z
x
z
x
Figure 58: Calibrated points and corresponding rectified profile (to the right).
The rectification is performed on the camera and is controlled via the setting for
calibration. If
Calibrated
is selected, rectification will also be performed.
Maximum
Rectification width
for in-device rectification is 4096 and default is 3072. The
rectification is made to a higher resolution than the imager resolution to avoid losing X
resolution close to the device. The
Rectification width
can be set to a lower value than the
width of the
Extraction region
. The image will then be downsampled and data will be lost.
The
Rectification width
determines the width of the 3D image.
Select which
Rectification method
to use.
Table 7: Rectification methods
Method
Description
BottomMost
Always pick the lowest range value for each bin.
TopMost
Always pick the highest range value for each bin.
The
Rectification spread
is used to distribute pixel values to neighboring pixels. If the
Rectification Width
is larger than the width of the data, the rectification can give holes in
the data. The process of replacing those holes of missing data with neighboring pixel
values is called spreading.
Due to the geometry between the laser plane and the camera, the number of holes in
the image depends on the range value with typically no holes in the image at one end
of the range scale and maximum number of holes at the other. Hence the spreading
is adjusted to spread more at range values from the far end of the cameras field
of view and less close to the camera where the resolution per mm is higher. It is
important not to spread more than necessary since it potentially overwrites valid data
with neighboring data.
Setting the
Rectification Spread
to 0 disables spreading. Spreading 1.0 will fill all gaps
in the output image in an ideal case, but default spreading is still set to 1.2 since in
practice there might still be missing data at spreading 1.0 due to discontinuities in
the image. The maximum value depends on other parameters and is typically 1.5 for
in-device rectification due to hardware limitations.
8.8.1.1
Setting rectification method
Tabs:
2D Image
,
3D Image
To enable rectification, follow the steps below:
1.
Open the
Calibration
section.
2.
Select the
Calibrated
radio button.
3.
Set the
Rectification width
, a value between 160 and 4096.
4.
Select which
Rectification method
to use. For information about different methods,
.
5.
Set the
Rectification spread
, a value between 1 and 10.
8
CONFIGURATION
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O P E R A T I N G I N S T R U C T I O N S | Ruler3000
8026049//2021-04 | SICK
Subject to change without notice
