Image Manager/Cvb++/CppPointCloudCreateCalibrated

This example program is located in your CVB installation under %CVB%Tutorial/Image Manager/Cvb++/CppPointCloudCreateCalibrated.

main.cpp:

// This example program shows how to create a calibrated point cloud with given calibration file and
// how to work with it.
// ----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
 
#include <iostream>
 
#include "cvb/calibrator_3d.hpp"
#include "cvb/point_cloud.hpp"
#include "cvb/point_cloud_factory.hpp"
 
Cvb::Plane3D CutAqs12RoofAndCalculateNormal(const Cvb::PointCloud &cloud,
                                            double zRangeRoof,
                                            double xRangeRoofPlane,
                                            double yRangeRoofPlane);
 
int main() {
  try {
    auto path = Cvb::InstallPath();
 
    // create calibrated point cloud
    Cvb::ImagePtr rangemap = Cvb::Image::Load(
        path +
        CVB_LIT("tutorial/Metric/Images/RangeMapCalibrationPattern.tif"));
    auto calibrator = Cvb::Calibrator3D::Load<Cvb::Calibrator3D>(
        path + CVB_LIT("tutorial/Metric/Images/SICalibration.json"));
    calibrator->SetRangeMapIgnoreValue(0.0);
    auto cloudAqs12 = Cvb::PointCloudFactory::Create(
        rangemap->Plane(0), *calibrator,
        Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZ);
 
    // do something, e.g.
    // cut roof part of AQS12 and calculate its normal
    auto plane =
        CutAqs12RoofAndCalculateNormal(*cloudAqs12, 10.0, 50.0, 1000.0);
 
  } catch (const std::exception &error) {
    std::cout << error.what() << std::endl;
  }
 
  return 0;
}
 
Cvb::Plane3D CutAqs12RoofAndCalculateNormal(const Cvb::PointCloud &cloud,
                                            double zRangeRoof,
                                            double xRangeRoofPlane,
                                            double yRangeRoofPlane) {
  auto dx = xRangeRoofPlane / 2;
  auto dy = yRangeRoofPlane / 2;
 
  // crop roof roughly
  auto bbRoof = cloud.CalculateBoundingBox();
  bbRoof.SetZRange(
      {bbRoof.ZRange().Max() - zRangeRoof, bbRoof.ZRange().Max() + 1});
  auto roof = cloud.Crop<Cvb::DensePointCloud>(bbRoof);
 
  // use only midmost part of roof
  auto cog = roof->CalculateCenterOfGravity();
  auto bbRoofPlane = roof->CalculateBoundingBox();
  bbRoofPlane.SetXRange({cog.X() - dx, cog.X() + dx});
  bbRoofPlane.SetYRange({cog.Y() - dy, cog.Y() + dy});
  auto roofPlane = roof->Crop(bbRoofPlane);
 
  // calculate and return plane
  return roof->FitPlane();
}