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\subsection{Calibration target}
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\subsection{Calibration target}
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A calibration target is also part of the scanner. It was produced by printing a checkerboard in vector format on a high quality laser printer, and gluing it onto a thick piece of float glass using spray adhesive. The target is asymmetrical, which is necessary to uniquely match chessboard corners in both cameras. The calibration target was designed to fill the scan objects space. If the scan area was to be made smaller, a smaller calibration target would need to be fabricated.
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A calibration target is also part of the scanner. It was produced by printing a checkerboard in vector format on a high quality laser printer, and gluing it onto a thick piece of float glass using spray adhesive. The target is asymmetrical, which is necessary to uniquely match chessboard corners in both cameras. The calibration target was designed to fill the scan objects space. If the scan area was to be made smaller, a smaller calibration target would need to be fabricated.
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\section{Software components}
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\section{Software components}
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The SeeMaLab 3D scanner has a full graphical user interface for calibration, and scanning. The output from this software is a number of color pointclouds in the PLY format along with a Meshlab alignment project file (file suffix .aln), which contains orientation information as provided from the rotation stage parameters. This allows the user to import the point cloud for further processing in Meshlab, e.g. to produce a full mesh model of the surface. The rotation axis is determined during calibration, which means that usually no manual or algorithm-assisted alignment of partial surfaces is necessary.
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The SeeMaLab 3D scanner has a full graphical user interface for calibration, and scanning. The output from this software is a number of color pointclouds in the PLY format along with a Meshlab alignment project file (file suffix .aln). The .aln-file contains orientation information as provided from the rotation stage parameters. This allows the user to import the point cloud for further processing in Meshlab, e.g. to produce a full mesh model of the surface. The rotation axis is determined during calibration, which means that usually no manual or algorithm-assisted alignment of partial surfaces is necessary.
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To get fine grained control over the scan procedure, the user can modify the source code for the GUI application, or use the supplied Matlab wrappers. These wrappers provide basic functionality to capture images with the cameras, project a specific pattern on the projector, or rotate the rotation stage to a specific position. Using these components, a full structured light scanner can be implemented in Matlab with full design freedom.
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To get fine grained control over the scan procedure, the user can modify the source code for the GUI application, or use the supplied Matlab wrappers. These wrappers provide basic functionality to capture images with the cameras, project a specific pattern on the projector, or rotate the rotation stage to a specific position. Using these components, a full structured light scanner can be implemented in Matlab with full design freedom.
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\section{GUI}
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\section{GUI}
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The scanner GUI was developed using Qt, OpenCV and the Pointcloud Library (PCL). It enables the user to perform calibration of the scanner, and to acquire scan data. It is built in a modular fashion, to allow for new structured light strategies to be implemented. It is, however, supposed to be simple and stable, so please keep experimental builds in separate SVN branches.
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The scanner GUI was developed using Qt, OpenCV and the Pointcloud Library (PCL). It enables the user to perform calibration of the scanner, and to acquire scan data. It is built in a modular fashion, to allow for new structured light strategies to be implemented. It is, however, supposed to be simple and stable, so please keep experimental builds in separate SVN branches.
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