Reference Manual Chapter 5
Ranger E/D
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Configuring Ranger E and D
Figure 5.23 – Real-World and sensor coordinate systems for the standard geometries
As can be seen, the critical factor is the laser incident angle towards the reference plane
(XY plane). If this is perpendicular (90 degrees) the x and z positions are directly given by
the in-plane calibration (x, r) and the y position is given by the encoder counter. If the laser
angle is not 90 degrees there will however be a dependency between r and y. There is
currently no support to compensate for this in the calibration functionality of the iCon API.
5.10.4 Calibration and 3D Cameras
The calibration support for 3D Cameras includes all you need to obtain calibrated and
rectified range data from Ranger and Ruler cameras. All the standard range components
are supported; Hi3D (DCM), Hi3D (COG), Horizontal Thresholding and Horizontal Maximum.
There is currently no support for calibration of pure gray scale or scatter components but
the gray and scatter subcomponents of a Hi3D component are calibrated in the same way
as the Hi3D range. The calibration is built up around the concept of calibration lookup-
tables (LUT:s). For the Ruler, the calibration LUT is already generated in production and
stored in the Ruler’s flash memory. For the Ranger a LUT needs to be generated for the
selected physical setup. This divides the calibration support into two main parts; tools to
generate calibration LUT:s and tools to use calibration LUT:s in your vision application
software.
Tools to generate calibration LUT:s
This section only applies to Ranger cameras since Ruler cameras are shipped pre-
calibrated with the LUT stored on device flash.
To generate a LUT you need the following:
y
x
z, r
y
x
r
y
x
r
y
x
r
Reverse Ordinar
Look-awa
Specular Ordinary
z
z
z
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