Hi Bill,
Great work! A few suggestions:
* use a larger calibration pattern that covers more of the image
* use a calibration pattern with more squares
* if the estimates of the corners (after subpixel refinement) are still bad, an iterative fitting process (or LMedS or
RANSAC) could help
Alternatively, a calibration plate with circles would be better. We already have code ready that we need to commit for
finding out centers of circles/ellipses and using those for calibration plates a la
http://www.mvtec.com/halcon/applications/imgs/3d-vision-example-3d-calibration01.png, so this might improve things.
Cheers,
Radu.
On 11/16/2010 05:44 PM, Bill Morris wrote:
> Ivan had a great idea for using stereo calibration to calibrate between
> the depth image and the RGB by taking advantage of the optical
> properties of glass.
>
> So after a busy day of arts and crafts we would like to present the
> attached image of black squares rubber cemented to a sheet of glass.
>
> We should have more detailed results tomorrow.
>
> William Morris
> Ivan Dryanovski
> CCNY Robotics Lab
>
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
%20are%20still%20bad,%20an%20iterative%20fitting%20process%20(or%20LMedS%20or%20%0A>%20RANSAC)%20could%20help%0A>%20%0A>%20%0A>%20Alternatively,%20a%20calibration%20plate%20with%20circles%20would%20be%20better.%20We%20already%20have%20code%20ready%20that%20we%20need%20to%20commit%20for%20%0A>%20finding%20out%20centers%20of%20circles/ellipses%20and%20using%20those%20for%20calibration%20plates%20a%20la%20%0A>%20http://www.mvtec.com/halcon/applications/imgs/3d-vision-example-3d-calibration01.png,%20so%20this%20might%20improve%20things.%0A>%20%0A>%20%0A>%20Cheers,%0A>%20Radu.%0A>%20%0A>%20%0A>%20On%2011/16/2010%2005:44%20PM,%20Bill%20Morris%20wrote:%0A>%20>%20Ivan%20had%20a%20great%20idea%20for%20using%20stereo%20calibration%20to%20calibrate%20between%0A>%20>%20the%20depth%20image%20and%20the%20RGB%20by%20taking%20advantage%20of%20the%20optical%0A>%20>%20properties%20of%20glass.%0A>%20>%0A>%20>%20So%20after%20a%20busy%20day%20of%20arts%20and%20crafts%20we%20would%20like%20to%20present%20the%0A>%20>%20attached%20image%20of%20black%20squares%20rubber%20cemented%20to%20a%20sheet%20of%20glass.%0A>%20>%0A>%20>%20We%20should%20have%20more%20detailed%20results%20tomorrow.%0A>%20>%0A>%20>%20William%20Morris%0A>%20>%20Ivan%20Dryanovski%0A>%20>%20CCNY%20Robotics%20Lab%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20_______________________________________________%0A>%20>%20ros-users%20mailing%20list%0A>%20>%20ros-users@code.ros.org%0A>%20>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20%0A>%20 "Reply to this message")
(text/plain)