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# Simple setup for laser plane scanner
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# Simple setup for laser plane range finder (LPRF)
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## Requirements for LPRF
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* Python 2.7
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* OpenCV3 compiled with GUI and ChAruCo optional packages (ROS version can be used)
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* PylonForPython --> https://gitlab.ciirc.cvut.cz/cmirajak/PylonForPython
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### PylonForPython
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Copy GitHub link to CameraManager and follow the project the README to install the package.
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git clone git@gitlab.ciirc.cvut.cz:cmirajak/PylonForPython.git
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## Choosing the calibration pattern
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Two calibration pattern are available, the chessboard and ChAruCo (chessboard with position tags), both of which can be combined to calibrate the whole system. We will use the ChAruCo board for camera calibration and chessboard for laser position calibration. |
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Two calibration pattern are available, the chessboard and ChAruCo (chessboard with position tags), both of which can be combined to calibrate the whole system. We will use the ChAruCo board for camera calibration and chessboard for laser position calibration.
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## Generating ChAruCo board
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**GenerateBoardCharuco.py** generates the ChAruCo board and saves it as .png file. You can configure the board generation by setting the number of columns, rows, size of the squares, size of the markers and specify the dictionary of markers. The generated picture of the board is printed in 1:1 ratio and glued to a flat surface.
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The setting is later used in the other files. The setting of these files must be changed accordingly to this setting.
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