AngularMetric

Classes
class	sal3d::AngularMetric::Config
	Configuration associated with a camera/laser set on angular scanning used to convert acquired data to 3D data. More...
Namespaces
namespace	sal3d::AngularMetric
	Namespace for the Angular Metric Calibration Tool functions.
Functions
Config	sal3d::AngularMetric::calibrate (const RangeMap &rangeMap, const Metric::PatternSPPoints &points, float initialAngle, float angleStep, int left, int top, int right, int bottom, const LensDistortion::Model &dm, int filterlen=1)
	Calculates an angular metric calibration configuration using a range map of the angular pattern.
Config	sal3d::AngularMetric::calibrate (const RangeMap &rangeMap, const Metric::PatternSPPoints &points, float initialAngle, float angleStep, const LensDistortion::Model &dm, int filterlen=1)
	Calculates an angular metric calibration configuration using an optically corrected range map of the angular pattern.
Config	sal3d::AngularMetric::calibrate (const RangeMap &rangeMap, const Metric::PatternSPPoints &points, float initialAngle, float angleStep, int filterlen=1)
	Calculates an angular metric calibration configuration using a RangeMap map of the angular pattern.

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Function Documentation

Config sal3d::AngularMetric::calibrate	(	const RangeMap &	rangeMap,
		const Metric::PatternSPPoints &	points,
		float	initialAngle,
		float	angleStep,
		int	left,
		int	top,
		int	right,
		int	bottom,
		const LensDistortion::Model &	dm,
		int	filterlen = 1
	)		[inline]

Calculates an angular metric calibration configuration using a range map of the angular pattern.

This function requires linking with angularmetric.lib (import library for angularmetric.dll).

Provided a RangeMap of the angular calibration pattern (see the Description of the angular calibration pattern) and a set of 3D points defining it, this function calculates the configuration needed to later transform any RangeMap acquired with the same set of camera/laser into a COP. Only the region defined by the ROI is taken from the rangemap, and prior to calibrating, the distortion correction is applied to the rangemap based on the passed model.

Parameters:

[in]	rangeMap	The RangeMap of the pattern scanned with the acquisition system we want the metric calibration configuration for.
[in]	points	The 4 (y,z) points of the angular pattern in metric coordinates.
[in]	initialAngle	The scanning angle corresponding to the first RangeMap profile
[in]	angleStep	The angle between two consecutive profiles.
[in]	left	The first row from the rangemap to be considered in the ROI (>= 0)
[in]	top	The first profile from the rangemap to be considered in the ROI (>= 0)
[in]	right	The last row from the rangemap to be considered in the ROI (< rangeMap.profilesLenght())
[in]	bottom	The first profile from the rangemap to be considered in the ROI (< rangeMap.countProfiles())
[in]	dm	Lens distortion model. The range map values are taken as the Y coordinates from the camera 2D image, referred to the top row downwards.
[in]	filterlen	Length of the inter-profile filter, to reduce the influence of the capture noise in the calibration.

Returns:

The Config associated with this acquisition system.

Exceptions:

sal3d::Error

On error

References sal3d::LensDistortion::Model::c_lens_distortion(), and sal3d::RangeMap::c_range_map().

Referenced by sal3d::AngularMetric::calibrate().

Config sal3d::AngularMetric::calibrate	(	const RangeMap &	rangeMap,
		const Metric::PatternSPPoints &	points,
		float	initialAngle,
		float	angleStep,
		const LensDistortion::Model &	dm,
		int	filterlen = 1
	)		[inline]

Calculates an angular metric calibration configuration using an optically corrected range map of the angular pattern.

This function requires linking with angularmetric.lib (import library for angularmetric.dll).

Provided a RangeMap of the linear calibration pattern (see the Description of the angular calibration pattern) and a set of 3D points defining it, this function calculates the configuration needed to later transform any RangeMap acquired with the same set of camera/laser into a COP. Prior to calibrating, the distortion correction is applied to the rangemap based on the passed model.

Parameters:

[in]	rangeMap	The RangeMap of the pattern scanned with the acquisition system we want the metric calibration configuration for.
[in]	points	The 4 (y,z) points of the angular pattern in metric coordinates.
[in]	initialAngle	The scanning angle corresponding to the first RangeMap profile.
[in]	angleStep	The angle between two consecutive profiles.
[in]	dm	Lens distortion model. The range map values are taken as the Y coordinates from the camera 2D image, referred to the top row downwards.
[in]	filterlen	Length of the inter-profile filter, to reduce the influence of the capture noise in the calibration.

Returns:

The Config associated with this acquisition system.

Exceptions:

sal3d::Error

On error

References sal3d::LensDistortion::Model::c_lens_distortion(), sal3d::RangeMap::c_range_map(), sal3d::RangeMap::countProfiles(), and sal3d::RangeMap::profilesLength().

Config sal3d::AngularMetric::calibrate	(	const RangeMap &	rangeMap,
		const Metric::PatternSPPoints &	points,
		float	initialAngle,
		float	angleStep,
		int	filterlen = 1
	)		[inline]

Calculates an angular metric calibration configuration using a RangeMap map of the angular pattern.

Provided a RangeMap of the angular calibration pattern (see the Description of the angular calibration pattern) and a set of 3D points defining it, this function calculates the configuration needed to later transform any RangeMap acquired with the same set of camera/laser into a COP. This version performs no optical correction on the rangemap.

Parameters:

[in]	rangeMap	The RangeMap of the pattern scanned with the acquisition system we want the metric calibration configuration for.
[in]	points	The 4 (y,z) points of the angular pattern in metric coordinates.
[in]	initialAngle	The scanning angle corresponding to the first RangeMap profile
[in]	angleStep	The angle between two consecutive profiles.
[in]	filterlen	Length of the inter-profile filter, to reduce the influence of the capture noise in the calibration.

Returns:

The Config associated with this acquisition system.

Exceptions:

std::bad_alloc	if there was a problem allocating memory.
sal3d::InvalidPatternRangeMap	if the rangemap is too different from that expected. Very noisy acquisitions are most likely to cause this.
std::runtime_error	if there was an unknown error.

References sal3d::AngularMetric::calibrate().