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Nail down transformation matrix convention #265

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18 changes: 9 additions & 9 deletions ...tions/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,7 @@ int main()
std::string fileName;
size_t imageCoordinateX = 0;
size_t imageCoordinateY = 0;
Zivid::Matrix4x4 transformBaseToCamera;
Zivid::Matrix4x4 baseToCameraTransform;

bool loopContinue = true;
while(loopContinue)
Expand All @@ -148,7 +148,7 @@ int main()

std::cout << "Reading camera pose in robot base reference frame (result of eye-to-hand calibration"
<< std::endl;
transformBaseToCamera.load(std::string(ZIVID_SAMPLE_DATA_DIR) + eyeToHandTransformFile);
baseToCameraTransform.load(std::string(ZIVID_SAMPLE_DATA_DIR) + eyeToHandTransformFile);

loopContinue = false;
break;
Expand All @@ -168,16 +168,16 @@ int main()
std::cout
<< "Reading camera pose in end-effector reference frame (result of eye-in-hand calibration)"
<< std::endl;
Zivid::Matrix4x4 transformEndEffectorToCamera(
Zivid::Matrix4x4 endEffectorToCameraTransform(
std::string(ZIVID_SAMPLE_DATA_DIR) + eyeInHandTransformFile);

std::cout << "Reading end-effector pose in robot base reference frame" << std::endl;
Zivid::Matrix4x4 transformBaseToEndEffector(
Zivid::Matrix4x4 baseToEndEffectorTransform(
std::string(ZIVID_SAMPLE_DATA_DIR) + robotTransformFile);

std::cout << "Computing camera pose in robot base reference frame" << std::endl;
transformBaseToCamera = eigenToZivid(
zividToEigen(transformBaseToEndEffector) * zividToEigen(transformEndEffectorToCamera));
baseToCameraTransform = eigenToZivid(
zividToEigen(baseToEndEffectorTransform) * zividToEigen(endEffectorToCameraTransform));

loopContinue = false;
break;
Expand Down Expand Up @@ -216,10 +216,10 @@ int main()
<< pointInCameraFrame.y() << " " << pointInCameraFrame.z() << std::endl;

// Converting to Eigen matrix for easier computation
const Eigen::Affine3f transformBaseToCameraEigen = zividToEigen(transformBaseToCamera);
const Eigen::Affine3f baseToCameraTransformEigen = zividToEigen(baseToCameraTransform);

std::cout << "Transforming (picking) point from camera to robot base reference frame" << std::endl;
const Eigen::Vector4f pointInBaseFrame = transformBaseToCameraEigen * pointInCameraFrame;
const Eigen::Vector4f pointInBaseFrame = baseToCameraTransformEigen * pointInCameraFrame;

std::cout << "Point coordinates in robot base reference frame: " << pointInBaseFrame.x() << " "
<< pointInBaseFrame.y() << " " << pointInBaseFrame.z() << std::endl;
Expand All @@ -231,7 +231,7 @@ int main()
{
std::cout << "Transforming point cloud" << std::endl;

pointCloud.transform(transformBaseToCamera);
pointCloud.transform(baseToCameraTransform);

const auto saveFile = "ZividGemTransformed.zdf";
std::cout << "Saving point cloud to file: " << saveFile << std::endl;
Expand Down
4 changes: 2 additions & 2 deletions source/Applications/Advanced/ROIBoxViaArucoMarker/ROIBoxViaArucoMarker.cpp
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Expand Up @@ -141,12 +141,12 @@ int main()
}

std::cout << "Estimating pose of detected ArUco marker" << std::endl;
const auto transformCameraToMarker = detectionResult.detectedMarkers()[0].pose().toMatrix();
const auto cameraToMarkerTransform = detectionResult.detectedMarkers()[0].pose().toMatrix();

std::cout << "Transforming the ROI base frame points to the camera frame" << std::endl;
const auto roiPointsInCameraFrame = transformPoints(
std::vector<Zivid::PointXYZ>{ pointOInArUcoFrame, pointAInArUcoFrame, pointBInArUcoFrame },
transformCameraToMarker);
cameraToMarkerTransform);

std::cout << "Setting the ROI" << std::endl;
settings.set(Zivid::Settings::RegionOfInterest{
Expand Down
15 changes: 8 additions & 7 deletions source/Applications/Advanced/ReprojectPoints/ReprojectPoints.cpp
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Expand Up @@ -37,12 +37,12 @@ namespace
}


std::vector<Zivid::PointXYZ> transformGridToCalibrationBoard(
std::vector<Zivid::PointXYZ> transformGridToCameraFrame(
const std::vector<cv::Matx41f> &grid,
const Zivid::Matrix4x4 &transformCameraToCheckerboard)
const Zivid::Matrix4x4 &cameraToCheckerboardTransform)
{
std::vector<Zivid::PointXYZ> pointsInCameraFrame;
const auto transformationMatrix = cv::Matx44f{ transformCameraToCheckerboard.data() };
const auto transformationMatrix = cv::Matx44f{ cameraToCheckerboardTransform.data() };
for(const auto &point : grid)
{
const auto transformedPoint = transformationMatrix * point;
Expand Down Expand Up @@ -87,15 +87,16 @@ int main()
}

std::cout << "Estimating checkerboard pose" << std::endl;
const auto transformCameraToCheckerboard = detectionResult.pose().toMatrix();
std::cout << transformCameraToCheckerboard << std::endl;
const auto cameraToCheckerboardTransform = detectionResult.pose().toMatrix();
std::cout << cameraToCheckerboardTransform << std::endl;

std::cout << "Creating a grid of 7 x 6 points (3D) with 30 mm spacing to match checkerboard corners"
<< std::endl;
const auto grid = checkerboardGrid();
const auto gridInCheckerboardFrame = checkerboardGrid();

std::cout << "Transforming the grid to the camera frame" << std::endl;
const auto pointsInCameraFrame = transformGridToCalibrationBoard(grid, transformCameraToCheckerboard);
const auto pointsInCameraFrame =
transformGridToCameraFrame(gridInCheckerboardFrame, cameraToCheckerboardTransform);

std::cout << "Getting projector pixels (2D) corresponding to points (3D) in the camera frame" << std::endl;
const auto projectorPixels = Zivid::Projection::pixelsFrom3DPoints(camera, pointsInCameraFrame);
Expand Down
4 changes: 2 additions & 2 deletions ...TransformPointCloudFromMillimetersToMeters/TransformPointCloudFromMillimetersToMeters.cpp
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Expand Up @@ -20,11 +20,11 @@ int main()
auto frame = Zivid::Frame(dataFile);
auto pointCloud = frame.pointCloud();

const auto transformMillimetersToMeters =
const auto millimetersToMetersTransform =
Zivid::Matrix4x4{ { 0.001F, 0, 0, 0 }, { 0, 0.001F, 0, 0 }, { 0, 0, 0.001F, 0 }, { 0, 0, 0, 1 } };

std::cout << "Transforming point cloud from mm to m" << std::endl;
pointCloud.transform(transformMillimetersToMeters);
pointCloud.transform(millimetersToMetersTransform);

const auto transformedFile = "FrameInMeters.zdf";
std::cout << "Saving transformed point cloud to file: " << transformedFile << std::endl;
Expand Down
8 changes: 4 additions & 4 deletions ...ications/Advanced/TransformPointCloudViaArucoMarker/TransformPointCloudViaArucoMarker.cpp
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Expand Up @@ -107,15 +107,15 @@ int main()
std::cout << "ArUco marker pose in camera frame:" << std::endl;
std::cout << transformCameraToMarker << std::endl;
std::cout << "Camera pose in ArUco marker frame:" << std::endl;
const auto transformMarkerToCamera = transformCameraToMarker.inverse();
std::cout << transformMarkerToCamera << std::endl;
const auto markerToCameraTransform = transformCameraToMarker.inverse();
std::cout << markerToCameraTransform << std::endl;

const auto transformFile = "ArUcoMarkerToCameraTransform.yaml";
std::cout << "Saving a YAML file with Inverted ArUco marker pose to file: " << transformFile << std::endl;
transformMarkerToCamera.save(transformFile);
markerToCameraTransform.save(transformFile);

std::cout << "Transforming point cloud from camera frame to ArUco marker frame" << std::endl;
pointCloud.transform(transformMarkerToCamera);
pointCloud.transform(markerToCameraTransform);

const auto arucoMarkerTransformedFile = "CalibrationBoardInArucoMarkerOrigin.zdf";
std::cout << "Saving transformed point cloud to file: " << arucoMarkerTransformedFile << std::endl;
Expand Down
14 changes: 7 additions & 7 deletions ...ations/Advanced/TransformPointCloudViaCheckerboard/TransformPointCloudViaCheckerboard.cpp
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Expand Up @@ -171,24 +171,24 @@ int main()

std::cout << "Detecting and estimating pose of the Zivid checkerboard in the camera frame" << std::endl;
const auto detectionResult = Zivid::Calibration::detectCalibrationBoard(frame);
const auto transformCameraToCheckerboard = detectionResult.pose().toMatrix();
std::cout << transformCameraToCheckerboard << std::endl;
const auto cameraToCheckerboardTransform = detectionResult.pose().toMatrix();
std::cout << cameraToCheckerboardTransform << std::endl;
std::cout << "Camera pose in checkerboard frame:" << std::endl;
const auto transformCheckerboardToCamera = transformCameraToCheckerboard.inverse();
std::cout << transformCheckerboardToCamera << std::endl;
const auto checkerboardToCameraTransform = cameraToCheckerboardTransform.inverse();
std::cout << checkerboardToCameraTransform << std::endl;

const auto transformFile = "CheckerboardToCameraTransform.yaml";
std::cout << "Saving a YAML file with Inverted checkerboard pose to file: " << transformFile << std::endl;
transformCheckerboardToCamera.save(transformFile);
checkerboardToCameraTransform.save(transformFile);

std::cout << "Transforming point cloud from camera frame to Checkerboard frame" << std::endl;
pointCloud.transform(transformCheckerboardToCamera);
pointCloud.transform(checkerboardToCameraTransform);

std::cout << "Converting to OpenCV image format" << std::endl;
const auto bgraImage = pointCloudToColorBGRA(pointCloud);

std::cout << "Visualizing checkerboard with coordinate system" << std::endl;
drawCoordinateSystem(frame, transformCameraToCheckerboard, bgraImage);
drawCoordinateSystem(frame, cameraToCheckerboardTransform, bgraImage);
displayBGRA(bgraImage, "Checkerboard transformation frame");

const auto checkerboardTransformedFile = "CalibrationBoardInCheckerboardOrigin.zdf";
Expand Down
2 changes: 1 addition & 1 deletion source/Applications/PointCloudTutorial.md
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Expand Up @@ -223,7 +223,7 @@ m](https://support.zivid.com/latest//academy/applications/transform/transform-mi
source](https://github.com/zivid/zivid-cpp-samples/tree/master//source/Applications/Advanced/HandEyeCalibration/UtilizeHandEyeCalibration/UtilizeHandEyeCalibration.cpp#L234))

``` sourceCode cpp
pointCloud.transform(transformBaseToCamera);
pointCloud.transform(baseToCameraTransform);
```

## Downsample
Expand Down
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