Claims
- 1. A method of positioning a plurality of reference sensors on a target object for providing positional data, each of said reference sensors being capable of detecting the centroid of impinging projector light; said method comprising in combination the steps of:
- sequentially pointing a laser projector to each of the aforementioned reference sensor positions and recording the horizontal and vertical angles for each of the aforementioned reference sensors;
- calculating the position and orientation of the projector relative to said plurality of reference sensors utilizing said horizontal and vertical angles;
- calculating the horizontal and vertical angles for each point of a three-dimensional data set having the same coordinate system as the plurality of reference sensors; and, then
- sequentially pointing the projector to each of the calculated positions for the reference data set.
- 2. The method of claim 1 wherein the step of calculating the horizontal and vertical angles comprises solving the equations: ##EQU3## where: H AND V=horizontal and vertical angles projected.
- X, Y, and Z=the position of projector 20.
- Omega, Phi, and Kappa=the angular orientation of projector 20.
- x, y, and z=the position of locations to be projected.
- m.sub.ij =the angle cosines for the orientation of projector 20.
- m.sub.11 =cos (Phi) cos (Kappa)
- m.sub.12 =sin (Omega) sin (Phi) cos (Kappa)+cos (Omega) sin (Kappa)
- m.sub.13 =-cos (Omega) sin (Kappa cos (Kappa)+sin (Omega) sin (Kappa)
- m.sub.21 =-cos (Phi) sin (Kappa)
- m.sub.22 =sin (Omega) sin (Phi) sin (Kappa)+sin (Omega) cos (Kappa)
- m.sub.23 =cos (Omega) sin (Phi) sin (Kappa)+sin (Omega) cos (Kappa)
- m.sub.31 =sin (Phi)
- m.sub.32 =sin (Omega) cos (Phi)
- m.sub.33 =cos (Omega) cos (Phi).
Parent Case Info
This application is a Continuation of Ser. No. 07/951,603 filed Sep. 28, 1992, now U.S. Pat. No. 5,341,183.
US Referenced Citations (14)
Foreign Referenced Citations (1)
Number |
Date |
Country |
640337 |
Dec 1978 |
SUX |
Non-Patent Literature Citations (1)
Entry |
Paper on the OLT presented to the Society of Manufacturing Engineers, Jan., 1993. |
Continuations (1)
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Number |
Date |
Country |
Parent |
951603 |
Sep 1992 |
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