New Features in SAL3D

This page summarizes improvements and variations with respects SAL3D v8.4. These changes improve the flexibility of the library.

In addition to the Range Map already present in previous SAL3D versions, the library contains two new main objects:

• COP
• ZMap

The COP object directly contains the metric information of the cloud of points. This object eases the use of other 3D data not acquired by means of laser triangulation.

The ZMap is a planar projection of the COP. Although it is similar to a RangeMap, the ZMap solves problems related to projective distortion among others. Look the Advantages of ZMap section for more information.

In addition to these major changes, this new version contains:

• Easy and efficient multicore programming with ThreadPool and PipeLine.

• New Static Metric Calibration.

• Modification of the Metric Calibration Tool allowing to combine information from multiple cameras observing different parts of the scene.

• Export tools to PLY 3D file formats (exportToAsciiPLY and exportToBinaryPLY)

• Improved Match3D alignment.

• Measure of the quality on the Match3D alignment.

• Prototype version of a Coarse Registration tool

• Improvements on the Disparity Map, minimizing errors on edges.