SAL3D > Merger Tool

The AQSENSE SAL3D Merger tool allows the minimization of the occlusions or shadows that typically appear in laser triangulation applications. A second camera can see most of the hidden areas that the first camera can't see. The tool performs a quick and smooth merging of the two rangemaps coming from both cameras, with very little CPU effort, significantly increasing the laser triangulation acquisition quality.

Similar to the metric calibration, the merger requires some parameters to combine information from two cameras in a single range map. In order to extract this parameters, a procedure similar to the calibration is required, involving the same calibration pattern, requiring one range map from each of the cameras.

One of the cameras is considered to be the base (or reference) camera, while the other one is named the auxiliary camera. The base camera is the master, and the output will give the merged range map as if it was acquired by the base camera. The effect the user will grasp is that the base camera acquires a shadow-minimized range map.

After computing the merger parameters, each profile of the auxiliary camera can be merged with its corresponding profile of the base camera. As the merger tool works with profiles, image captures from both cameras should be synchronized, so, each profile on both range maps are one to one correspondent.

Fig. Example of a merged range map obtained by combining information from two cameras

  Please, refer to SAL3D for O.S. and compiler compatibility

Download pdf version