/laser-triangulation

Implement Halcon's sheet-of-light 3D laser triangle reconstruction demo with OpenCV

Primary LanguageC++MIT LicenseMIT

laser-triangulation

  • Implement Halcon's sheet-of-light 3D reconstruction demo with OpenCV

  • The name of the Halcon demo is calibrate_sheet_of_light_calplate.hdev

Tools used:

  • OpenCV (4.5.3)
  • CMake (3.21.0)

Usage

  1. Copy all images into a folder, name it as "images".
  2. Move the folder to the same directory of the demo executable.
  3. Run the demo executable.

Download images

Source code in "src" folder

  • Code written when in development and test
    • calibrate_camera.cc Camera calibration.
    • calibrate_laser.cc Laser plane calibration.
    • calibrate_movement.cc Movement of the platform calibration.
    • extract.cc Laser line extraction.
    • scan.cc Reconstruction from images.
  • Static library "utils" code
    • laser_triangulation.h The header
    • fit_3d_plane.cc
    • extract_laser_line.cc
    • reconstruction.cc
    • back_projection.cc Project image points to camera coordinate.
    • write_ply.cc Output result to PLY format.
  • Final demo code: calibrate_sheet_of_light_calplate.cc

Reconstructed connection rod displayed in Matlab.

Reconstructed object display in Matlab

Issues

  • Laser line extraction method is not accurate and robust.