ILCalibRotation Interface Reference

This interface provide functionalities of the rotation center calibration and alignment task. More...

Inheritance diagram for ILCalibRotation:

Public Member Functions
void	AddRotPoint (double pntX, double pntY, double angle)
void	AddRotPointPair (double pntX1, double pntY1, double pntX2, double pntY2, double angle)
void	Align (double pntX1, double pntY1, double pntX2, double pntY2, double *dx, double *dy, double *da)
void	AlignTo (double pntX1, double pntY1, double pntX2, double pntY2, double aimPointX1, double aimPointY1, double aimPointX2, double aimPointY2, double *dx, double *dy, double *da)
LPVErrorCode	Calibrate ()
ILPoint *	GetRotCenter ()
BOOL	IsCalibrated ()
void	SetAim (double aimPointX1, double aimPointY1, double aimPointX2, double aimPointY2)
void	Transform (double pntX, double pntY, double dx, double dy, double da, double *newX, double *newY)
Public Member Functions inherited from ILObject
ILObject *	Copy ()
LPVErrorCode	Load (LString filename)
void	Reset ()
LPVErrorCode	Save (LString filename)
BOOL	Valid ()

Properties
BOOL	TranslationOnRotation [get, set]
	Whether the translation platform is dependent on the rotation platform. By default, it's off. If yes, then the rotation drives and changes the coordinates of translation platform, affect its translation direction in physical world. .

Detailed Description

This interface provide functionalities of the rotation center calibration and alignment task.

The rotation calibration is commonly used in a vision system with rotation platform for guiding, grabbing and alignment tasks.
The center is estimated with the rotation points or pairs of points around the center. The rotation calibration is usually done after the hand-eye calibration using N-Points model. Thus, the points here in most use case indicates the world points.

After calibration, you can use the center for aim-object alignment, it report the translation and rotation for align the aim and object point.

To use this interface, you should create a LCalibRotation object.

Example Code

C++

Code snippets: snippets/CalibRotationCenter.cpp

ILCalibRotationPtr rotCalib = LCalibRotation::Create();
rotCalib->AddRotPointPair(0, 100, 0, -100, 0);
rotCalib->AddRotPointPair(100, 100, -100, -100, 45);
rotCalib->AddRotPointPair(100, 0, -100, 0, 90);
LPVErrorCode err = rotCalib->Calibrate(); // the rotation center should be (0, 0)
if (err != LPVErrorCode::LPVNoError || !rotCalib->IsCalibrated()) return;
rotCalib->SetAim(0, 10, 0, 90);
double dx, dy, da;
rotCalib->Align(10, 0, 90, 0, &dx, &dy, &da);

C#

Code snippets: snippets/CalibRotationCenter.cs

LCalibRotation rotCalib = new LCalibRotation();
rotCalib.AddRotPointPair(0, 100, 0, -100, 0);
rotCalib.AddRotPointPair(100, 100, -100, -100, 45);
rotCalib.AddRotPointPair(100, 0, -100, 0, 90);
LPVErrorCode err = rotCalib.Calibrate(); // the rotation center should be (0, 0)
if (err != LPVErrorCode.LPVNoError || !rotCalib.IsCalibrated()) return;
rotCalib.SetAim(0, 10, 0, 90);
double dx, dy, da;
rotCalib.Align(10, 0, 90, 0, out dx, out dy, out da);

COM

ILCalibRotationPtr rotCalib = LCalibRotation::Create();
// or, ILCalibRotationPtr rotCalib(__uuidof(LCalibRotation)), for absence of built-in Create functions (before 2.2.0)
rotCalib->AddRotPointPair(0, 100, 0, -100, 0);
rotCalib->AddRotPointPair(100, 100, -100, -100, 45);
rotCalib->AddRotPointPair(100, 0, -100, 0, 90);
LPVErrorCode err = rotCalib->Calibrate(); // the rotation center should be (0, 0)
if (err != LPVErrorCode::LPVNoError || !rotCalib->IsCalibrated()) return;
rotCalib->SetAim(0, 10, 0, 90);
double dx, dy, da;
rotCalib->Align(10, 0, 90, 0, &dx, &dy, &da);

Member Function Documentation

AddRotPoint()

void AddRotPoint	(	double	pntX,
		double	pntY,
		double	angle
	)

Add a rotation point for calibration. It forms a rotation circular path around the rotation center.

Parameters

[in]	pntX	The x-coordinate of the rotation point.
[in]	pntY	The y-coordinate of the rotation point.
[in]	angle	The rotation angle of the platform, pass in -1 (default) to ignore this value.

AddRotPointPair()

void AddRotPointPair	(	double	pntX1,
		double	pntY1,
		double	pntX2,
		double	pntY2,
		double	angle
	)

Add a pair of rotation points for calibration. It forms two concentric circular paths around the rotation center.

Parameters

[in]	pntX1	The x-coordinate of the 1st rotation point.
[in]	pntY1	The y-coordinate of the 1st rotation point.
[in]	pntX2	The x-coordinate of the 2nd rotation point.
[in]	pntY2	The y-coordinate of the 2nd rotation point.
[in]	angle	The rotation angle of the platform, pass in -1 (default) to ignore this value.

Align()

void Align	(	double	pntX1,
		double	pntY1,
		double	pntX2,
		double	pntY2,
		double *	dx,
		double *	dy,
		double *	da
	)

Align the object to the configured aim position. The mapping works with a calibrated system, if not the outputs are all zeros.

Parameters

[in]	pntX1	The x-coordinate of the 1st mark of the object position.
[in]	pntY1	The y-coordinate of the 1st mark of the object position.
[in]	pntX2	The x-coordinate of the 2nd mark of the object position.
[in]	pntY2	The y-coordinate of the 2nd mark of the object position.
[out]	dx	Return the offset in x coordinate for the platform to align the object to the aim position.
[out]	dy	Return the offset in y coordinate for the platform to align the object to the aim position.
[out]	da	Return the rotation for the platform to align the object to the aim position.

See also

SetAim(), AlignTo().

AlignTo()

void AlignTo	(	double	pntX1,
		double	pntY1,
		double	pntX2,
		double	pntY2,
		double	aimPointX1,
		double	aimPointY1,
		double	aimPointX2,
		double	aimPointY2,
		double *	dx,
		double *	dy,
		double *	da
	)

Align the object to the given aim position. The mapping works with a calibrated system, if not the outputs are all zeros.

Parameters

[in]	aimPointX1	The x-coordinate of the 1st mark of the aim position.
[in]	aimPointY1	The y-coordinate of the 1st mark of the aim position.
[in]	aimPointX2	The x-coordinate of the 2nd mark of the aim position.
[in]	aimPointY2	The y-coordinate of the 2nd mark of the aim position.
[in]	pntX1	The x-coordinate of the 1st mark of the object position.
[in]	pntY1	The y-coordinate of the 1st mark of the object position.
[in]	pntX2	The x-coordinate of the 2nd mark of the object position.
[in]	pntY2	The y-coordinate of the 2nd mark of the object position.
[out]	dx	Return the offset in x coordinate for the platform to align the object to the aim position.
[out]	dy	Return the offset in y coordinate for the platform to align the object to the aim position.
[out]	da	Return the rotation for the platform to align the object to the aim position.

See also

Align(), SetAim().

Calibrate()

LPVErrorCode Calibrate

(

)

Do calibration with current configuration and the rotation points added.

Return values

error

Return error code if anything is wrong.

GetRotCenter()

ILPoint* GetRotCenter

(

)

Get the estimated rotation center

IsCalibrated()

BOOL IsCalibrated

(

)

Check whether the calibration object is well-calibrated.

Return values

val	Return true if it's calibrated, otherwise, return false.

SetAim()

void SetAim	(	double	aimPointX1,
		double	aimPointY1,
		double	aimPointX2,
		double	aimPointY2
	)

Set the aligning aim position.

Parameters

[in]	aimPointX1	The x-coordinate of the 1st mark of the aim position.
[in]	aimPointY1	The y-coordinate of the 1st mark of the aim position.
[in]	aimPointX2	The x-coordinate of the 2nd mark of the aim position.
[in]	aimPointY2	The y-coordinate of the 2nd mark of the aim position.

See also

Align(), AlignTo().

Transform()

void Transform	(	double	pntX,
		double	pntY,
		double	dx,
		double	dy,
		double	da,
		double *	newX,
		double *	newY
	)

Transform the given point

Parameters

[in]	pntX	The x-coordinate of the point.
[in]	pntY	The y-coordinate of the point.
[in]	dx	The offset in x coordinate.
[in]	dy	The offset in y coordinate.
[in]	da	The rotation angle.
[out]	newX	Output the x-coordinate of the transformed point.
[out]	newY	Output the y-coordinate of the transformed point.