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Project Goals
Create a structured light program that generates a 3D point cloud (x,y,z coordinates) Create embedded system capable of running our structured light program Display point cloud results using open source 3D modeling software
Eliminates need for correspondence search with scan lines used in Stereo
Texture less objects
Occlusions/patterns (repetitions)
BeagleBoard-xM
http://narcissus.angstrom-distribution.org/
Narcissus Tool
1 2
OpenCV Setup
Demo!
production control Classification of grinding materials Volume measurement Forensic science inspections Skin surface measurement Body shape measurement
Static Scenes
Gray Code
Low decoding
error Reversible
L. Zhang, B. Curless, and S. M. Seitz. Rapid Shape Acquisition Using Color Structured Light and Multi-pass Dynamic Programming. 3DPVT 2002
Image planes of cameras are parallel to each other and to the baseline Camera centers are at same height Focal lengths are the same Then, epipolar lines fall along the horizontal scan lines of the images
z x f O Baseline B x f O
0 1
0 1
01 11
010 110
0100 1101
01000 11010
010000 110100
0100001 1101001
01000011 11010011
010000111 110100111
The difference in the focal length and resolutions of the camera and projector may introduce errors in the calculation and the resulting image will be skewed.
The homography is currently unknown. Therefore, the epipolar lines are not horizontal.
The camera and projector are not calibrated yet and hence the scaling is not accurate without the knowledge of focal length. Also the images are still distorted. Need to eliminate redundant camera pixels in captured images due to high camera resolution
The difference in the focal length and resolutions of the camera and projector may introduce errors in the calculation and the resulting image will be skewed. 2x telephoto lens cuts the difference by half: focal length Resolutions are normalized before calculating disparity The homography is currently unknown. Therefore, the epipolar lines are not horizontal. By placing the camera in parallel, we force the epipolar lines to be horizontal. The camera and projector are not calibrated so images are not to scale. Project scope does not include recreating scale models
Live Results!