Common Vision Blox 15.0
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Foundation/Cvb++/CppMetricCalibration

This example program is located in your CVB installation under %CVB%Tutorial/Foundation/Cvb++/CppMetricCalibration.

main.cpp:

// Example for **intrinsic and extrinsic calibration** of a laser triangulation system using the AQS12
// target.
// ---------------------------------------------------------------------------
// ---------------------------------------------------------------------------
#include <iostream>
#include "cvb/point_cloud_factory.hpp"
#include "cvb/calibrator_3d.hpp"
#include "cvb/foundation/metric_aqs12.hpp"
void PrintTrafo(const Cvb::AffineMatrix3D& transformation);
void PrintTrafo(const Cvb::AffineTransformationParameters& transformationParameters);
void PrintResiduals(const std::array<Cvb::Point3D<double>, 12>& residuals);
void PrintAqs12Points(const std::vector< Cvb::Point3D<double>>& points);
bool CheckAccuracy(const std::array<Cvb::Point3D<double>, 12>& residuals, double desiredAccuracy);
int main()
{
try
{
std::cout << "Estimation of homography and affine transformation (correcting an inclined laser plane)\n\n";
// load range map of AQS12
const auto rangemapFile = Cvb::InstallPath() + CVB_LIT("tutorial/Metric/Images/RangeMapCalibrationPattern.tif");
Cvb::ImagePtr rangemap = Cvb::Image::Load(rangemapFile);
std::cout << "Rangemap loaded with size of " << rangemap->Width() << " x " << rangemap->Height() << " from " << rangemapFile << ".\n\n";
// create calibration configuration object
auto aqs12 = GetAqs12();
// create AQS12 segmentor for range maps
auto segmentor = Cvb::Foundation::Metric::AQS12RangeMapSegmentor::Create(Cvb::Foundation::Metric::SegmentationMethod::KmeansClustering);
// estimate calibration parameters
auto [calibrator, residuals] = Cvb::Foundation::Metric::CreateCalibratorFromAqs12Piece(rangemap->Plane(0), *segmentor, *config);
// show results
auto [transformation, transformationParameters] = calibrator->CorrectionOfLaserPlaneInclination();
if(transformation)
PrintTrafo(*transformation);
if (transformationParameters)
PrintTrafo(*transformationParameters);
PrintResiduals(residuals);
// check intermediate results if residuals are not ok
const double desiredAccuracy = 0.05;
if (!CheckAccuracy(residuals, desiredAccuracy))
{
std::cout << "Results do not have desired accuracy. Check face segmentation and extracted AQS12 points...\n";
auto facesAqs12 = segmentor->FaceSegmentationFromPiece(rangemap->Plane(0));
auto pointsAqs12 = segmentor->ExtractProjectedPointsFromPiece(rangemap->Plane(0));
PrintAqs12Points(pointsAqs12);
}
else
{
// create calibrated cloud
auto calibratedCloud = Cvb::PointCloudFactory::Create(rangemap->Plane(0), *calibrator, Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZConfidence);
std::cout << "The calibration was successful and accuracy is < " << desiredAccuracy << " mm. :)\n";
}
}
catch (const std::exception & error)
{
std::cout << error.what() << std::endl;
}
return 0;
}
{
// reference points in mm in a right-handed coordinate system
std::array< Cvb::Point3D<double>, 12> points =
{ {
{20.0018, 44.9941, 15.0000},
{24.0018, 39.9942, 14.9994},
{23.9994, 24.9972, 15.0001},
{20.0021, 20.0035, 15.0011},
{15.9994, 25.0079, 15.0016},
{16.0000, 39.9919, 15.0010},
{20.0095, 59.9985, 4.9902},
{32.0093, 44.9958, 4.9909},
{32.0052, 19.9925, 4.9920},
{20.0021, 4.9961, 4.9939},
{ 8.0024, 19.9980, 5.0009},
{ 8.0065, 45.0009, 4.9984},
} };
}
bool CheckAccuracy(const std::array<Cvb::Point3D<double>, 12>& residuals, double desiredAccuracy)
{
for (auto residual : residuals)
{
if (std::abs(residual.X()) > desiredAccuracy || std::abs(residual.Y()) > desiredAccuracy || std::abs(residual.Z()) > desiredAccuracy)
{
return false;
}
}
return true;
}
void PrintTrafo(const Cvb::AffineMatrix3D& transformation)
{
std::cout << "Estimated transformation:\n";
std::cout << "translation: [";
std::cout << transformation.Translation().X() << ", " << transformation.Translation().Y() << ", " << transformation.Translation().Z() << "]\n";
std::cout << "transformation matrix: [\n";
std::cout << transformation.Matrix()[0][0] << ", " << transformation.Matrix()[0][1] << ", " << transformation.Matrix()[0][2] << ",\n";
std::cout << transformation.Matrix()[1][0] << ", " << transformation.Matrix()[1][1] << ", " << transformation.Matrix()[1][2] << ",\n";
std::cout << transformation.Matrix()[2][0] << ", " << transformation.Matrix()[2][1] << ", " << transformation.Matrix()[2][2] << "]\n\n";
}
void PrintTrafo(const Cvb::AffineTransformationParameters& transformationParameters)
{
std::cout << "Rotation angles about X,Y,Z axis in [degree]: " << transformationParameters.RotationAngles[0] << ", " << transformationParameters.RotationAngles[1] << ", " << transformationParameters.RotationAngles[2] << "\n";
std::cout << "Shear Syx, Syz: " << transformationParameters.Syx << ", " << transformationParameters.Syz << "\n";
std::cout << "Inclination of laser plane about X,Z axis in [degree]: " << transformationParameters.InclinationX << ", " << transformationParameters.InclinationZ << "\n";
std::cout << "Scale in X,Y,Z: " << transformationParameters.Scale.X << ", " << transformationParameters.Scale.Y << ", " << transformationParameters.Scale.Z << "\n\n";
}
void PrintResiduals(const std::array<Cvb::Point3D<double>, 12>& residuals)
{
std::cout << "Residuals:\n";
for (auto residual : residuals)
{
std::cout << residual.X() << " " << residual.Y() << " " << residual.Z() << "\n";
}
std::cout << "\n";
}
void PrintAqs12Points(const std::vector< Cvb::Point3D<double>>& points)
{
std::cout << "AQS12 points\n";
for (auto point : points)
{
std::cout << point.X() << " " << point.Y() << " " << point.Z() << "\n";
}
std::cout << "\n";
}
Vector3D< double > Translation() const noexcept
Matrix3D Matrix() const noexcept
static std::shared_ptr< AQS12RangeMapSegmentor > Create(const SegmentationMethod method)
static std::unique_ptr< CalibrationConfiguration > Create(const AQS12Piece &aqs12)
static std::unique_ptr< Image > Load(const String &fileName)
static PointCloudPtr Create(const ImagePlane &rangeMap, const Calibrator3D &calibrator, PointCloudFlags flags)
AQS12CalibratorResult CreateCalibratorFromAqs12Piece(const ImagePlane &imagePlane, const AQS12RangeMapSegmentor &segmentor, const CalibrationConfiguration &config)
std::shared_ptr< Image > ImagePtr
String InstallPath()