\n\n";
39
40 // load range map of AQS12
41 const auto rangemapFile = Cvb::InstallPath() + CVB_LIT("tutorial/Metric/Images/RangeMapCalibrationPattern.tif");
42 Cvb::ImagePtr rangemap = Cvb::Image::Load(rangemapFile);
43 std::cout << "Rangemap loaded with size of " << rangemap->Width() << " x " << rangemap->Height() << " from " << rangemapFile << ".\n\n";
44
45 // create calibration configuration object
46 auto aqs12 = GetAqs12();
48
49 // create AQS12 segmentor for range maps
51
52 // estimate calibration parameters
53 auto [calibrator, residuals] = Cvb::Foundation::Metric::CreateCalibratorFromAqs12Piece(rangemap->Plane(0), *segmentor, *config);
54
55 // show results
56 auto [transformation, transformationParameters] = calibrator->CorrectionOfLaserPlaneInclination();
57 if(transformation)
58 PrintTrafo(*transformation);
59 if (transformationParameters)
60 PrintTrafo(*transformationParameters);
61 PrintResiduals(residuals);
62
63 // check intermediate results if residuals are not ok
64 const double desiredAccuracy = 0.05;
65 if (!CheckAccuracy(residuals, desiredAccuracy))
66 {
67 std::cout << "Results do not have desired accuracy. Check face segmentation and extracted AQS12 points...\n";
68 auto facesAqs12 = segmentor->FaceSegmentationFromPiece(rangemap->Plane(0));
69 auto pointsAqs12 = segmentor->ExtractProjectedPointsFromPiece(rangemap->Plane(0));
70 PrintAqs12Points(pointsAqs12);
71 }
72 else
73 {
74 // create calibrated cloud
75 auto calibratedCloud = Cvb::PointCloudFactory::Create(rangemap->Plane(0), *calibrator, Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZConfidence);
76 std::cout << "The calibration was successful and accuracy is < " << desiredAccuracy << " mm. :)\n";
77 }
78 }
79 catch (const std::exception & error)
80 {
81 std::cout << error.what() << std::endl;
82 }
83
84 return 0;
85}
86
88{
89 // reference points in mm in a right-handed coordinate system
91 { {
92 {20.0018, 44.9941, 15.0000},
93 {24.0018, 39.9942, 14.9994},
94 {23.9994, 24.9972, 15.0001},
95 {20.0021, 20.0035, 15.0011},
96 {15.9994, 25.0079, 15.0016},
97 {16.0000, 39.9919, 15.0010},
98 {20.0095, 59.9985, 4.9902},
99 {32.0093, 44.9958, 4.9909},
100 {32.0052, 19.9925, 4.9920},
101 {20.0021, 4.9961, 4.9939},
102 { 8.0024, 19.9980, 5.0009},
103 { 8.0065, 45.0009, 4.9984},
104 } };
105
107}
108
109bool CheckAccuracy(const std::array<Cvb::Point3D<double>, 12>& residuals, double desiredAccuracy)
110{
111 for (auto residual : residuals)
112 {
113 if (std::abs(residual.X()) > desiredAccuracy || std::abs(residual.Y()) > desiredAccuracy || std::abs(residual.Z()) > desiredAccuracy)
114 {
115 return false;
116 }
117 }
118 return true;
119}
120
121void PrintTrafo(const Cvb::AffineMatrix3D& transformation)
122{
123 std::cout << "Estimated transformation:\n";
124 std::cout << "translation: [";
125 std::cout << transformation.Translation().X() << ", " << transformation.Translation().Y() << ", " << transformation.Translation().Z() << "]\n";
126
127 std::cout << "transformation matrix: [\n";
128 std::cout << transformation.Matrix()[0][0] << ", " << transformation.Matrix()[0][1] << ", " << transformation.Matrix()[0][2] << ",\n";
129 std::cout << transformation.Matrix()[1][0] << ", " << transformation.Matrix()[1][1] << ", " << transformation.Matrix()[1][2] << ",\n";
130 std::cout << transformation.Matrix()[2][0] << ", " << transformation.Matrix()[2][1] << ", " << transformation.Matrix()[2][2] << "]\n\n";
131}
132
133void PrintTrafo(const Cvb::AffineTransformationParameters& transformationParameters)
134{
135 std::cout << "Rotation angles about X,Y,Z axis in [degree]: " << transformationParameters.RotationAngles[0] << ", " << transformationParameters.RotationAngles[1] << ", " << transformationParameters.RotationAngles[2] << "\n";
136 std::cout << "Shear Syx, Syz: " << transformationParameters.Syx << ", " << transformationParameters.Syz << "\n";
137 std::cout << "Inclination of laser plane about X,Z axis in [degree]: " << transformationParameters.InclinationX << ", " << transformationParameters.InclinationZ << "\n";
138 std::cout << "Scale in X,Y,Z: " << transformationParameters.Scale.X << ", " << transformationParameters.Scale.Y << ", " << transformationParameters.Scale.Z << "\n\n";
139}
140
141void PrintResiduals(const std::array<Cvb::Point3D<double>, 12>& residuals)
142{
143 std::cout << "Residuals:\n";
144 for (auto residual : residuals)
145 {
146 std::cout << residual.X() << " " << residual.Y() << " " << residual.Z() << "\n";
147 }
148 std::cout << "\n";
149}
150
151void PrintAqs12Points(const std::vector< Cvb::Point3D<double>>& points)
152{
153 std::cout << "AQS12 points\n";
154 for (auto point : points)
155 {
156 std::cout << point.X() << " " << point.Y() << " " << point.Z() << "\n";
157 }
158 std::cout << "\n";
159}
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< AQS12RangeMapSegmentor > Create(const SegmentationMethod method)
Creates a AQS12 segmentor for range maps based on given segmentation method.
Definition: decl_metric_segmentor_range_map_aqs12.hpp:35
static std::unique_ptr< CalibrationConfiguration > Create(const AQS12Piece &aqs12)
Creates a calibration configuration object.
Definition: decl_metric_calibration_configuration.hpp:112
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.
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 ...
Definition: metric_aqs12.hpp:67
Parameters of a 3D affine transformation matrix correcting an inclined laser plane.
Definition: affine_matrix_3d.hpp:37
Vector3D< double > RotationAngles
Rotation angles about x, y and z in [degree].
Definition: affine_matrix_3d.hpp:39
double InclinationZ
Inclination of laser plane (rotation about z axis) in [degree].
Definition: affine_matrix_3d.hpp:54
double Syx
Shear Syx (induced by InclinationZ).
Definition: affine_matrix_3d.hpp:45
double InclinationX
Inclination of laser plane (rotation about x axis) in [degree].
Definition: affine_matrix_3d.hpp:51
Factors3D Scale
Scale factors.
Definition: affine_matrix_3d.hpp:42
double Syz
Shear Syz (induced by InclinationX).
Definition: affine_matrix_3d.hpp:48
double Z
The Z factor.
Definition: core_3d.hpp:23
double X
The X factor.
Definition: core_3d.hpp:19
double Y
The Y factor.
Definition: core_3d.hpp:21