A while ago I posted this question about camera and laser scanner calibration. I've been away from this project for a while and now I need to come back and get a final approach to calibrate properly this system.
So having Cedron Dawg's as a good answer to get the laser plane and also having the method described in this article, I have the next approach (assuming I got already the camera intrinsic parameters and the distortion is corrected ):
- Get the camera extrinsics (R|t) placing a chessboard in front of the camera on the scanning area.
- Get the next equations from this article:
- Having the above functions obviously we need a third equation to match the number of equations and variables, so I though to use this answer approach to get the laser plane equation and with this I will be able to solve the three equation system for the world coordinates (X,Y,Z).
So assuming that for every camera frame I've got the laser pixel input image coordinates (x,y) I will be able to transform them to world coordinates (X,Y,Z) with the above equations.
is all of this correct? is there in this approach any mistake?
I edit in order to clarify more what I'm trying to do. The next picture illustrates an example about what I'm trying to do:
The object will change in width (B) and height (A) uniformly ( assume laser,camera and target are stationary), so applying the laser I need to measure (for each laser point) height and width changes. So the aim is, for each camera frame, draw a calibrated laser profile of the object.
What would it be the best way to solve this?
Thanks in advance.