Automatic Calibration of an Industrial RGB-D Camera Network Using Retroreflective Fiducial Markers

. 2019 Mar 31;19(7):1561. doi: 10.3390/s19071561

Algorithm 4 Pseudo code of the refineTransformation function.

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functionrefineTransformation(sensorCloud, worldCloud)
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dScore = 1000
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score2 = 1000
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r = 0 ▹ round number
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$T_{W}^{S}$ = Identity ▹ Transformation from sensor to world
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cloud1 = sensorCloud
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while dScore> $I C P_{C C}$ and r< $I C P_{R}$ do
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r++
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[ $T_{2}^{1}$ , conv, score1] = alignClouds(Cloud, worldCloud, ( $I C P_{D}$ /r), ( $I C P_{I T}$ $\cdot$ r), $I C P_{T E}$ )
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if conv then
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$T_{W}^{S}$ = $T_{2}^{1} \cdot T_{W}^{S}$
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cloud1 = transformPointCloud(cloud2, $T_{2}^{1}$ )
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cloud1 = cloud2
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dScore = abs(score1-score2)/score1
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score2 = score1
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else
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Error message
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transformedSensorCloud = transformPointCloud(sensorCloud, $T_{W}^{S}$ )
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return $T_{W}^{S}$