Rx::LFR::Net::ExtrinsicCalibration Class Reference

Detailed Description

The extrinsic calibration class.

Inherits Rx::Net::NativeInterfaceWrapper< Rx::LFR::CExtrinsicCalibration, Rx::LFR::Net::Interfaces::EExtrinsicCalib >.

Public Member Functions
	ExtrinsicCalibration ()
	Default constructor. More...
	~ExtrinsicCalibration ()
	Destructor. More...
bool	Calibrate (RX_OUT array< double >^ % adExtrinsicTransformation, Rx::Net::Image^ xTotalFocusImage, Rx::Net::Image^ xDepthMapImage)
	Executes the calibration procedure. More...
int	DetectArucoMarkers (Calibration^ xCalibration, Rx::Net::Image^ xTotalFocusImage, Rx::Net::Image^ xDepthMapImage)
	Detect aruco markers and calculate the corresponding coordinate system for every marker. More...
void	Free ()
	Frees any data stored in extrinsic calibration subsystem. More...
virtual System::Object ^	GetInterface (Rx::LFR::Net::Interfaces::EExtrinsicCalib eData)
	Gets the interface. More...
void	GetLines (RX_OUT array< double, 2 >^ % adDetectedLines)
	Gets the lines representing the computed coordinate systems for the found markers. The resulting array is structured in the following way for every found marker (first dimension): More...
IParameters< Rx::LFR::Net::Params::EExtrinsicCalib > ^	GetParams ()
	Gets the parameters access interface. More...
void	Initialize ()
	Initializes the Extrinsic calibration. More...

Constructor & Destructor Documentation

ExtrinsicCalibration()

Rx::LFR::Net::ExtrinsicCalibration::ExtrinsicCalibration ( )

inline

Default constructor.

~ExtrinsicCalibration()

Rx::LFR::Net::ExtrinsicCalibration::~ExtrinsicCalibration ( )

inline

Destructor.

Member Function Documentation

Calibrate()

bool Rx::LFR::Net::ExtrinsicCalibration::Calibrate ( RX_OUT array< double >^ %  adExtrinsicTransformation, Rx::Net::Image^  xTotalFocusImage, Rx::Net::Image^  xDepthMapImage  )

inline

Executes the calibration procedure.

Parameters

adExtrinsicTransformation	[out]The extrinsic calibration
xTotalFocusImage	[in] If non-null, the total focus image.
xDepthMapImage	[in] If non-null, the depth map image.

Returns

True if it succeeds, false if it fails.

DetectArucoMarkers()

int Rx::LFR::Net::ExtrinsicCalibration::DetectArucoMarkers ( Calibration^  xCalibration, Rx::Net::Image^  xTotalFocusImage, Rx::Net::Image^  xDepthMapImage  )

inline

Detect aruco markers and calculate the corresponding coordinate system for every marker.

Attention

This system expects the calibration to be not extrinsically calibrated yet. This means There can be no translation and no rotation set.

Parameters

xCalibration	[in,out] If non-null, the calibration.
xTotalFocusImage	[in,out] If non-null, the total focus image.
xDepthMapImage	[in,out] If non-null, the depth map image.

Returns

The number of markers found.

Free()

void Rx::LFR::Net::ExtrinsicCalibration::Free ( )

inline

Frees any data stored in extrinsic calibration subsystem.

GetInterface()

virtual System::Object ^ Rx::Net::NativeInterfaceWrapper< Rx::LFR::CExtrinsicCalibration , Rx::LFR::Net::Interfaces::EExtrinsicCalib >::GetInterface ( Rx::LFR::Net::Interfaces::EExtrinsicCalib  eData )

inlinevirtualinherited

Gets the interface.

Returns

The interface.

GetLines()

void Rx::LFR::Net::ExtrinsicCalibration::GetLines ( RX_OUT array< double, 2 >^ %  adDetectedLines )

inline

Gets the lines representing the computed coordinate systems for the found markers. The resulting array is structured in the following way for every found marker (first dimension):

• Coordinate Origin (x,y,z)
• Direction vector X-Axis (x,y,z)
• Direction vector Y-Axis (x,y,z)
• Direction vector Z-Axis (x,y,z)

Attention

Before values can be retrieved, DetectArucoMarkers has to be executed.

Parameters

adDetectedLines

[in,out] The lines.

GetParams()

IParameters<Rx::LFR::Net::Params::EExtrinsicCalib> ^ Rx::LFR::Net::ExtrinsicCalibration::GetParams ( )

inline

Gets the parameters access interface.

Returns

The parameters access interface.

Initialize()

void Rx::LFR::Net::ExtrinsicCalibration::Initialize ( )

inline

Initializes the Extrinsic calibration.