songyuncen/laser-triangulation

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

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.

Issues

• Laser line extraction method is not accurate and robust.

laser-triangulation's Issues

back_projection.cc中的GetObjectPlaneInCameraCoordinate函数

您好，请问下unit_z是不是rot的最后一列向量，origin是不是就是平移的向量。
那这个函数计算平面方程是在世界坐标系的平面方程吗？为什么plane[3] = -(plane[0] * origin.at(0, 0) +plane[1] * origin.at(1, 0) +plane[2] * origin.at(2, 0))？