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CVBpy 15.0
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CVBpy 15.0
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Parameters of a 3D affine transformation matrix correcting an inclined laser plane. More...
Inherits object.
Properties | |
| inclination_x = property | |
| float: Gets or sets coefficient 2,1 of the matrix. | |
| inclination_z = property | |
| float: Gets or sets coefficient 2,2 of the matrix. | |
| rotation_angles = property | |
| cvb.Point3D: Gets or sets coefficient 1,1 of the matrix. | |
| s_yx = property | |
| float: Gets or sets coefficient 1,3 of the matrix. | |
| s_yz = property | |
| float: Gets or sets coefficient 1,4 of the matrix. | |
| scale = property | |
| cvb.Factors3D: Gets or sets coefficient 1,2 of the matrix. | |
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 rotation_angles.
The transformation parameters are an optional output of calibration functions like cvb.foundation.calculate_correction_of_laser_plane_inclination_from_aqs12_piece and cvb.foundation.calculate_correction_of_laser_plane_inclination. If given in the calibrator, they can be accessed via cvb.LaserPlaneCalibrator3D.correction_of_laser_plane_inclination.
See cvb.foundation.CalibrationConfiguration.extrinsic_calibration_model.
Create an affine transformation parameters object with default values.
Create an affine transformation parameters object with default values.
rotation_angles : cvb.Point3D Rotation angles about x, y and z in [degree].
scale : cvb.Factors3D Scale factors.
s_yx : float Shear Syx (induced by InclinationZ).
s_yz : float Shear Syz (induced by InclinationX).
inclination_x : float Inclination of laser plane (rotation about x axis) in [degree].
inclination_z : float Inclination of laser plane (rotation about z axis) in [degree].