Chapter 40: 3D reconstruction using laser line profiling

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This chapter explains how to perform laser line profiling, calibration, and reconstruction with the MIL 3D Reconstruction module.

• 3D reconstruction using laser line profiling overview
• Steps to creating a cloud of 3D points using laser line profiling
• Basic concepts for the MIL 3D Reconstruction module using laser line profiling
• Configuring the laser line profiling setup
• • 3D reconstruction physical setup
  • • Camera angle requirement
    • Sheet of light and conveyor requirements
  • 3D reconstruction context setup - laser line characteristics
  • • Using a 3D camera capable of laser line extraction
  • Inspecting laser line extraction
  • Optimizing frame rate, throughput, and processing time using smaller images
• Calibrating your 3D reconstruction setup to create a point cloud
• • Calibrating to create a point cloud
  • Inspecting laser line calibration
  • Specifying offsets when the 3D reconstruction calibration image is a subset of the grabbed image
• Runtime scanning settings
• 3D coordinate systems and the coordinates of a point cloud
• • Understanding the laser line coordinate system
  • Understanding the relative coordinate system in a 3D result buffer
  • • Retrieving the coordinates of the points in a point cloud
    • Transforming the relative coordinate system
    • Results displacement mode
• Using 3D cameras that output uncorrected depth maps
• • Calibrating a 3D reconstruction setup that uses a 3D camera
  • Laser data format
• Multiple camera-laser pairs
• • Multiple camera-laser pair setup
  • • Two lasers one camera
  • Calibrating the 3D reconstruction contexts in a multiple camera-laser pair setup
• Partially corrected depth maps
• • Calibrating for a partially corrected depth map
  • Generating a partially corrected depth map
  • • Inspecting the calibration state of a 3D reconstruction context
• MIL 3D reconstruction example