The 3D coordinate system is defined as positive X going to the right,
positive Y going up into the air, and negative Z going into the scene (camera look direction).
This is also the standard OpenGL coordinate system.
The origin is the center of the turn table.
- Uriah
]]>I have a Ciclop scanner (or PiClop), so slightly different geometry to an Atlas3D. I think I have some incorrect values entered in my setup and I may have misinterpreted the meaning of some of the short descriptions on the setup page. The comments all refer to X Y Z locations of cameras and lasers, but I'm not entirely sure where the X0, Y0, Z0 origin is that everything is measured from. I have assumed the center of the rotating platform, is that correct?
Currently when i start a scan the scanner goes through the process but I get the following debug output. The bit about 'object bounds failures' sounds sort of like my setup parameters are so far out it cant create any sensible data from the scan.
Detected 694 laser pixels.
!! 694 object bounds failures.
Discarded 694 points.
0.75% Complete, 17.8653 minutes remaining.
Merged 34 laser ranges.
numRowsBadFromColor: 0
numRowsBadFromNumRanges: 0
Detected 694 laser pixels.
!! 694 object bounds failures.
Discarded 694 points.
Total Seconds per frame: 2.59714
Unaccounted time: 10.2678%
Image Acquisition: 57.0324%, 1.48121 seconds per frame.
Image Processing: 31.7261%, 0.823971 seconds per frame.
Laser Time: 0.000835384%, 2.16961e-05 seconds per frame.
Point Mapping: 0.0926634%
Point Processing: 0%
Table Rotation: 0.880277%
Laser Merging: 0%
PLY Writing: 0%
STL Writing: 0%
XYZ Writing: 0%
Facetization: 0%
Num Frame Retries: 0
Num Frames: 4
Num Empties: 0
Point Memory: 0 MB
Total Time (min): 0.173143
1% Complete, 17.1411 minutes remaining.
Stopping scan...
Merged 72 laser ranges.
numRowsBadFromColor: 0
numRowsBadFromNumRanges: 0
Detected 917 laser pixels.
!! 917 object bounds failures.
Discarded 917 points.
Total Seconds per frame: 2.53207
Unaccounted time: 8.49458%
Image Acquisition: 58.3201%, 1.47671 seconds per frame.
Image Processing: 32.1827%, 0.81489 seconds per frame.
Laser Time: 0.000813537%, 2.05994e-05 seconds per frame.
Point Mapping: 0.0958373%
Point Processing: 0%
Table Rotation: 0.905962%
Laser Merging: 0%
PLY Writing: 0%
STL Writing: 0%
XYZ Writing: 0%
Facetization: 0%
Num Frame Retries: 0
Num Frames: 5
Num Empties: 0
Point Memory: 0 MB
Total Time (min): 0.211006My setup parameters are currently as follows. Do these look logical?
Camera X 0 mm.
X-compoment of camera location. ie: The camera is always at X = 0.
Camera Y 310mm.
Y-component of camera location. ie: The distance from camera center to the XZ plane
Camera Z 100.4mm.
Z-component of camera location. ie: The distance from camera center to origin
Right Laser X 175mm.
X coordinate of the right laser. This is how far the laser is from the camera.
Right Laser Y 310mm.
Y coordinate of the right laser
Right Laser Z 100.4mm.
Z coordinate of the right laser. The laser is parallel with the camera focal point
Left Laser X -175mm.
X coordinate of the right laser. This is how far the laser is from the camera.
Left Laser Y 310 mm.
Y coordinate of the right laser
Left Laser Z 100.4 mm.
Z coordinate of the right laser. The laser is parallel with the camera focal point