apply_sheet_of_light_calibrationapply_sheet_of_light_calibrationapply_sheet_of_light_calibrationApplySheetOfLightCalibrationApplySheetOfLightCalibration (Operator)

Name

apply_sheet_of_light_calibrationapply_sheet_of_light_calibrationapply_sheet_of_light_calibrationApplySheetOfLightCalibrationApplySheetOfLightCalibration — Apply the calibration transformations to the input disparity image.

Signature

Description

The operator apply_sheet_of_light_calibrationapply_sheet_of_light_calibrationapply_sheet_of_light_calibrationApplySheetOfLightCalibrationApplySheetOfLightCalibration reads the disparity image DisparityDisparityDisparityDisparitydisparity, stores it to the sheet-of-light model specified by SheetOfLightModelIDSheetOfLightModelIDSheetOfLightModelIDSheetOfLightModelIDsheetOfLightModelID and applies the calibration transformation to this image, in order to compute the calibrated coordinates of the reconstructed 3D surface points. The resulting calibrated coordinates can be retrieved from the model by using the operator get_sheet_of_light_resultget_sheet_of_light_resultget_sheet_of_light_resultGetSheetOfLightResultGetSheetOfLightResult. The corresponding 3D object model can be retrieved with get_sheet_of_light_result_object_model_3dget_sheet_of_light_result_object_model_3dget_sheet_of_light_result_object_model_3dGetSheetOfLightResultObjectModel3dGetSheetOfLightResultObjectModel3d.

The disparity image DisparityDisparityDisparityDisparitydisparity may have been acquired previously by using the operator measure_profile_sheet_of_lightmeasure_profile_sheet_of_lightmeasure_profile_sheet_of_lightMeasureProfileSheetOfLightMeasureProfileSheetOfLight or by an image acquisition device, which directly provides disparity values and works according to the sheet-of-light technique.

In order to compute the calibrated coordinates, the parameters listed below must have been set for the sheet-of-light model with the help of the operator set_sheet_of_light_paramset_sheet_of_light_paramset_sheet_of_light_paramSetSheetOfLightParamSetSheetOfLightParam:

'calibration'"calibration""calibration""calibration""calibration":

extend of the calibration transformation which shall be applied to the disparity image. 'calibration'"calibration""calibration""calibration""calibration" must be set to 'xz'"xz""xz""xz""xz" or 'xyz'"xyz""xyz""xyz""xyz". Refer to set_sheet_of_light_paramset_sheet_of_light_paramset_sheet_of_light_paramSetSheetOfLightParamSetSheetOfLightParam for details on this parameter.

'camera_parameter'"camera_parameter""camera_parameter""camera_parameter""camera_parameter":

the internal parameters of the camera used for the measurement.

'camera_pose'"camera_pose""camera_pose""camera_pose""camera_pose":

the pose of the camera with respect to the world coordinate system.

'lightplane_pose'"lightplane_pose""lightplane_pose""lightplane_pose""lightplane_pose":

the pose representing the transformation from the light-plane coordinate system to the world coordinate system. The light-plane coordinate system must be chosen so that its plane z=0 coincides with the light plane described by the light line projector.

'movement_pose'"movement_pose""movement_pose""movement_pose""movement_pose":

a pose representing the movement of the object between two successive profile images with respect to the measurement system built by the camera and the laser. This pose is required when the calibration extend has been set to 'xyz'"xyz""xyz""xyz""xyz". It is ignored when the calibration extend has been set to 'xz'"xz""xz""xz""xz".

'scale'"scale""scale""scale""scale":

with this parameter you can scale the 3D coordinates X, Y and Z that result when applying the calibration transformations to the disparity image. 'scale'"scale""scale""scale""scale" must be specified as the ratio desired unit/original unit. The original unit is determined by thecoordinates of the calibration object. If the original unit is meters (which is the case if you use the standard calibration plate), you can set the desired unit directly by selecting 'm', 'cm', 'mm' or 'um' for the parameter Scale. By default, 'scale'"scale""scale""scale""scale" is set to 1.0.

Attention

A sheet-of-light model 'SheetOfLightModelID'"SheetOfLightModelID""SheetOfLightModelID""SheetOfLightModelID""SheetOfLightModelID" cannot be shared between two or more user's threads. Different sheet-of-light models can be used independently and safely in different threads.

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Example (HDevelop)

* ...
* Read an already acquired disparity map from file
read_image (Disparity, 'sheet_of_light/connection_rod_disparity.tif')
*
* Create a model and set the required parameters
gen_rectangle1 (ProfileRegion, 120, 75, 195, 710)
create_sheet_of_light_model (ProfileRegion, ['min_gray','num_profiles', \
                             'ambiguity_solving'], [70,290,'first'], \
                              SheetOfLightModelID)
set_sheet_of_light_param (SheetOfLightModelID, 'calibration', 'xyz')
set_sheet_of_light_param (SheetOfLightModelID, 'scale', 'mm')
set_sheet_of_light_param (SheetOfLightModelID, 'camera_parameter', \
                          CameraParameter)
set_sheet_of_light_param (SheetOfLightModelID, 'camera_pose', CameraPose)
set_sheet_of_light_param (SheetOfLightModelID, 'lightplane_pose', \
                          LightPlanePose)
set_sheet_of_light_param (SheetOfLightModelID, 'movement_pose', \
                          MovementPose)
*
* Apply the calibration transforms and
* get the resulting calibrated coordinates
apply_sheet_of_light_calibration (Disparity, SheetOfLightModelID)
get_sheet_of_light_result (X, SheetOfLightModelID, 'x')
get_sheet_of_light_result (Y, SheetOfLightModelID, 'y')
get_sheet_of_light_result (Z, SheetOfLightModelID, 'z')
*
* Clear the sheet-of-light model
clear_sheet_of_light_model (SheetOfLightModelID)

Result

The operator apply_sheet_of_light_calibrationapply_sheet_of_light_calibrationapply_sheet_of_light_calibrationApplySheetOfLightCalibrationApplySheetOfLightCalibration returns the value 2 (H_MSG_TRUE) if the given parameters are correct. Otherwise, an exception will be raised.

Possible Successors

get_sheet_of_light_resultget_sheet_of_light_resultget_sheet_of_light_resultGetSheetOfLightResultGetSheetOfLightResult, get_sheet_of_light_result_object_model_3dget_sheet_of_light_result_object_model_3dget_sheet_of_light_result_object_model_3dGetSheetOfLightResultObjectModel3dGetSheetOfLightResultObjectModel3d

Module

3D Metrology