3D 视觉检测相关.ppt

* * VisionPro3D APPlication * * VisionPro3D APPlication * * VisionPro3D APPlication * * VisionPro3D APPlication * * 3D Displacement Sensor – DS1100 * 3D Displacement Sensor - DS1100 Sensor designed to inspect and measure in 3D Height, Volume, Tilt, shape, OCR Calibrated 3D inspection Factory calibrated Real world measurements in mm Contrast independent Inspection Dark objects on dark background Independent of color * DS1100 Package DS1100 hardware and VisionPro software VisionProMax with DS1100 3D Tools Required Accessories IP65 Ethernet Cable IP65 Power IO Cable Optional Accessories Right angle mounting bracket IP69K Stainless steel enclosure DS1100 VisionPro VisionPro + * What is the DS 1100 ?? Sensor designed to inspect and measure in 3D Calibrated 3D inspection Factory calibrated Real world measurements in mm Contrast independent Inspection Low contrast inspection Independent of color * 3D Calibration Basics 3D calibration establishes an accurate correspondence between 2D locations in and image using a 3D calibrated camera and a 3D location in physical in front of the camera. The correspondence is created by the mathematical linking of the different transformations (Coordinate spaces). * * 3D Camera Calibration A Camera Calibration includes two sets of parameters: Intrinsic parameters Properties of the acquisition system that are internal to the camera/lens system (lens distortion) Extrinsic parameters Properties of the acquisition system that are external to the camera/lens system (position and orientation of camera in 3D space) * * 3D Camera Calibration A Camera Calibration is needed for all 3D operations (triangulation, pose estimation,…) A CameraCalibration can be created from a HandEye calibration result and a robot pose. * * 3D Camera Calibration Multiple stationary cameras Requires one World Origin Viewset Requires Tilted Viewsets Elevated Viewsets recommended(Optional) CalibrationWizard application can be used for 3D Camera