Public Member Functions
bool	setCalibCameraModel (const std::string &cameraModel)
	Sets the model of the laser profilers used in the calibration, in the form of a string such as "Mech-Eye LNX-8030".

void	setMajorDeviceInfo (const DeviceInfo &deviceInfo)
	Initializes the configuration for the primary laser profiler.

void	setMinorDeviceInfos (const std::vector< DeviceInfo > &deviceInfos)
	Initializes the configuration for the secondary laser profiler(s).

void	setCalibTargetSize (const TargetSize &targetSize)
	Sets the dimensions of the frustums of the calibration target.

void	setCalibTargetPoses (const std::vector< TargetPose > &targetPoses)
	Defines the relative position of the frustums of the calibration target.

MultiProfilerErrorStatus	calculateCalibration (const cv::Mat &majorDepth, const std::vector< cv::Mat > &minorDepths, std::vector< CalibResult > &calibResults)
	Calculates the calibration results based on the depth maps acquired by the primary and secondary laser profilers.

bool	saveCalibFiles (bool needSaveAll=true, const std::string &saveFolderName="") const
	Saves the calibration data to files in the specified path.

MultiProfilerErrorStatus	stitchImages (const ProfilerImage &majorImage, const std::vector< ProfilerImage > &minorImages, const std::vector< CalibResult > &calibResults, MultiStitchResult &stitchResults, const std::optional< MultiStitchParams > &stitchParams=std::nullopt)
	Calculates the stitching results when the laser profilers are arranged in the Angle mode (i.e., in the opposite direction or around a circle).

MultiProfilerErrorStatus	stitchImagesForZParallel (const ProfilerImage &majorImage, const std::vector< ProfilerImage > &minorImages, const std::vector< CalibResult > &calibResults, MultiStitchResultZParallel &stitchResults, const std::optional< MultiStitchParams > &stitchParams=std::nullopt)
	Calculates the stitching results when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

MultiProfilerErrorStatus	imageFusionForZParallel (FusionResult &fusionResult, const std::vector< bool > &fusionFlag={})
	Performs fusion based on the stitching results when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

MultiProfilerErrorStatus	imageFusionForZParallel (const ProfilerImage &majorStitchImage, const std::vector< MinorStitchResultZParallel > &minorStitchResults, const cv::Point2i &majorBias, FusionResult &fusionResult, const std::vector< bool > &fusionFlag={})
	Performs fusion based on the stitching results when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

bool	saveStitchFiles (const std::string &saveFolderName="") const
	Saves the stitching results to files in the specified path.

bool	saveStitchFilesForZParallel (const std::string &saveFolderName="") const
	Saves the stitching results to files in the specified path when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

MultiProfilerErrorStatus	loadCalibProperties (const std::string &loadFolderName="", bool needLoadAll=false)
	Loads the calibration data from the files in the specified path, typically used before stitching starts.

std::vector< CalibResult >	getCurrentCalibResults () const
	Gets the current calibration results, which can be used for stitching.

DeviceInfo	getMajorDeviceInfo () const
	Gets the major device information. This function retrieves the information of the primary device used in the calibration or processing pipeline.

TargetSize	getTargetSize () const
	Gets the target size. This function retrieves the size of the calibration target.

std::string	getCameraModel () const
	Gets the camera model identifier. This function retrieves the model name of the profiler.

std::vector< DeviceInfo >	getMinorDeviceInfos () const
	Gets the minor devices' information. This function retrieves a list of information for all minor devices in the system.

std::vector< TargetPose >	getTargetPoses () const
	Gets the calibration target poses. This function retrieves the spatial positions and orientations of the calibration target captured during the calibration process.

	ProfilerCalibrationInterfaces (const std::string &cameraModel, const DeviceInfo &majorDeviceInfo, const std::vector< DeviceInfo > &minorDeviceInfos, const TargetSize &targetSize, const std::vector< TargetPose > &targetPoses)
	Constructs a new `ProfilerCalibrationInterfaces` object with specified parameters. This constructor initializes the calibration interface with the provided camera model, device information, target size, and target poses.

Detailed Description

Definition at line 47 of file ProfilerCalibrationInterfaces.h.

Constructor & Destructor Documentation

◆ ProfilerCalibrationInterfaces()

mmind::eye::ProfilerCalibrationInterfaces::ProfilerCalibrationInterfaces	(	const std::string &	cameraModel,
		const DeviceInfo &	majorDeviceInfo,
		const std::vector< DeviceInfo > &	minorDeviceInfos,
		const TargetSize &	targetSize,
		const std::vector< TargetPose > &	targetPoses
	)

Constructs a new ProfilerCalibrationInterfaces object with specified parameters. This constructor initializes the calibration interface with the provided camera model, device information, target size, and target poses.

Parameters

[in]	cameraModel	A string representing the camera model (e.g., "Mech-Eye LNX-8030").
[in]	majorDeviceInfo	A structure containing the configuration parameters of the major device.
[in]	minorDeviceInfos	A vector of `DeviceInfo` structures containing configuration data for each minor device.
[in]	targetSize	A structure defining the size of the calibration target.
[in]	targetPoses	A vector of `TargetPose` structures describing the positions and orientations of the calibration targets.

Member Function Documentation

◆ calculateCalibration()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::calculateCalibration	(	const cv::Mat &	majorDepth,
		const std::vector< cv::Mat > &	minorDepths,
		std::vector< CalibResult > &	calibResults
	)

Calculates the calibration results based on the depth maps acquired by the primary and secondary laser profilers.

Parameters

[in]	majorDepth	Depth map acquired by the primary laser profiler.
[in]	minorDepths	Depth map(s) acquired by secondary laser profiler(s).
[out]	calibResults	The calibration results and errors. See CalibResult for details.

Returns: See MultiProfilerErrorStatus for details.

◆ getCameraModel()

std::string mmind::eye::ProfilerCalibrationInterfaces::getCameraModel ( ) const

Gets the camera model identifier. This function retrieves the model name of the profiler.

Returns: Returns a string containing the camera model name.

◆ getCurrentCalibResults()

std::vector< CalibResult > mmind::eye::ProfilerCalibrationInterfaces::getCurrentCalibResults ( ) const

Gets the current calibration results, which can be used for stitching.

Returns: Returns the calibration results and errors. See CalibResult for details.

◆ getMajorDeviceInfo()

DeviceInfo mmind::eye::ProfilerCalibrationInterfaces::getMajorDeviceInfo ( ) const

Gets the major device information. This function retrieves the information of the primary device used in the calibration or processing pipeline.

Returns: Returns a DeviceInfo object containing the details of the major device.

◆ getMinorDeviceInfos()

std::vector< DeviceInfo > mmind::eye::ProfilerCalibrationInterfaces::getMinorDeviceInfos ( ) const

Gets the minor devices' information. This function retrieves a list of information for all minor devices in the system.

Returns: Returns a vector of DeviceInfo containing details of the minor devices.

◆ getTargetPoses()

std::vector< TargetPose > mmind::eye::ProfilerCalibrationInterfaces::getTargetPoses ( ) const

Gets the calibration target poses. This function retrieves the spatial positions and orientations of the calibration target captured during the calibration process.

Returns: Returns a vector of TargetPose containing the captured pose data.

◆ getTargetSize()

TargetSize mmind::eye::ProfilerCalibrationInterfaces::getTargetSize ( ) const

Gets the target size. This function retrieves the size of the calibration target.

Returns: Returns a TargetSize object representing the size of the target.

◆ imageFusionForZParallel() [1/2]

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::imageFusionForZParallel	(	const ProfilerImage &	majorStitchImage,
		const std::vector< MinorStitchResultZParallel > &	minorStitchResults,
		const cv::Point2i &	majorBias,
		FusionResult &	fusionResult,
		const std::vector< bool > &	fusionFlag = `{}`
	)

Performs fusion based on the stitching results when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

Parameters

[in]	majorStitchImage	The intensity image and depth map acquired by the primary laser profiler and converted to the coordinate system of the secondary laser profiler.
[in]	minorStitchResults	The intensity image and depth map acquired by the secondary laser profiler(s) and converted to the coordinate system of the primary laser profiler.
[in]	majorBias	The bias of the primary laser profiler relative to the laser profiler used as the reference in stitching.
[out]	fusionResult	The fused intensity image and depth map, and the coordinates of the upper-left pixels of the intensity image and depth may acquired by the primary laser profiler.
[in]	fusionFlag	Optional. Specifies whether to perform fusion. If left empty, fusion will be performed.

Returns: See MultiProfilerErrorStatus for details.

◆ imageFusionForZParallel() [2/2]

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::imageFusionForZParallel	(	FusionResult &	fusionResult,
		const std::vector< bool > &	fusionFlag = `{}`
	)

Performs fusion based on the stitching results when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

Parameters

[out]	fusionResult	The fused intensity image and depth map, and the coordinates of the upper-left pixels of the intensity image and depth map acquired by the primary laser profiler.
[in]	fusionFlag	Optional. Specifies whether to perform fusion. If left empty, fusion will be performed.

Returns: See MultiProfilerErrorStatus for details.

◆ loadCalibProperties()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::loadCalibProperties	(	const std::string &	loadFolderName = `""`,
		bool	needLoadAll = `false`
	)

Loads the calibration data from the files in the specified path, typically used before stitching starts.

Parameters

[in]	loadFolderName	The path of the files storing the calibration data to be loaded.
[in]	needLoadAll	Specifies whether all data related to the calibration should be loaded. When set to "false", only the calibration configurations, results, and errors will be loaded. When set to "true" (the default value), the intensity images and depth maps acquired by the laser profilers will also be loaded.

Returns: See MultiProfilerErrorStatus for details.

◆ saveCalibFiles()

bool mmind::eye::ProfilerCalibrationInterfaces::saveCalibFiles	(	bool	needSaveAll = `true`,
		const std::string &	saveFolderName = `""`
	)		const

Saves the calibration data to files in the specified path.

Parameters

[in]	needSaveAll	Specifies whether all data related to the calibration should be saved. When set to "false", only the calibration configurations, results, and errors will be saved. When set to "true" (the default value), the intensity images and depth maps acquired by the laser profilers will also be saved.
[in]	saveFolderName	The path where the files should be saved. If left empty, the default path will be used.

Returns: Returns true on success and false on failure.

◆ saveStitchFiles()

bool mmind::eye::ProfilerCalibrationInterfaces::saveStitchFiles ( const std::string & saveFolderName = "" ) const

Saves the stitching results to files in the specified path.

Parameters

[in] saveFolderName The path where the files should be saved. If left empty, the default path will be used.

Returns: Returns true on success and false on failure.

◆ saveStitchFilesForZParallel()

bool mmind::eye::ProfilerCalibrationInterfaces::saveStitchFilesForZParallel ( const std::string & saveFolderName = "" ) const

Saves the stitching results to files in the specified path when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

Parameters

[in] saveFolderName The path where the files should be saved. If left empty, the default path will be used.

Returns: Returns true on success and false on failure.

◆ setCalibCameraModel()

bool mmind::eye::ProfilerCalibrationInterfaces::setCalibCameraModel ( const std::string & cameraModel )

Sets the model of the laser profilers used in the calibration, in the form of a string such as "Mech-Eye LNX-8030".

Parameters

[in] cameraModel The laser profiler model.

Returns: Returns true on success and false on failure.

◆ setCalibTargetPoses()

void mmind::eye::ProfilerCalibrationInterfaces::setCalibTargetPoses ( const std::vector< TargetPose > & targetPoses )

Defines the relative position of the frustums of the calibration target.

Parameters

[in] targetPoses The position and orientation of the frustums of the calibration target. See TargetPose for details.

◆ setCalibTargetSize()

void mmind::eye::ProfilerCalibrationInterfaces::setCalibTargetSize ( const TargetSize & targetSize )

Sets the dimensions of the frustums of the calibration target.

Parameters

[in] targetSize The dimensions of the frustums, including the upper base length, lower base length, and height. See TargetSize for details.

◆ setMajorDeviceInfo()

void mmind::eye::ProfilerCalibrationInterfaces::setMajorDeviceInfo ( const DeviceInfo & deviceInfo )

Initializes the configuration for the primary laser profiler.

Parameters

[in] deviceInfo The configuration for the primary laser profiler. See DeviceInfo for details.

◆ setMinorDeviceInfos()

void mmind::eye::ProfilerCalibrationInterfaces::setMinorDeviceInfos ( const std::vector< DeviceInfo > & deviceInfos )

Initializes the configuration for the secondary laser profiler(s).

Parameters

[in] deviceInfos The configuration for each secondary laser profiler. See DeviceInfo for details.

◆ stitchImages()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::stitchImages	(	const ProfilerImage &	majorImage,
		const std::vector< ProfilerImage > &	minorImages,
		const std::vector< CalibResult > &	calibResults,
		MultiStitchResult &	stitchResults,
		const std::optional< MultiStitchParams > &	stitchParams = `std::nullopt`
	)

Calculates the stitching results when the laser profilers are arranged in the Angle mode (i.e., in the opposite direction or around a circle).

Parameters

[in]	majorImage	Intensity image and depth map from the primary laser profiler.
[in]	minorImages	Intensity image(s) and depth map(s) from the secondary laser profiler(s).
[in]	calibResults	The calibration results and errors used for stitching, which can be either calculated or loaded from files. See CalibResult for details.
[out]	stitchResults	The stitched intensity image and depth map, and transformation result file.
[in]	stitchParams	Optional. If left empty, default or previously set calibration parameters will be used for stitching.

Returns: See MultiProfilerErrorStatus for details.

◆ stitchImagesForZParallel()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::stitchImagesForZParallel	(	const ProfilerImage &	majorImage,
		const std::vector< ProfilerImage > &	minorImages,
		const std::vector< CalibResult > &	calibResults,
		MultiStitchResultZParallel &	stitchResults,
		const std::optional< MultiStitchParams > &	stitchParams = `std::nullopt`
	)

Calculates the stitching results when the laser profilers are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).

Parameters

[in]	majorImage	Intensity image and depth map from the primary laser profiler.
[in]	minorImages	Intensity image(s) and depth map(s) from the secondary laser profiler(s).
[in]	calibResults	The calibration results and errors used for stitching, which can be either calculated or loaded from files. See CalibResult for details.
[out]	stitchResults	The stitched intensity image and depth map and transformation result file.
[in]	stitchParams	Optional. If left empty, default or previously set calibration parameters will be used for stitching.

Returns: See MultiProfilerErrorStatus for details.

The documentation for this class was generated from the following file:

profiler/calibration/ProfilerCalibrationInterfaces.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ProfilerCalibrationInterfaces()

Member Function Documentation

◆ calculateCalibration()

◆ getCameraModel()

◆ getCurrentCalibResults()

◆ getMajorDeviceInfo()

◆ getMinorDeviceInfos()

◆ getTargetPoses()

◆ getTargetSize()

◆ imageFusionForZParallel() [1/2]

◆ imageFusionForZParallel() [2/2]

◆ loadCalibProperties()

◆ saveCalibFiles()

◆ saveStitchFiles()

◆ saveStitchFilesForZParallel()

◆ setCalibCameraModel()

◆ setCalibTargetPoses()

◆ setCalibTargetSize()

◆ setMajorDeviceInfo()

◆ setMinorDeviceInfos()

◆ stitchImages()

◆ stitchImagesForZParallel()