Configuration associated with a camera/laser set on angular scanning used to convert acquired data to 3D data. More...
#include <AngularMetricConfig.hpp>
Public Member Functions | |
| Config (const sal3d_angular_metric_config &config) | |
| Creates a C++ Config object that holds a C sal3d_metric_config. | |
| Config (const Config &mc) | |
| Copy constructor. | |
| Config & | operator= (const Config &mc) |
| Assignment operator. | |
| Config (const std::string &filename) | |
| Creates a new Config from a file. | |
| ~Config () | |
| Destructor. | |
| std::vector< float > | accuracyMean () const |
| Returns the mean accuracy of the calibration in x, y and z. | |
| std::vector< float > | accuracyStdDev () const |
| Returns the stddev accuracy of the calibration in x, y and z. | |
| const sal3d_angular_metric_config & | c_metric_config () const |
| Returns the pointer to the internal C angular metric config. | |
| void | saveToFile (const std::string &fileName) const |
| Saves the Config to a file. | |
| Point3D | toPoint3D (float angle, int v, float g) const |
| Converts a range map point to a Point3D. | |
| LensDistortion::Model | getLensDistortionModel () const |
| Get the lens distortion model associated with this configuration. | |
Configuration associated with a camera/laser set on angular scanning used to convert acquired data to 3D data.
This class requires linking with angularmetric.lib (import library for angularmetric.dll).
These objects have the information needed to convert Profile or RangeMap values (u, v and g) to 3D metric coordinates (X, Y and Z) in case of laser triangulation combined with angular scanning (see Angular Metric Calibration Tool).
The usual workflow is then to create a COP object from a RangeMap or a Frame, although single points can also be transformed through the method toPoint3D() provided in this class.
There are also a set of quality parameters that define how good a calibration was. They can be retrieved with accuracyMean() and accuracyStdDev().
| sal3d::AngularMetric::Config::Config | ( | const sal3d_angular_metric_config & | config | ) | [inline, explicit] |
Creates a C++ Config object that holds a C sal3d_metric_config.
The new C++ Config object will get the ownership of the C config, which means that you should not call sal3d_angular_metric_config_release() to this metricConfig, otherwise it would be called twice.
| [in] | config | The C sal3d_angular_metric_config to use to create this object. |
| sal3d::Error | On error |
| sal3d::AngularMetric::Config::Config | ( | const Config & | mc | ) | [inline] |
| sal3d::AngularMetric::Config::Config | ( | const std::string & | filename | ) | [inline, explicit] |
Creates a new Config from a file.
| [in] | filename | The name of the file to use to load the Config. |
| sal3d::Error | On error |
| std::vector<float> sal3d::AngularMetric::Config::accuracyMean | ( | ) | const [inline] |
Returns the mean accuracy of the calibration in x, y and z.
The mean accuracy of the calibration, together with the standard deviation of the accuracy, give an idea of the errors expected for scanned objects similar in size to the calibration pattern.
All x, y and z mean accuracies are given in metric units.
| sal3d::Error | On error |
| std::vector<float> sal3d::AngularMetric::Config::accuracyStdDev | ( | ) | const [inline] |
Returns the stddev accuracy of the calibration in x, y and z.
The accuracy standard deviation of the calibration, together with the mean of the accuracy, give an idea of the errors expected for scanned objects similar in size to the calibration pattern.
All x, y and z standard deviations are given in metric units.
| sal3d::Error | On error |
| const sal3d_angular_metric_config& sal3d::AngularMetric::Config::c_metric_config | ( | ) | const [inline] |
Returns the pointer to the internal C angular metric config.
| sal3d::Error | On error |
Referenced by sal3d::COP::COP().
| LensDistortion::Model sal3d::AngularMetric::Config::getLensDistortionModel | ( | ) | const [inline] |
Get the lens distortion model associated with this configuration.
This functions returns the lens distortion model that is associated with the metric configuration, which was (optionally) fed to the calibration function.
| sal3d::Error | On error |
Assignment operator.
| [in] | mc | The Config to copy to this object. |
| sal3d::Error | On error |
| void sal3d::AngularMetric::Config::saveToFile | ( | const std::string & | fileName | ) | const [inline] |
Saves the Config to a file.
| [in] | fileName | The name of the file to store the config. |
| sal3d::Error | On error |
| Point3D sal3d::AngularMetric::Config::toPoint3D | ( | float | angle, |
| int | v, | ||
| float | g | ||
| ) | const [inline] |
Converts a range map point to a Point3D.
Given the position of a point in the rangemap, its value and the angle for the chosen profile u, this method returns the corresponding point with metric coordinates.
| [in] | angle | The acquisition angle for the rangemap profile |
| [in] | v | The range map's v coordinate. |
| [in] | g | The range map's g value. |
| sal3d::Error | On error |
References sal3d::Point3D::c_point_3d().
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1.7.6.1