measure_profile_sheet_of_light — Process the profile image provided as input and store the resulting disparity to the sheet-of-light model.
The operator measure_profile_sheet_of_light processes the ProfileImage and stores the resulting disparity values to the sheet-of-light model. Please note that ProfileImage will only be processed in the region defined by ProfileRegion as set with the operator create_sheet_of_light_model. Since ProfileImage is processed column by column, the profile must be oriented roughly horizontal.
Influence of different model parameters
If the model parameter 'score_type' has been set to 'intensity' or 'width', score values are also computed and stored into the model. Refer to set_sheet_of_light_param for details on the possible values of 'score_type'.
If the model parameter 'calibration' has been set to 'xz', 'xyz', or 'offset_scale' and all parameters required to determine the calibration transformation have been set to the sheet-of-light model, the calibration transformations will be automatically applied to the disparity values after the measurement. Refer to set_sheet_of_light_param for details on setting the calibration parameters to the sheet-of-light model.
MovementPose describes the movement of the object between the acquisition of the previous profile and the acquisition of the current profile.
If the model parameter 'calibration' has been set to 'none' or 'xz' (see set_sheet_of_light_param) the movement of the object is not taken into consideration by the calibration transformation. Therefore, MovementPose is ignored, and it can be set to an empty tuple.
If the model parameter 'calibration' has been set to 'xyz', the pose describing the movement of the object must be specified to the sheet-of-light model. This can be done here with MovementPose or with the parameter 'movement_pose' in the operator set_sheet_of_light_param.
If the model parameter 'calibration' has been set to 'offset_scale', a movement can be specified, but it should be considered, that the space to which this transformation is applied is most probably not metrically.
If the movement of the object between the recording of two successive profiles is constant, we recommend to set MovementPose here to an empty tuple, and to set the constant pose via the parameter 'movement_pose' in the operator set_sheet_of_light_param. This configuration is often encountered, for example when the object under measurement is moved by a conveyor belt and measured by a fixed measurement system.
If the movement of the object between the recording of two successive profiles is not constant, for example because the measurement system is moved over the object by a robot, you must set MovementPose here for each call of measure_profile_sheet_of_light.
MovementPose must be expressed in the world coordinate system that is implicitely defined during the calibration of the measurement system.
This operator modifies the state of the following input parameter:
Handle of the sheet-of-light model.
Pose describing the movement of the scene under measurement between the previously processed profile image and the current profile image.
The operator measure_profile_sheet_of_light returns the value 2 (H_MSG_TRUE) if the given parameters are correct. Otherwise, an exception will be raised.
query_sheet_of_light_params, get_sheet_of_light_param, get_sheet_of_light_result, apply_sheet_of_light_calibration