DLP4500： DLP® products forum

dongdong CHEN

Part Number: DLP4500

I am having a problem now. When I run DLP_LightCrafter_4500_3D_Scan_Application.exe, I only generated a few point clouds when I run step 7. Then I used the eighth step (horizontal + portrait) to scan the plane when I got It's an uneven surface, I'm sure my calibration board is smooth. How can I solve it?

新建 Microsoft Word 文档 (2).docx

over 5 years ago

0 Kyle Rakos over 5 years ago

TI__Mastermind 20045 points

Hello Dongdong CHEN,

Could you please confirm you have performed both the calibrate camera and calibrate system steps? Note that after the calibration it is important to maintain the baseline (camera to projector distance), camera and projector focal length, exposure settings, etc. Please also upload the captured images that are used to generate the 3D scan.

Thanks,
Kyle

0 dongdong CHEN over 5 years ago in reply to Kyle Rakos

Prodigy 50 points

Dear Kyle

I can be sure that I followed the process, the calibration camera took 20 photos, and the calibration camera took 5 photos. I didn't move all the objects throughout the calibration and generation of the point cloud. I will upload the parameter file I set for you to see. Thank you for your reply.

calibration_1.docx calibration_1.docx

T.txt

algorithm_horizontal.txt

STRUCTURED_LIGHT_PARAMETERS_PATTERN_COLOR	= WHITE
STRUCTURED_LIGHT_PARAMETERS_PATTERN_ORIENTATION	= HORIZONTAL

######################################
## GrayCode algorithm configuration  #
######################################
GRAY_CODE_PARAMETERS_SEQUENCE_COUNT		= 9
GRAY_CODE_PARAMETERS_PATTERN_INCLUDE_INVERTED	= 1
GRAY_CODE_PARAMETERS_PIXEL_THRESHOLD		= 10

########################################
## ThreePhase algorithm configuration  #
########################################
THREE_PHASE_PARAMETERS_PIXELS_PER_PERIOD 	= 32
THREE_PHASE_PARAMETERS_BITDEPTH			= MONO_8BPP
THREE_PHASE_PARAMETERS_USE_HYBRID_UNWRAP	= 1
THREE_PHASE_PARAMETERS_OVERSAMPLE		= 1


**********************************************************************************************
algorithm_vertical.txt
STRUCTURED_LIGHT_PARAMETERS_PATTERN_COLOR	= WHITE
STRUCTURED_LIGHT_PARAMETERS_PATTERN_ORIENTATION	= VERTICAL

######################################
## GrayCode algorithm configuration  #
######################################
GRAY_CODE_PARAMETERS_SEQUENCE_COUNT		= 9
GRAY_CODE_PARAMETERS_PATTERN_INCLUDE_INVERTED	= 1
GRAY_CODE_PARAMETERS_PIXEL_THRESHOLD		= 10

########################################
## ThreePhase algorithm configuration  #
########################################
THREE_PHASE_PARAMETERS_PIXELS_PER_PERIOD 	= 32
THREE_PHASE_PARAMETERS_BITDEPTH			= MONO_8BPP
THREE_PHASE_PARAMETERS_USE_HYBRID_UNWRAP	= 1
THREE_PHASE_PARAMETERS_OVERSAMPLE		= 1
******************************************************************************************
calibration_camera.txt
CALIBRATION_PARAMETERS_BOARD_COUNT	=	20
CALIBRATION_PARAMETERS_BOARD_FOREGROUND	=	255, 255, 255
CALIBRATION_PARAMETERS_BOARD_BACKGROUND	=	150, 150, 150
CALIBRATION_PARAMETERS_BOARD_FEATURE_ROWS	=	7
CALIBRATION_PARAMETERS_BOARD_FEATURE_ROW_DISTANCE	=	11
CALIBRATION_PARAMETERS_BOARD_FEATURE_ROW_DISTANCE_PIXELS	=	100
CALIBRATION_PARAMETERS_BOARD_FEATURE_ROW_OFFSET_PIXELS	=	700
CALIBRATION_PARAMETERS_BOARD_FEATURE_COLUMNS	=	10
CALIBRATION_PARAMETERS_BOARD_FEATURE_COLUMN_DISTANCE	=	11
CALIBRATION_PARAMETERS_BOARD_FEATURE_COLUMN_DISTANCE_PIXELS	=	100
CALIBRATION_PARAMETERS_BOARD_FEATURE_COLUMN_OFFSET_PIXELS	=	700
CALIBRATION_PARAMETERS_SET_TANGENT_DIST_TO_ZERO	=	0
CALIBRATION_PARAMETERS_FIX_SIXTH_ORDER_DIST	=	0
*******************************************************************************************
calibration_projector.txt
CALIBRATION_PARAMETERS_BOARD_COUNT		= 5
CALIBRATION_PARAMETERS_MODEL_OFFSET_HORIZONTAL	= 0
CALIBRATION_PARAMETERS_MODEL_OFFSET_VERTICAL	= 100
CALIBRATION_PARAMETERS_MODEL_FOCAL_LENGTH	= 14
CALIBRATION_PARAMETERS_BOARD_FOREGROUND		= 255, 255, 255
CALIBRATION_PARAMETERS_BOARD_BACKGROUND		= 0, 0, 0
CALIBRATION_PARAMETERS_BOARD_FEATURE_ROWS	= 18
CALIBRATION_PARAMETERS_BOARD_FEATURE_COLUMNS	= 23
CALIBRATION_PARAMETERS_SET_TANGENT_DIST_TO_ZERO	= 0
CALIBRATION_PARAMETERS_FIX_SIXTH_ORDER_DIST	= 0
CALIBRATION_PARAMETERS_FIX_ASPECT_RATIO		= 1
******************************************************************************************
config_camera.txt
CAMERA_PARAMETERS_FRAME_BUFFER_SIZE 		= 72

####################
##OpenCV Camera    #
####################
#OPENCV_CAM_PARAMETERS_EXPOSURE 		= 0


####################
##PointGrey Camera #
####################
PG_FLYCAP_PARAMETERS_GAIN_DB 			= 0

# For below parameter set 
# Rolling shutter color Camera - MONO8
# Global shutter Monochrome camera - RAW8
PG_FLYCAP_PARAMETERS_PIXEL_FORMAT		= MONO8
PG_FLYCAP_PARAMETERS_SHUTTER_EXPOSURE_MS	= 30
PG_FLYCAP_PARAMETERS_FRAME_RATE_HZ		= 15
PG_FLYCAP_PARAMETERS_STROBE_SOURCE		= 2
PG_FLYCAP_PARAMETERS_STROBE_ENABLE		= 1
PG_FLYCAP_PARAMETERS_STROBE_POLARITY		= 1
# For below parameter
# Rolling shutter color camera - 5.0
# Glocal shutter Monochrome camera - 0.0
PG_FLYCAP_PARAMETERS_STROBE_DELAY		= 0
PG_FLYCAP_PARAMETERS_STROBE_DURATION		= 1.0
PG_FLYCAP_PARAMETERS_AUTOEXPOSURE		= 0
PG_FLYCAP_PARAMETERS_EXPOSURE 			= 1.0
**********************************************************************************************
config_projector.txt
DLP_PLATFORM_PARAMETERS_SEQUENCE_PREPARED	= 1
DLP_PLATFORM_PARAMETERS_SEQUENCE_EXPOSURE_US	= 6000
DLP_PLATFORM_PARAMETERS_SEQUENCE_PERIOD_US	= 6000

LCR4500_PARAMETERS_USE_DEFAULT			= 1
##For below parameter
## 1 - External Positive Trigger
## 0 - Internal Trigger
LCR4500_PARAMETERS_TRIGGER_SOURCE		= 1
LCR4500_PARAMETERS_DLPC350_IMAGE_COMPRESSION 	= RLE
LCR4500_PARAMETERS_VERIFY_IMAGE_LOAD_COUNT	= 0
LCR4500_PARAMETERS_DLPC350_FIRMWARE		=C:\TexasInstruments-DLP\DLP-ALC-LIGHTCRAFTER-SDK-2.0\TIDA-00254_LCr4500_MachineVision-bld1\bin\dlp_sdk_lcr4500_dlpc350_prepared_25A.bin
LCR4500_PARAMETERS_LED_CURRENT_RED		= 200
LCR4500_PARAMETERS_LED_CURRENT_GREEN		= 200
LCR4500_PARAMETERS_LED_CURRENT_BLUE		= 200
*********************************************************************************************
geometry.txt
GEOMETRY_PARAMETERS_POINT_DISTANCE_MAX				= 0
GEOMETRY_PARAMETERS_POINT_DISTANCE_MIN				= 0
GEOMETRY_PARAMETERS_POSITIVE_DIRECTION_X 			= LEFT
GEOMETRY_PARAMETERS_POSITIVE_DIRECTION_Y 			= UP
GEOMETRY_PARAMETERS_FILTER_RAYS_ENABLE				= 1
GEOMETRY_PARAMETERS_FILTER_RAYS_ERROR				= 0.2	

##For below parameters 
##Enable oversampling by factor
## 1, 2, 3,  
GEOMETRY_PARAMETERS_OVERSAMPLE_COLUMNS 				= 1
GEOMETRY_PARAMETERS_OVERSAMPLE_ROWS 				= 1
GEOMETRY_PARAMETERS_OVERSAMPLE_PLANES_DIAMOND_ANGLE_1 		= 1
GEOMETRY_PARAMETERS_OVERSAMPLE_PLANES_DIAMOND_ANGLE_2 		= 1
##

##For below parameter
## 1 - Enable smoothing (removes strray points in point cloud)
## 0 - Disable smotthing  
GEOMETRY_PARAMETERS_SMOOTH_DISPARITY_ENABLE 			= 0

GEOMETRY_PARAMETERS_GENERATE_ORIGIN_PLANES_VERTICAL 		= 1
GEOMETRY_PARAMETERS_GENERATE_ORIGIN_PLANES_HORIZONTAL 		= 1
GEOMETRY_PARAMETERS_GENERATE_ORIGIN_PLANES_DIAMOND_ANGLE_1 	= 1
GEOMETRY_PARAMETERS_GENERATE_ORIGIN_PLANES_DIAMOND_ANGLE_2 	= 1
GEOMETRY_PARAMETERS_SCALE_XYZ 					= 1

0 Sanjeev over 5 years ago in reply to dongdong CHEN

TI__Mastermind 30875 points

Hello Dongdong CHEN,
We highly suspect the calibration of camera and projector is not done properly.
Please follow the instructions provided in the user's guide www.ti.com/.../dlpu019b.pdf
Section 3.7 Calibrating the Camera
Section 3.8 Calibrating the Projector

After calibration follow the steps shown in 3.9 Calibration Verification

Regards,
Sanjeev

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