Ticket #23 (closed feature: implemented)

Opened 4 years ago

Last modified 3 years ago

Mirror calibration

Reported by: tim Owned by: beck
Priority: major Milestone: GO2009
Component: FireVision Version:
Keywords: OmniVision Cc:
Git Branch:

Description

We need a way to calibrate the mirror lookup table which maps image pixels to world coordinates. The basic software for this is already available. But since in the RCSoft5 this relied on a working localization this cannot be used any longer (the localization will be dependent on the mirror lookup table).

A software has to be written which accepts a number of fixed positions and then asks the user to take the robot to these positions one after another. At each position the robot is turned to a priori defined angles to take sample points.

Change History

Changed 4 years ago by tim

  • owner changed from Tim Niemueller to beck

Application has been written and is waiting to be committed by Daniel. Calibration luts have been calculated and used successfully.

Changed 4 years ago by beck

  • status changed from new to assigned

Changed 4 years ago by beck

I implemented a new mirror interpolation algorithm that yields more precise mirror models and is a lot faster, too. Instead of searching for four neighboring sample points defining the smallest possible face which contains the pixel under consideration, I consider a list of sample points at certain distances and interpolate the distances for the points in between; the angle is the same as in the image. The old method has the advantage that (at least theoretically) also the angle could be interpolated but this hasn't been done anyways. Currently, the mirror calibration widget in the Firestation needs a makeover then this ticket can be closed.

Changed 3 years ago by tim

  • milestone changed from Basic Platform to GO2009

Changed 3 years ago by tim

  • status changed from assigned to closed
  • resolution set to implemented

This seems to be done at a sufficient quality level now, therefore closing. Re-open if more work is needed.

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