Method and apparatus for using gestures to control a laser tracker

A method for optically communicating, from a user to a six degree-of-freedom laser tracker, a command to control operation of the six degree-of-freedom laser tracker with steps comprising:

• providing the six degree-of-freedom laser tracker, the six degree-of-freedom laser tracker having
• a structure rotatable about a first axis and a second axis,
• a first light source that launches a first light beam from the structure,
• a first receiver that receives a first portion of the first light that is reflected back to the structure,
• a distance meter,
• a first angular encoder that measures a first angle of rotation of the structure about the first axis,
• a second angular encoder that measures a second angle of rotation of the structure about the second axis,
• a first motor that rotates the structure about the first axis by the first angle,
• a second motor that rotates the structure about the second axis by the second angle,
• a processor, and
• a first camera that rotates about the first axis by the first angle and produces a first image signal;
• providing a six degree-of-freedom target having a retroreflector;
• providing a rule of correspondence between a plurality of commands and a plurality of pose patterns of the six degree-of-freedom target, wherein each of the plurality of pose patterns includes a change in at least one orientational coordinate from a first pose of the six degree-of-freedom target to a second pose of the six degree-of-freedom target, each pose of the six degree-of-freedom target having six coordinates-three translational coordinates and three orientational coordinates;
• selecting by the user a first command from among the plurality of commands, the first command corresponding to a first pose pattern;
• measuring a first set of orientational coordinates of the first pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker at a first time;
• changing, by the user between the first time and a second time, according to the first pose pattern, from the first pose of the six degree-of-freedom target to the second pose of the six degree-of-freedom target;
• measuring a second set of orientational coordinates of the second pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker at the second time;
• determining the first command based at least in part on a difference between the second set of orientational coordinates and the first set of orientational coordinates according to the rule of correspondence;
• executing the first command by the six degree-of-freedom laser tracker, wherein the first command further includes steps of
• directing the first light beam to the retroreflector by the first motor and the second motor, based at least in part on the first image signal;
• receiving the first portion of the first light beam;
• measuring the first angle of rotation and the second angle of rotation;
• determining by the processor a first distance from the six degree-of-freedom laser tracker to the target by the distance meter, based at least in part on the received first portion of the first light beam;
• determining by the processor a first set of translational coordinates of the target based at least in part on the first distance, the measured first angle of rotation, and the measured second angle of rotation;
• and
• causing the first light beam to track the six degree-of-freedom target.