AffineTransformationParameters Struct Reference

Parameters of a 3D affine transformation matrix correcting an inclined laser plane. More...

#include <affine_matrix_3d.hpp>

Public Member Functions
	AffineTransformationParameters ()
	Creates a new AffineTransformationParameters object with default values.

Public Attributes
Vector3D< double >	RotationAngles
	Rotation angles about x, y and z in [degree].
Factors3D	Scale
	Scale factors.
double	Syx = 0
	Shear Syx (induced by InclinationZ).
double	Syz = 0
	Shear Syz (induced by InclinationX).
double	InclinationX = 0
	Inclination of laser plane (rotation about x axis) in [degree].
double	InclinationZ = 0
	Inclination of laser plane (rotation about z axis) in [degree].

Detailed Description

Parameters of a 3D affine transformation matrix correcting an inclined laser plane.

The parameters of this struct allow for the transformation of an intrinsically calibrated point cloud to a world coordinate system. In addition to three rotation angles and three scaling factors, the struct includes two shear parameters Syx and Syz which correct an inclined laser plane.

The affine transformation matrix can be derived from these parameters using the formula shown below:

R is a 3D rotation matrix calculated from the RotationAngles.

The transformation parameters are an optional output of calibration functions like CalculateCorrectionOfLaserPlaneInclinationFromAqs12Piece and CalculateCorrectionOfLaserPlaneInclination. If given in the calibrator, they can be accessed via CorrectionOfLaserPlaneInclination.

See also

ExtrinsicCalibrationModel.

Examples

Foundation/CppMetricCalibration, Foundation/CppMetricCalibrationInclinationLaserPlane, and Foundation/CppMetricCalibrationRigidBodyTrafo.