I’m sure this has been answered before but struggling to get a simple answer.
Suppose I have the following setup
- A part that I want to scan in 3D on a rotary stage with an encoder output
- A static laser triangulation sensor with an encoder input
Here is an image of a typical laser sensor from Cognex but lets assume the sensor used is an off the shelf calibrated unit.
Instead of moving the part linearly under the sensor I want to keep the sensor fixed and move the part to be scanned on a rotary stage which will have an encoder output.
For each point in the point cloud I need to get x, y & z
z - I get from the sensor
x - not sure how the rotary angles map to give me x
y - not sure how the rotary angles map to give me y
Is this just a basic trigonometry problem or is it a little be it more complicated
To keep the math’s simple lets assume I take 360 line scans with the rotary moving in 1 degree increments for each of the line scans. Each line scan is triggered by the rotary encoder output.
What is the 4x4 transformation matrix I need to perform in order on each line scan, taking into account the rotary angle for each of the line scans to create a point cloud using this configuration?
Let me know if I need to add more information