Angular Metric Calibration Tool

AQSENSE's Angular Metric Calibration Tool permits the reconstruction of the COP with metric units (cm, mm, etc.) removing the perspective distortion introduced by the scene projection onto the image sensor when the system camera-laser is rotating along a fix axis with known angular steps.

In addition to the perspective distortion corrected on the Metric tool, the Angular Metric tool considers the position and orientation of the angular axis during the reconstruction.

This configuration where the camera-laser system rotates along an axis is very useful for its compact design and for being the most suitable way to integrate with a robotic arm.

Please, see sal3d::AngularMetric for C++ information

Metric input data

The Metric tool accepts range maps obtained from several laser triangulation layouts:

• 3D Camera (range map)
• Two 3D Cameras (range map) + SAL3D Merger
• 2D Camera + SAL3D Software peak detector
• 2D Camera + User peak detector
• Two 2D Cameras + SAL3D Software peak detector + SAL3D Merger

Laser triangulation angular set-up

Calibration of the acquisition system

The Angular Metric Calibration Tool requires the scanning of a calibration pattern to determine the parameters which relate Profiles or RangeMaps coordinates with metric 3D coordinates. Please, read Description of the angular calibration pattern to know the requirements of the manufacturing and acquisition of the different patterns.

Warning:

The Metric Calibration Tool does not correct Lens Distortion unless it is combined with the Lens Distortion tool.

Metric calibration tool considers the camera region of interest, therefore, the acquisition system must be recalibrated in case of modifying the camera ROI.