Riftek RF627 Series, Руководство пользователя

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RF627, RF627Smart [Revision 2.1.2] 20.09.2021
Laser Scanners
83
Calculating the center of an arbitrary segment
Inputs: “in1” SDT_SEGMENT Segment.
Outputs: “middle” SDT_POINT Midpoint.
“point 2D to 3D” - converting a point from the local 2D coordinate system of the scanner to
the 3D coordinate system of an external device. The conversion is performed according to
the following expressions:
X = X
0
+ x*A
0
+ y*A
1
Y = Y
0
+ x*A
2
+ y*A
3
Z = Z
0
+ x*A
4
+ y*A
5
where:
X, Y, Z - coordinates of a point in the 3D coordinate system of an external device;
X
0
, Y
0
, Z
0
- calibration offsets;
A[6] - rotation matrix coefficients;
x, y - coordinates of a point in the 2D coordinate system of the scanner.
Inputs: “in” SDT_POINT Point.
Outputs: “x” SDT_SCALAR The X coordinate in the 3D coordinate system of the
external device.
“y” SDT_SCALAR The Y coordinate in the 3D coordinate system of the
external device.
“z” SDT_SCALAR The Z coordinate in the 3D coordinate system of the
external device.
“segment 2D to 3D” - converting the line segment from the local 2D coordinate system of
the scanner to the 3D coordinate system of an external device. The conversion procedure is
performed for the segment endpoints and is the same as for “point 2D to 3D”.
Inputs: “in” SDT_SEGMENT Segment.
Outputs: “x1” SDT_SCALAR The X coordinate of the left point in the 3D coordinate
system of the external device.
“y1” SDT_SCALAR The Y coordinate of the left point in the 3D coordinate
system of the external device.
“z1” SDT_SCALAR The Z coordinate of the left point in the 3D coordinate
system of the external device.
“x2” SDT_SCALAR The X coordinate of the right point in the 3D coordinate
system of the external device.
“y2” SDT_SCALAR The Y coordinate of the right point in the 3D coordinate
system of the external device.
“z2” SDT_SCALAR The Z coordinate of the right point in the 3D coordinate
system of the external device.