Camera calibration

Revision as of 10:04, 23 January 2024

Back to Robobot

Back to Robobot software description

Camera calibration using openCV

Test pattern

The camera calibration test pattern is found here: https://github.com/opencv/opencv/blob/3.4/doc/pattern.png; print it.

Take test images

The images must also have the test pattern near the corners of the images.

Tape the test pattern on a solid frame, as a curved pattern will ruin the calibration.

Place the pattern in front of the robot.

Check using motion (Video stremaer).

View the stream using a browser on port 8081, like http://10.197.216.165:8081/, but with the robot IP, move the pattern (or the robot) for an appropriate view:

local@jack:~ $ cd svn/robobot/raubase/build/
local@jack:~/svn/robobot/raubase/build $ motion
[0:motion] [NTC] [ALL] conf_load: Processing thread 0 - config file /etc/motion/motion.conf
[0:motion] [NTC] [ALL] motion_startup: Logging to file (/home/local/.motion/motion.log)
^C

Stop the video streamer (using ctrl-C) and let the raubase take the image.

local@jack:~/svn/robobot/raubase/build $ ./raubase -i
# UService:: created directory log_20240123_094405.808/
# UService::setup: Ignoring robot hardware (Regbot and GPIO)
# SpyVision:: disabled in robot.ini
# Video device 0: width=1280, height=720, format=MJPG, FPS=25
# Camera is running (to stabilize illumination)
# UCam::run: read frame 0/11
# ready to save
# found '%' in ini[camera][imageName]
# saved image to img/img_raw_20240123_094407.424.jpg
# saved image to img/img_rec_20240123_094407.424.jpg
# --------- terminating -----------
# UCam::run: camera released
# UCam:: logfile closed
# UService:: configuration saved to robot.ini

The raubase saves the image in an img subdirectory, and the raw image name starts with img_raw_2024....

Repeat this for 6-10 images with the pattern all around the camera view.

@todo