3D-视觉检测--王振宇

XimingVisionVisionExpert2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech12020/7/3•3D-Locate&3DSensor刘少鹏E-Mail:[e-mail]:15261520319•ContinuouslyExceedscustomerExpectationsXimingVisionVisionExpert2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2IDReadersCognexCoreProductsXimingVisionVisionExpertWhatisCognex3DVision?Cognex3Dvisionusestwodimensionalimagesandtoolsfromoneormorecameras’pointofviewtogenerateinformationaboutanobjectin3Dspace.Using2DimagesandtoolsallowsCognex3Dvisiontoaccuratelypinpointa3Dpositionbyestablishingamathematicalrelationshipbetweenthe2Dcoordinatesystemsineachcamera’simageandthephysicalworld.2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertWhatisVisionPro3DAdd-In?•TheVisionPro3DAdd-Inisa.NetlibraryofclassesthatenablesVisionProsoftwaretoperform3Dcalibrationandobjectlocation.•AsupportedsoftwareversionofVisionProisrequiredtocreatea3DvisionapplicationusingtheVisionPro3DAdd-In.2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertWhatisVisionPro3DAdd-In?AnextensiontoVisionProfor3Dposedeterminationthatcanbeusedindifferentconfigurations:SingleCameraFixed3DMulti-camera3DPhotogrammetryMulti-cameraShortBaseline3DSingleCamera3DActiveVisionMulti-camerashortbaseline3DActiveVision2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertVisionPro3DAdd-InGettingStarterKit•Tripod•Mountingplate,screws,andAllenwrenches•Dual-portGigEnetworkadapter•Cognex10mmcalibrationplate•Cognex20mmcalibrationplate(optional)•TwoBaslerAce1.3MPcamerasandPoEpowersupplies(updateto2MPin7.2StarterKit)•Two6mmlenses•4ENETcables•Two25mmx50mmx75mmspacerblocks2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertVisionPro3DStarterKitHardwareMountingHardwareAdjustablecameraplateandtripodCalibrationPlates300mmstandard600mmoptional“1-2-3”SamplePart25x50x75mmblockCamerasTwoBaslerGigEcameras&cablesAccessoriesPoweroverEthernet(PoE)injectorsCameranetworkcard2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertCalibrationOverview•3Dcalibrationestablishesamathematicalrelationshipbetweenthe2Dcoordinatesystemassociatedwiththepixelsinanacquiredimage2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpert3DCalibrationCalibrationproceduredependsonapplicationsetup:3DCameracalibration(fixedcameras,manuallymovecalibrationplatetodifferentpositions)3DRobotHand-Eyecalibration(movingcameramountedatrobothand,fixedcalibrationplate)3DRobotHand-Eyecalibration(stationarycamera,movingcalibrationplatemountedatrobothand)2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpert3DCalibrationCalibrationplate2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertRaw2DConcepts•Raw2Dspacereferstoaleft-handed2Dcoordinatesystemestablishedbyandacquiredimage.•Usespixelsasunits.•Originatupperleft-handcorner.•ARaw2DpointinRaw2Dspaceissimplyan(x,y)coordinateidentifiedwithinaRaw2Dcoordinatesystem.2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpertPhys3DConcepts•Phys3Dreferstoaright-handed3Dphysicalcoordinatesystemestablishedbythe3Dcalibrationprocess.•Usesphysicalunits(initiallydefinedbythecalibrationplateandspacingbetweenplateviews).•Origindefinedbyfiducialmarkoncalibrationplate.•XandYaxesarealignedtocalibrationgrid,Zaxisnormaltoplateextendingawayfromcamera.2020/7/3TEL：[phone]FAX：[phone]Add：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2020/7/3XimingVisionVisionExpert3DCalibrationBasics•3Dcalibrationestablishesanaccuratecorrespondencebetween2Dlocationsinandimageusinga3Dcalibratedcameraanda3Dlocationinphysicalinfrontofthecamera.•Thecorrespondenceiscreatedbythemathematicallinkingofthedifferenttransformations(Coordinatespaces).2020/7/3TEL：[phone]FAX：[phone]Add：PlatD