Public Types
enum class	CloudStitchOption { RefineStitchParameters = 1 , OverlapRegionUniformSampling }
	Cloud stitching options. This enum defines the options available for stitching point clouds. More...
enum class	StitchParamRefineOption { RefineT = 1 }
	Stitching parameter refinement options. This enum defines the options available for stitching parameter refinement. More...
using	CorrectedResult = TransformedImageInfo

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, bool unifiedMoveDirection=true, const std::optional< cv::Point3f > &majorCameraMoveDirVec=std::nullopt)
	Calculates the calibration results based on the depth maps acquired by the primary and secondary laser profilers.
MultiProfilerErrorStatus	calibrateSingleProfilerMoveDirection (const cv::Mat &firstDepth, const cv::Mat &secondDepth, ProfilerMovementAxis moveAxis, MoveDirCalibResult &calibResult, const std::optional< cv::Point3f > &knownYAxisMoveDir=std::nullopt)
	Calibrates the scanning movement direction of a single profiler based two depth maps acquired along a defined axis.
MultiProfilerErrorStatus	calibrateSingleProfilerWidthExpansion (const cv::Mat &firstDepth, const cv::Mat &secondDepth, const std::vector< RefPositionBias > &refPositionBiases, std::vector< StitchParams > &results, const std::optional< cv::Point3f > &knownYAxisMoveDir=std::nullopt)
	Performs width-expansion calibration for a single profiler based on two depth maps captured at different lateral reference positions.
ProfilerHandEyeErrorStatus	calibrateTrussRobot (const std::vector< TrussRobotCalibMatchedPoint > &matchedPoints, const TrussRobotCalibConfig &config, TrussRobotCalibResult &calibResult)
	Calculates the calibration results based on the depth maps acquired by the primary and secondary laser profilers.
ProfilerHandEyeErrorStatus	transformPointFromProfilerCoord2TrussRobotCoord (const cv::Point3f &profilerPoint, const cv::Point3f &profilerCapturePosition, const TrussRobotCalibResult &calibResult, cv::Point3f &dstPoint, const std::optional< cv::Point3f > &tcpOffSet=std::nullopt)
	Obtain the calibration result function.
MultiProfilerErrorStatus	correctProfilerMoveDir (const cv::Point3f &moveDirVec, const ProfilerImage &srcImage, CorrectedResult &result, const MoveDirCorrectionOptions &options={})
	Correct the profiler output based on its movement direction.
MultiProfilerErrorStatus	stitchProfilerWidthExpansion (const ImageInfo &majorImageInfo, const std::vector< ImageInfo > &minorImageInfos, const WidthExpansionType &type, FusionResult &results, const std::vector< StitchParams > &multiParams, bool fusionFlag)
	Perform width-expansion stitching for a single profiler (S/Z-type scanning).
MultiProfilerErrorStatus	stitchProfilerWidthExpansion (const ImageInfo &majorImageInfo, const std::vector< ImageInfo > &minorImageInfos, const WidthExpansionType &type, FusionResult &results, const std::vector< StitchParams > &multiParams, bool fusionFlag, const std::vector< bool > &moveConsistentFlags)
	Perform width-expansion stitching for a single profiler (S/Z-type scanning).
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	stitchPointCloud (const ProfilerImage &majorImage, const std::vector< ProfilerImage > &minorImages, int cloudStitchOption, int paramRefineOption, const std::vector< CalibResult > &calibResults, bool correctRingError=true, int normalEstimationKnn=-1, const std::optional< MultiStitchParams > &stitchParams=std::nullopt)
	Calculates the stitching results for point clouds.
MultiProfilerErrorStatus	getStitchedPointCloud (ProfileBatch::UntexturedPointCloud &pointCloud) const
	Retrieves the stitched point cloud based on the stitching results.
MultiProfilerErrorStatus	getStitchedPointCloud (ProfileBatch::TexturedPointCloud &texturedPointCloud) const
	Retrieves the stitched point cloud based on the stitching results, including texture information.
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 MultiStitchResultZParallel &stitchResult, 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.
	ProfilerCalibrationInterfaces (const std::string &cameraModel, const DeviceInfo &profilerDeviceInfo, 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.

Friends
class	InternalInterfaces

Detailed Description

Definition at line 49 of file ProfilerCalibrationInterfaces.h.

Member Typedef Documentation

◆ CorrectedResult

using mmind::eye::ProfilerCalibrationInterfaces::CorrectedResult = TransformedImageInfo

Definition at line 70 of file ProfilerCalibrationInterfaces.h.

Member Enumeration Documentation

◆ CloudStitchOption

enum class mmind::eye::ProfilerCalibrationInterfaces::CloudStitchOption

strong

Cloud stitching options. This enum defines the options available for stitching point clouds.

Enumerator
RefineStitchParameters	Refine the stitching parameters during cloud stitching.
OverlapRegionUniformSampling	Apply uniform sampling to the overlap region during stitching.

Definition at line 56 of file ProfilerCalibrationInterfaces.h.

◆ StitchParamRefineOption

enum class mmind::eye::ProfilerCalibrationInterfaces::StitchParamRefineOption

strong

Stitching parameter refinement options. This enum defines the options available for stitching parameter refinement.

Enumerator
RefineT	Refine the translation parameters.

Definition at line 66 of file ProfilerCalibrationInterfaces.h.

Constructor & Destructor Documentation

◆ ProfilerCalibrationInterfaces() [1/2]

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.

◆ ProfilerCalibrationInterfaces() [2/2]

mmind::eye::ProfilerCalibrationInterfaces::ProfilerCalibrationInterfaces	(	const std::string &	cameraModel,
		const DeviceInfo &	profilerDeviceInfo,
		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]	profilerDeviceInfo	A structure containing the configuration parameters of the major 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,
		bool	unifiedMoveDirection = true,
		const std::optional< cv::Point3f > &	majorCameraMoveDirVec = std::nullopt )

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).
[in]	unifiedMoveDirection	Whether to use a unified motion direction vector for both the primary and secondary profilers.
[in]	majorCameraMoveDirVec	Optional predefined motion direction vector of the primary profiler. If not provided, the direction will be estimated from the data.
[out]	calibResults	The calibration results and errors. See CalibResult for details.

Returns: See MultiProfilerErrorStatus for details.

◆ calibrateSingleProfilerMoveDirection()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::calibrateSingleProfilerMoveDirection	(	const cv::Mat &	firstDepth,
		const cv::Mat &	secondDepth,
		ProfilerMovementAxis	moveAxis,
		MoveDirCalibResult &	calibResult,
		const std::optional< cv::Point3f > &	knownYAxisMoveDir = std::nullopt )

Calibrates the scanning movement direction of a single profiler based two depth maps acquired along a defined axis.

Parameters

[in]	firstDepth	Depth map from the first scan.
[in]	secondDepth	Depth map from the second scan along the same motion axis.
[in]	moveAxis	Axis along which movement calibration is to be performed. See ProfilerMovementAxis.
[in]	knownYAxisMoveDir	Optional pre-calibrated Y-axis movement vector. If provided, the algorithm will use it as prior information.
[out]	calibResults	The resulting movement-direction calibration output. See MoveDirCalibResult for details.

Returns: See MultiProfilerErrorStatus for details.

◆ calibrateSingleProfilerWidthExpansion()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::calibrateSingleProfilerWidthExpansion	(	const cv::Mat &	firstDepth,
		const cv::Mat &	secondDepth,
		const std::vector< RefPositionBias > &	refPositionBiases,
		std::vector< StitchParams > &	results,
		const std::optional< cv::Point3f > &	knownYAxisMoveDir = std::nullopt )

Performs width-expansion calibration for a single profiler based on two depth maps captured at different lateral reference positions.

Parameters

[in]	firstDepth	Depth map from the initial scan.
[in]	secondDepth	Depth map from the secondary scan with lateral offset.
[in]	refPositionBiases	Offsets between the reference positions of the first and second scans. See RefPositionBias for details.
[in]	knownYAxisMoveDir	Optional pre-calibrated Y-axis movement direction vector.
[out]	results	Estimated stitching parameters and error metrics. See StitchParams.

Returns: See MultiProfilerErrorStatus for details.

◆ calibrateTrussRobot()

ProfilerHandEyeErrorStatus mmind::eye::ProfilerCalibrationInterfaces::calibrateTrussRobot	(	const std::vector< TrussRobotCalibMatchedPoint > &	matchedPoints,
		const TrussRobotCalibConfig &	config,
		TrussRobotCalibResult &	calibResult )

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

Parameters

[in]	matchedPoints	The number of matching point groups must be greater than or equal to 3, and they should not be collinear.
[in]	profilerCalibPosition	When collecting calibration data, the machine coordinate of the camera's initial position.
[in]	TrussRobotCalibConfig	Configuration parameters for truss robot calibration. See TrussRobotCalibConfig for details.
[out]	calibResult	The calibration results . See CalibResult for details.

Returns: See MultiProfilerErrorStatus for details.

◆ correctProfilerMoveDir()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::correctProfilerMoveDir	(	const cv::Point3f &	moveDirVec,
		const ProfilerImage &	srcImage,
		CorrectedResult &	result,
		const MoveDirCorrectionOptions &	options = {} )

Correct the profiler output based on its movement direction.

Parameters

[in]	moveDirVec	Unit movement direction vector in the camera coordinate system.
[in]	srcImage	Original profiler image (depth and intensity).
[out]	result	Corrected output, including depth map, intensity map, and pixel bias.
[in]	options	Optional custom output size and resolution settings.

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.

◆ getStitchedPointCloud() [1/2]

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::getStitchedPointCloud ( ProfileBatch::TexturedPointCloud & texturedPointCloud ) const

Retrieves the stitched point cloud based on the stitching results, including texture information.

Parameters

texturedPointCloud [out] The textured point cloud.

Returns: See MultiProfilerErrorStatus for details.

◆ getStitchedPointCloud() [2/2]

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::getStitchedPointCloud ( ProfileBatch::UntexturedPointCloud & pointCloud ) const

Retrieves the stitched point cloud based on the stitching results.

Parameters

pointCloud [out] The untextured point cloud.

Returns: See MultiProfilerErrorStatus for details.

◆ 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 MultiStitchResultZParallel &	stitchResult,
		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]	stitchResult	The stitching results used for fusion under Z-parallel configuration. It contains: majorStitchImage: The stitched intensity image and depth map of the (virtual) major profiler. minorStitchResults: The stitched intensity image, depth map, and bias information of the minor profiler(s), all converted into the coordinate system of the (virtual) major profiler. majorPixelBiasToCamCoord: The pixel-wise bias of the (virtual) major profiler’s depth image origin (0,0) relative to the real primary profiler’s camera coordinate system. The bias is represented in pixels and can be converted to physical units using the image resolution. The origin of this transformation is the point cloud origin of the real primary profiler.
[in]	majorBias	The pixel-wise bias of the (virtual) major profiler relative to the real primary profiler used as the reference in fusion. This parameter is typically: {0, 0} when the virtual major profiler is the real primary profiler; retrieved from stitching results when the virtual major profiler is a secondary profiler.
[out]	fusionResult	The fused intensity image and depth map, and the coordinates of the upper-left pixels of the fused intensity image and depth map in the real primary profiler’s camera coordinate system.
[in]	fusionFlag	Optional. Specifies whether to perform fusion for each minor profiler. If left empty, fusion will be performed for all minor profilers.

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.

◆ stitchPointCloud()

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::stitchPointCloud	(	const ProfilerImage &	majorImage,
		const std::vector< ProfilerImage > &	minorImages,
		int	cloudStitchOption,
		int	paramRefineOption,
		const std::vector< CalibResult > &	calibResults,
		bool	correctRingError = true,
		int	normalEstimationKnn = -1,
		const std::optional< MultiStitchParams > &	stitchParams = std::nullopt )

Calculates the stitching results for point clouds.

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]	cloudStitchOption	Options for cloud stitching.
[in]	paramRefineOption	Options for parameter refinement.
[in]	calibResults	The calibration results and errors used for stitching, which can be either calculated or loaded from files. See CalibResult for details.
[in]	correctRingError	When enabled, the system applies loop closure correction on top of the initial registration, mitigating accumulated errors caused by topological loops to enhance overall fusion quality.
[in]	normalEstimationKnn	Number of nearest neighbors used for normal estimation. -1 means using the default number of neighbors suitable for most point clouds.
[in]	stitchParams	Optional. If left empty, default or previously set calibration parameters will be used for stitching.

Returns: See MultiProfilerErrorStatus for details.

◆ stitchProfilerWidthExpansion() [1/2]

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::stitchProfilerWidthExpansion	(	const ImageInfo &	majorImageInfo,
		const std::vector< ImageInfo > &	minorImageInfos,
		const WidthExpansionType &	type,
		FusionResult &	results,
		const std::vector< StitchParams > &	multiParams,
		bool	fusionFlag )

Perform width-expansion stitching for a single profiler (S/Z-type scanning).

Parameters

[in]	majorImageInfo	Image data from the primary scan.
[in]	minorImageInfos	Image data from secondary scan segments.
[in]	type	Width-expansion scanning mode.
[out]	results	Output fused image and stitching metadata.
[in]	multiParams	Calibration parameters and error metrics. See StitchParams.
[in]	fusionFlag	Whether to merge the overlapping regions between scans.

Returns: See MultiProfilerErrorStatus for details.

◆ stitchProfilerWidthExpansion() [2/2]

MultiProfilerErrorStatus mmind::eye::ProfilerCalibrationInterfaces::stitchProfilerWidthExpansion	(	const ImageInfo &	majorImageInfo,
		const std::vector< ImageInfo > &	minorImageInfos,
		const WidthExpansionType &	type,
		FusionResult &	results,
		const std::vector< StitchParams > &	multiParams,
		bool	fusionFlag,
		const std::vector< bool > &	moveConsistentFlags )

Perform width-expansion stitching for a single profiler (S/Z-type scanning).

Parameters

[in]	majorImageInfo	Image data from the primary scan.
[in]	minorImageInfos	Image data from secondary scan segments.
[in]	type	Width-expansion scanning mode.
[out]	results	Output fused image and stitching metadata.
[in]	multiParams	Calibration parameters and error metrics. See StitchParams.
[in]	fusionFlag	Whether to merge overlapping regions between scans.
[in]	moveConsistentFlags	Flags indicating whether each secondary scan shares the same movement direction as the primary scan.

Returns: See MultiProfilerErrorStatus for details.

◆ transformPointFromProfilerCoord2TrussRobotCoord()

ProfilerHandEyeErrorStatus mmind::eye::ProfilerCalibrationInterfaces::transformPointFromProfilerCoord2TrussRobotCoord	(	const cv::Point3f &	profilerPoint,
		const cv::Point3f &	profilerCapturePosition,
		const TrussRobotCalibResult &	calibResult,
		cv::Point3f &	dstPoint,
		const std::optional< cv::Point3f > &	tcpOffSet = std::nullopt )

Obtain the calibration result function.

Parameters

[in]	profilerPoint	The camera coordinates of the feature points to be transformed.
[in]	profilerCurrentPosition	The machine coordinate of the camera's initial position during measurement.
[in]	calibResult	The calibration result obtained by the function "getResult()".
[out]	dstPoint	Profiler Point to TrussRobot Point.
[in]	tcpOffSet	Optional. Set the offset between the current TCP and the TCP used during calibration.

Returns: After the transformation, the machine coordinates of the feature points.

◆ InternalInterfaces

friend class InternalInterfaces

friend

Definition at line 490 of file ProfilerCalibrationInterfaces.h.

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

profiler/calibration/ProfilerCalibrationInterfaces.h

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ CorrectedResult

Member Enumeration Documentation

◆ CloudStitchOption

◆ StitchParamRefineOption

Constructor & Destructor Documentation

◆ ProfilerCalibrationInterfaces() [1/2]

◆ ProfilerCalibrationInterfaces() [2/2]

Member Function Documentation

◆ calculateCalibration()

◆ calibrateSingleProfilerMoveDirection()

◆ calibrateSingleProfilerWidthExpansion()

◆ calibrateTrussRobot()

◆ correctProfilerMoveDir()

◆ getCameraModel()

◆ getCurrentCalibResults()

◆ getMajorDeviceInfo()

◆ getMinorDeviceInfos()

◆ getStitchedPointCloud() [1/2]

◆ getStitchedPointCloud() [2/2]

◆ getTargetPoses()

◆ getTargetSize()

◆ imageFusionForZParallel() [1/2]

◆ imageFusionForZParallel() [2/2]

◆ loadCalibProperties()

◆ saveCalibFiles()

◆ saveStitchFiles()

◆ saveStitchFilesForZParallel()

◆ setCalibCameraModel()

◆ setCalibTargetPoses()

◆ setCalibTargetSize()

◆ setMajorDeviceInfo()

◆ setMinorDeviceInfos()

◆ stitchImages()

◆ stitchImagesForZParallel()

◆ stitchPointCloud()

◆ stitchProfilerWidthExpansion() [1/2]

◆ stitchProfilerWidthExpansion() [2/2]

◆ transformPointFromProfilerCoord2TrussRobotCoord()

Friends And Related Symbol Documentation

◆ InternalInterfaces