eVision::Easy3D::EObjectBasedCalibrationGenerator Class Reference

Represents an object-based 3D calibration generator. More...

#include <eVision/Easy3D/Easy3DLaserLine/EObjectBasedCalibrationGenerator.h>

Inheritance diagram for eVision::Easy3D::EObjectBasedCalibrationGenerator:

Collaboration diagram for eVision::Easy3D::EObjectBasedCalibrationGenerator:

Public Member Functions
	EObjectBasedCalibrationGenerator ()
	Creates a EObjectBasedCalibrationGenerator.
	EObjectBasedCalibrationGenerator (const eVision::Easy3D::EObjectBasedCalibrationGenerator &other)
	Creates a EObjectBasedCalibrationGenerator.
virtual	~EObjectBasedCalibrationGenerator () throw ()
eVision::Easy3D::EObjectBasedCalibrationGenerator &	operator= (const eVision::Easy3D::EObjectBasedCalibrationGenerator &other)
	Assignment operator.
void	SetCalibrationObjectType (eVision::Easy3D::EObjectBasedCalibrationType type)
	Sets the EObjectBasedCalibrationType used for the computation of the EObjectBasedCalibrationModel.
void	SetCalibrationObjectType (eVision::Easy3D::EObjectBasedCalibrationType type, float sizeA, float sizeB, float sizeC)
	Sets the EObjectBasedCalibrationType used for the computation of the EObjectBasedCalibrationModel.
eVision::Easy3D::EObjectBasedCalibrationType	GetCalibrationObjectType () const
	Gets the EObjectBasedCalibrationType used for the computation of the EObjectBasedCalibrationModel.
void	SetCalibrationObjectScale (float scale)
	Sets the scale of your target calibration model compared to a reference model.
void	SetCalibrationObjectScale (float scaleX, float scaleY, float scaleZ)
	Sets the scale of your target calibration model compared to a reference model.
float	GetCalibrationObjectScaleX () const
	Returns the X axis scale of the calibration object.
float	GetCalibrationObjectSizeA () const
	Returns the 'A' size of the calibration object.
float	GetCalibrationObjectScaleY () const
	Returns the Y axis scale of the calibration object.
float	GetCalibrationObjectSizeB () const
	Returns the 'B' size of the calibration object.
float	GetCalibrationObjectScaleZ () const
	Returns the Z axis scale of the calibration object.
float	GetCalibrationObjectSizeC () const
	Returns the 'C' size of the calibration object.
void	SetPrecisionVsSpeedTradeOff (eVision::Easy3D::EObjectBasedCalibrationPrecisionVsSpeedTradeOff tradeOff)
	Sets/Gets the trade-off between precision and speed for the calibration.
eVision::Easy3D::EObjectBasedCalibrationPrecisionVsSpeedTradeOff	GetPrecisionVsSpeedTradeOff () const
	Sets/Gets the trade-off between precision and speed for the calibration.
void	SetAlongPositiveZAxis (bool alongPositiveZAxis)
	Sets/Gets whether the calibration object is along the positive z-axis.
bool	GetAlongPositiveZAxis () const
	Sets/Gets whether the calibration object is along the positive z-axis.
void	SetNumCalibrationPasses (int numPasses)
	Sets/Gets the number of calibration passes.
int	GetNumCalibrationPasses () const
	Sets/Gets the number of calibration passes.
eVision::Easy3D::EObjectBasedCalibrationModel	Compute (const eVision::Easy3D::EDepthMap8 &dm) const
	Computes an EObjectBasedCalibrationModel from the EDepthMap of the calibration object.
eVision::Easy3D::EObjectBasedCalibrationModel	Compute (const eVision::Easy3D::EDepthMap16 &dm) const
	Computes an EObjectBasedCalibrationModel from the EDepthMap of the calibration object.
eVision::Easy3D::EObjectBasedCalibrationModel	Compute (const eVision::Easy3D::EDepthMap32f &dm) const
	Computes an EObjectBasedCalibrationModel from the EDepthMap of the calibration object.
void	Save (const std::string &path)
	Saves the parameters used by the object based calibration generator.
void	Save (eVision::ESerializer *serializer)
	Saves the parameters used by the object based calibration generator.
void	Load (const std::string &path)
	Loads the parameters used by the object based calibration generator.
void	Load (eVision::ESerializer *serializer)
	Loads the parameters used by the object based calibration generator.
void	SetRangeX (const eVision::EIntegerRange &Range_X)
	Sets/Gets the 'X' axis range for the calibration object detection in the EDepthMap.
eVision::EIntegerRange	GetRangeX () const
	Sets/Gets the 'X' axis range for the calibration object detection in the EDepthMap.
void	SetRangeY (const eVision::EIntegerRange &Range_Y)
	Sets/Gets the 'Y' axis range for the calibration object detection in the depth map.
eVision::EIntegerRange	GetRangeY () const
	Sets/Gets the 'Y' axis range for the calibration object detection in the depth map.
void	SetRangeZ (const eVision::EFloatRange &Range_Z)
	Sets/Gets the 'Z' axis range for the calibration object detection in the depth map.
eVision::EFloatRange	GetRangeZ () const
	Sets/Gets the 'Z' axis range for the calibration object detection in the depth map.
	EObjectBasedCalibrationGenerator (CppWrapperInternal::InternalConstructor)
Public Member Functions inherited from eVision::Easy3D::ECalibrationGenerator
virtual	~ECalibrationGenerator () throw ()
	ECalibrationGenerator (CppWrapperInternal::InternalConstructor)

Additional Inherited Members
Public Attributes inherited from eVision::Easy3D::ECalibrationGenerator
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Represents an object-based 3D calibration generator.

The class performs the computation of a calibration model based on the scan of the reference object.

License(s): Easy3DLaserLine

Constructor & Destructor Documentation

EObjectBasedCalibrationGenerator() [1/3]

eVision::Easy3D::EObjectBasedCalibrationGenerator::EObjectBasedCalibrationGenerator

(

)

Creates a EObjectBasedCalibrationGenerator.

EObjectBasedCalibrationGenerator() [2/3]

eVision::Easy3D::EObjectBasedCalibrationGenerator::EObjectBasedCalibrationGenerator

(

const eVision::Easy3D::EObjectBasedCalibrationGenerator &

other

)

Creates a EObjectBasedCalibrationGenerator.

Parameters

other

The other EObjectBasedCalibrationGenerator.

~EObjectBasedCalibrationGenerator()

eVision::Easy3D::EObjectBasedCalibrationGenerator::~EObjectBasedCalibrationGenerator ( ) throw (  )

virtual

EObjectBasedCalibrationGenerator() [3/3]

eVision::Easy3D::EObjectBasedCalibrationGenerator::EObjectBasedCalibrationGenerator

(

CppWrapperInternal::InternalConstructor

)

Member Function Documentation

Compute() [1/3]

eVision::Easy3D::EObjectBasedCalibrationModel eVision::Easy3D::EObjectBasedCalibrationGenerator::Compute

(

const eVision::Easy3D::EDepthMap16 &

dm

)

const

Computes an EObjectBasedCalibrationModel from the EDepthMap of the calibration object.

Parameters

dm	The input depth map of the calibration object.

Compute() [2/3]

eVision::Easy3D::EObjectBasedCalibrationModel eVision::Easy3D::EObjectBasedCalibrationGenerator::Compute

(

const eVision::Easy3D::EDepthMap32f &

dm

)

const

Computes an EObjectBasedCalibrationModel from the EDepthMap of the calibration object.

Parameters

dm	The input depth map of the calibration object.

Compute() [3/3]

eVision::Easy3D::EObjectBasedCalibrationModel eVision::Easy3D::EObjectBasedCalibrationGenerator::Compute

(

const eVision::Easy3D::EDepthMap8 &

dm

)

const

Computes an EObjectBasedCalibrationModel from the EDepthMap of the calibration object.

Parameters

dm	The input depth map of the calibration object.

GetAlongPositiveZAxis()

bool eVision::Easy3D::EObjectBasedCalibrationGenerator::GetAlongPositiveZAxis

(

)

const

Sets/Gets whether the calibration object is along the positive z-axis.

• If True, the top of the calibration object in the depthmap is expected to have a higher z value than the bottom.
• If False, the top of the calibration object in the depthmap is expected to have a lower z value than the bottom.

True by default.

GetCalibrationObjectScaleX()

float eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectScaleX

(

)

const

Returns the X axis scale of the calibration object.

Deprecated

Use EObjectBasedCalibrationGenerator::GetCalibrationObjectSizeA instead. Note that scale and size aren't the same thing.

Deprecated in version 23.12. Scheduled to be removed in version 27.6.

GetCalibrationObjectScaleY()

float eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectScaleY

(

)

const

Returns the Y axis scale of the calibration object.

Deprecated

Use EObjectBasedCalibrationGenerator::GetCalibrationObjectSizeB instead. Note that scale and size aren't the same thing.

Deprecated in version 23.12. Scheduled to be removed in version 27.6.

GetCalibrationObjectScaleZ()

float eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectScaleZ

(

)

const

Returns the Z axis scale of the calibration object.

Deprecated

Use EObjectBasedCalibrationGenerator::GetCalibrationObjectSizeC instead. Note that scale and size aren't the same thing.

Deprecated in version 23.12. Scheduled to be removed in version 27.6.

GetCalibrationObjectSizeA()

float eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectSizeA

(

)

const

Returns the 'A' size of the calibration object.

GetCalibrationObjectSizeB()

float eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectSizeB

(

)

const

Returns the 'B' size of the calibration object.

GetCalibrationObjectSizeC()

float eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectSizeC

(

)

const

Returns the 'C' size of the calibration object.

GetCalibrationObjectType()

eVision::Easy3D::EObjectBasedCalibrationType eVision::Easy3D::EObjectBasedCalibrationGenerator::GetCalibrationObjectType

(

)

const

Gets the EObjectBasedCalibrationType used for the computation of the EObjectBasedCalibrationModel.

The type of the object used for the calibration is E3DObjectBasedCalibrationType_NotDefined by default.

GetNumCalibrationPasses()

int eVision::Easy3D::EObjectBasedCalibrationGenerator::GetNumCalibrationPasses

(

)

const

Sets/Gets the number of calibration passes.

Each passes will refine the calibration model but the computation will be longer. The number of passes is 1 by default.

GetPrecisionVsSpeedTradeOff()

eVision::Easy3D::EObjectBasedCalibrationPrecisionVsSpeedTradeOff eVision::Easy3D::EObjectBasedCalibrationGenerator::GetPrecisionVsSpeedTradeOff

(

)

const

Sets/Gets the trade-off between precision and speed for the calibration.

The Precision vs speed trade-off mode from EObjectBasedCalibrationPrecisionVsSpeedTradeOff is EObjectBasedCalibrationPrecisionVsSpeedTradeOff_Balanced by default.

GetRangeX()

eVision::EIntegerRange eVision::Easy3D::EObjectBasedCalibrationGenerator::GetRangeX

(

)

const

Sets/Gets the 'X' axis range for the calibration object detection in the EDepthMap.

If max value is smaller than min value, then max will not be used, we use depth map width - 1 instead. If min value is smaller than 0, then min will not be used, we use 0 instead.

GetRangeY()

eVision::EIntegerRange eVision::Easy3D::EObjectBasedCalibrationGenerator::GetRangeY

(

)

const

Sets/Gets the 'Y' axis range for the calibration object detection in the depth map.

If max value is smaller than min value, then max will not be used, we use depth map height - 1 instead. If min value is smaller than 0, then min will not be used, we use 0 instead.

GetRangeZ()

eVision::EFloatRange eVision::Easy3D::EObjectBasedCalibrationGenerator::GetRangeZ

(

)

const

Sets/Gets the 'Z' axis range for the calibration object detection in the depth map.

if max value is smaller than min value, then max will not be used, we use the maximum float value instead. if min value is smaller than 0, then min will not be used, we use 0 instead.

Load() [1/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::Load

(

const std::string &

path

)

Loads the parameters used by the object based calibration generator.

Parameters

path	The file path.

Load() [2/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::Load

(

eVision::ESerializer *

serializer

)

Loads the parameters used by the object based calibration generator.

Parameters

serializer

The serializer.

operator=()

eVision::Easy3D::EObjectBasedCalibrationGenerator & eVision::Easy3D::EObjectBasedCalibrationGenerator::operator=

(

const eVision::Easy3D::EObjectBasedCalibrationGenerator &

other

)

Assignment operator.

Parameters

other

The other EObjectBasedCalibrationGenerator.

Save() [1/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::Save

(

const std::string &

path

)

Saves the parameters used by the object based calibration generator.

Parameters

path	The file path.

Save() [2/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::Save

(

eVision::ESerializer *

serializer

)

Saves the parameters used by the object based calibration generator.

Parameters

serializer

The ESerializer object that is written to.

SetAlongPositiveZAxis()

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetAlongPositiveZAxis

(

bool

alongPositiveZAxis

)

Sets/Gets whether the calibration object is along the positive z-axis.

• If True, the top of the calibration object in the depthmap is expected to have a higher z value than the bottom.
• If False, the top of the calibration object in the depthmap is expected to have a lower z value than the bottom.

True by default.

SetCalibrationObjectScale() [1/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetCalibrationObjectScale

(

float

scale

)

Sets the scale of your target calibration model compared to a reference model.

Refer to the user guide for the EObjectBasedCalibrationModel reference design. Use that value to set the unit of the calibrated positions in the point cloud. The scale will affect the world coordinates after conversion of the EDepthMap to EPointCloud. For example, if "1 reference unit" is equal to "10 millimeters", set "10" as scale value. Then applying the calibration will produce results in millimeters. Changing these values affect the calibration object sizes defined by EObjectBasedCalibrationGenerator::SetCalibrationObjectType.

Parameters

scale

Sets the same scale on axis X, Y and Z relative to the calibration object reference size.

Deprecated

Use EObjectBasedCalibrationGenerator::SetCalibrationObjectType instead. Note that the scale and size arguments aren't the same thing.

Deprecated in version 23.12. Scheduled to be removed in version 27.6.

SetCalibrationObjectScale() [2/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetCalibrationObjectScale	(	float	scaleX,
		float	scaleY,
		float	scaleZ )

Sets the scale of your target calibration model compared to a reference model.

Refer to the user guide for the EObjectBasedCalibrationModel reference design. Use that value to set the unit of the calibrated positions in the point cloud. The scale will affect the world coordinates after conversion of the EDepthMap to EPointCloud. For example, if "1 reference unit" is equal to "10 millimeters", set "10" as scale value. Then applying the calibration will produce results in millimeters. Changing these values affect the calibration object sizes defined by EObjectBasedCalibrationGenerator::SetCalibrationObjectType.

Parameters

scaleX	Sets the scale on X axis relative to the calibration object reference size.
scaleY	Sets the scale on Y axis relative to the calibration object reference size.
scaleZ	Sets the scale on Z axis relative to the calibration object reference size.

Deprecated

Use EObjectBasedCalibrationGenerator::SetCalibrationObjectType instead. Note that the scale and size arguments aren't the same thing.

Deprecated in version 23.12. Scheduled to be removed in version 27.6.

SetCalibrationObjectType() [1/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetCalibrationObjectType

(

eVision::Easy3D::EObjectBasedCalibrationType

type

)

Sets the EObjectBasedCalibrationType used for the computation of the EObjectBasedCalibrationModel.

The type of the object used for the calibration is E3DObjectBasedCalibrationType_NotDefined by default.

Parameters

type	Sets the type of object calibration to detect in the EDepthMap.

'sizeA', 'sizeB', and 'sizeC' values are in metric unit. The resulting point cloud positions after applying the calibration will follow the same metric unit. Refer to the eVision user guide, Easy3D calibration section, for the definition of 'A', 'B' and 'C' dimensions.

SetCalibrationObjectType() [2/2]

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetCalibrationObjectType	(	eVision::Easy3D::EObjectBasedCalibrationType	type,
		float	sizeA,
		float	sizeB,
		float	sizeC )

Sets the EObjectBasedCalibrationType used for the computation of the EObjectBasedCalibrationModel.

The type of the object used for the calibration is E3DObjectBasedCalibrationType_NotDefined by default.

Parameters

type	Sets the type of object calibration to detect in the EDepthMap.
sizeA	Sets the size 'A' of object calibration (1 by default).
sizeB	Sets the size 'B' of object calibration (1 by default).
sizeC	Sets the size 'C' of object calibration (1 by default).

'sizeA', 'sizeB', and 'sizeC' values are in metric unit. The resulting point cloud positions after applying the calibration will follow the same metric unit. Refer to the eVision user guide, Easy3D calibration section, for the definition of 'A', 'B' and 'C' dimensions.

SetNumCalibrationPasses()

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetNumCalibrationPasses

(

int

numPasses

)

Sets/Gets the number of calibration passes.

Each passes will refine the calibration model but the computation will be longer. The number of passes is 1 by default.

SetPrecisionVsSpeedTradeOff()

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetPrecisionVsSpeedTradeOff

(

eVision::Easy3D::EObjectBasedCalibrationPrecisionVsSpeedTradeOff

tradeOff

)

Sets/Gets the trade-off between precision and speed for the calibration.

The Precision vs speed trade-off mode from EObjectBasedCalibrationPrecisionVsSpeedTradeOff is EObjectBasedCalibrationPrecisionVsSpeedTradeOff_Balanced by default.

SetRangeX()

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetRangeX

(

const eVision::EIntegerRange &

Range_X

)

Sets/Gets the 'X' axis range for the calibration object detection in the EDepthMap.

If max value is smaller than min value, then max will not be used, we use depth map width - 1 instead. If min value is smaller than 0, then min will not be used, we use 0 instead.

SetRangeY()

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetRangeY

(

const eVision::EIntegerRange &

Range_Y

)

Sets/Gets the 'Y' axis range for the calibration object detection in the depth map.

If max value is smaller than min value, then max will not be used, we use depth map height - 1 instead. If min value is smaller than 0, then min will not be used, we use 0 instead.

SetRangeZ()

void eVision::Easy3D::EObjectBasedCalibrationGenerator::SetRangeZ

(

const eVision::EFloatRange &

Range_Z

)

Sets/Gets the 'Z' axis range for the calibration object detection in the depth map.

if max value is smaller than min value, then max will not be used, we use the maximum float value instead. if min value is smaller than 0, then min will not be used, we use 0 instead.