Closed GoogleCodeExporter closed 8 years ago
and the camera is Point Grey Flea-HICOL
Original comment by fengzhen...@gmail.com
on 26 Jul 2011 at 1:10
Yes, the newer versions of FlyCapture have less capabilities to convert between
image formats for some reason. Before starting the calibration, please try to
set your camera to a BGR (or maybe they call it RGB) image format.
Original comment by samuel.a...@gmail.com
on 26 Jul 2011 at 4:17
Thank you! It's solved by installing an older version of flycap, i.e. flycap
v1.8 instead of the latest version v2.2.
But the calibration failed several trials. It seemed that the printed markers
well not well recognized, perhaps for the reason that the marker board is
printed on a A4 size paper.
And in the attachment photos, the camera properties were not displayed while
the projector properties did. Is this a problem, e.g. indicating the camera is
not working well?
Thanks,
- Feng
Original comment by fengzhen...@gmail.com
on 26 Jul 2011 at 8:57
Attachments:
Actually, the projector properties showed in the software interface is also a
little wrong. The actual projector resolution is 1280x800 while the software
shows it's 1680x1050.
Original comment by fengzhen...@gmail.com
on 26 Jul 2011 at 9:00
If you see images from your camera, then it is working. The properties do now
show up simply because they are unknown until we start the capture. Please read
the README.txt file for the answers to your questions.
Original comment by samuel.a...@gmail.com
on 27 Jul 2011 at 4:21
Hum, I did not seem to provide this hint in the README.txt file, but you should
make sure that the "screenNumber" corresponds to the one of your projector.
Original comment by samuel.a...@gmail.com
on 27 Jul 2011 at 4:24
Yes, I figured that out, i.e. making projector number the same as display
number. I have two displays (1 projector and 1 monitor). If the two displays
are in extended mode, the projector properties panel always shows Display1 and
Projector 0, no matter what the order of the displays and which one is main
screen. So I had to first duplicate the two screen and then run the
projCamCalib software so that the software "thought" the monitor is no.0
corresponding to Projector 0, then I can switch it back to extended mode.
However, the calibration failed. The printed markers were well recognized I
think. Can you help me to solve this problem?
Regards,
- Feng
Original comment by fengzhen...@gmail.com
on 27 Jul 2011 at 3:23
Attachments:
Or you could simply insert 0 as the `screenNumber` in the properties of
ProCamCalib.
If you don't see IDs in green overlapped on the markers, then no, they are not
detected or recognized. You need to make them appear better
Original comment by samuel.a...@gmail.com
on 28 Jul 2011 at 3:34
Thank you very much! I calibrated the projector-camera pair successfully. It's
indeed a very user-friendly method.
I also tested your procam tracker, but it failed at "initial alignment" (after
manual clicking ROI).
The debug info is as below, and also software screenshot and image taken by my
iphone, and pro-cam calibration result in a txt file. Can you tell me what's
wrong?
initial a = (0.042905662, 0.0947633, 0.20926677)
initializing plane parameters...
iteratingTime = 4125 iterations = 100 objectiveRMSE = 0.13868997
initial n = [ -7.130637E-4
4.0742456E-5
-2.993023E-4 ]
iteratingTime iterations objectiveRMSE
----------------------------------------
Statistics
==========
pyramidLevel averageTime averageIterations
--------------------------------------------
0 0±0 NaN±NaN
1 0±0 NaN±NaN
2 0±0 NaN±NaN
3 0±0 NaN±NaN
4 0±0 NaN±NaN
total NaN±NaN NaN±NaN
Total average time: Infinity ms
initial a = (0.04281444, 0.09473165, 0.21224657)
initializing plane parameters...
iteratingTime = 4891 iterations = 76 objectiveRMSE = 0.15419105
initial n = [ -6.390623E-4
8.8140725E-5
-2.9589215E-4 ]
iteratingTime iterations objectiveRMSE
----------------------------------------
Statistics
==========
pyramidLevel averageTime averageIterations
--------------------------------------------
0 0±0 NaN±NaN
1 0±0 NaN±NaN
2 0±0 NaN±NaN
3 0±0 NaN±NaN
4 0±0 NaN±NaN
total NaN±NaN NaN±NaN
Total average time: NaN ms
Thanks,
- Feng
Original comment by fengzhen...@gmail.com
on 2 Aug 2011 at 7:27
Attachments:
It may be possible that your hardware latency is greater than the amount
specified in the Projector/latency setting or maybe
TrackingWorker/lostObjectThreshold is too low, so you should try to increase
those... But this is going to be very hard to debug remotely...
Original comment by samuel.a...@gmail.com
on 6 Aug 2011 at 10:35
I tried to modify them, but still didn't work.
Is it wrong to have surface normal value like below? If the surface is facing
roughly to projector-camera (they aligned roughly together), the value should
be like (0,0,1), right?
initial n = [ -6.390623E-4
8.8140725E-5
-2.9589215E-4 ]
Thanks,
- Feng
Original comment by fengzhen...@gmail.com
on 9 Aug 2011 at 8:19
Yes the third value should be at least an order of magnitude larger than the
other two. Your calibration is probably not accurate enough.
Original comment by samuel.a...@gmail.com
on 11 Aug 2011 at 12:26
I calibrated several times with different parameters, but it still didn't work.
How do you determine with procam_calib whether an calibration is accurate or
not?
Thanks,
- Feng
Original comment by fengzhen...@gmail.com
on 18 Aug 2011 at 6:58
You check the calibration error. Please do read the README.txt files.
Original comment by samuel.a...@gmail.com
on 20 Aug 2011 at 11:48
Thanks! I have read the Readme file several times.
Camera: reprojection RMS/max error (pixels) = 0.37726054 / 1.0214705
Projector: reprojection RMS/max error (pixels) = 0.33236763 / 1.3301842
I think this can tell the calibration is good enough.
The ProCamTracker still didn't work, always failed at initial alignment stage,
i.e. computing surface normal. It failed to converge, don't know why. I'm
currently debug the code to see if I can find a clue.
Original comment by fengzhen...@gmail.com
on 22 Aug 2011 at 2:19
And what about the color calibration?
Original comment by samuel.a...@gmail.com
on 27 Aug 2011 at 7:57
Camera:
Color
-----
order = BGR
mixing matrix = [ 1.0, 0.0, 0.0
0.0, 1.0, 0.0
0.0, 0.0, 1.0 ]
additive light = [ 0.0
0.0
0.0 ]
normalized RMSE (intensity) = 0.0
R2 (intensity) = 1.0
Projector
Color
-----
order = BGR
mixing matrix = [ 0.71522653, 0.20658377, -0.03718247
0.15654738, 0.55716276, 0.05931513
-0.0066957376, 0.11858243, 0.4688078 ]
additive light = [ 0.047769856
0.15184394
0.24215257 ]
normalized RMSE (intensity) = 0.07168312
R2 (intensity) = 0.91113156
=====================
For full info of the calibration, pls refer to the attachment.
I also attached the settings of the camera. I think they may be useful for you
to debug.
I really appreciate your help.
Thanks,
- Feng
Original comment by fengzhen...@gmail.com
on 28 Aug 2011 at 10:04
Attachments:
The error of your color calibration is very bad. Make sure the gammas of your
camera and projector correspond to the one you specify in the settings. It is
usually 1.0 or 2.2, but sometimes that does not work either... Please ask the
manufacturers of your camera and projector
Original comment by samuel.a...@gmail.com
on 29 Aug 2011 at 1:55
Thanks! But I cannot see that the color calibration is very bad from the
result. How did you tell that? From R2 (what does it mean?)?
I calibrated the system again, and it got following result, seems a little
better but not that different from previous one. I set the gamma of camera to
be 2.2. And projector gamma is 2.2.
FYI, the camera is Flea-Hicol. The image format is Y8 (cannot choose RGB), and
frame rate is 15Hz.
Camera Color
-----
order = BGR
mixing matrix = [ 1.0, 0.0, 0.0
0.0, 1.0, 0.0
0.0, 0.0, 1.0 ]
additive light = [ 0.0
0.0
0.0 ]
normalized RMSE (intensity) = 0.0
R2 (intensity) = 1.0
Projector Color
-----
order = BGR
mixing matrix = [ 0.55729264, 0.20814215, -0.032831885
0.060074292, 0.4660986, 0.042507507
-0.055179894, 0.08932595, 0.37596452 ]
additive light = [ 0.2160994
0.3772638
0.48081127 ]
normalized RMSE (intensity) = 0.063906536
R2 (intensity) = 0.8974704
Original comment by fengzhen...@gmail.com
on 29 Aug 2011 at 9:29
In addition, when the software was doing color calibration, it cannot continue
when projecting some color (see attachment), and I had to keeping changing the
pose of the marker board till it recognized the marker board.
Original comment by fengzhen...@gmail.com
on 29 Aug 2011 at 11:34
Attachments:
"normalized RMSE" should be around 0.001 or less, and R2 around 0.999 or more
R2: http://en.wikipedia.org/wiki/Coefficient_of_determination
(I guess I should change that to R^2...)
And no you should not move the board around. Please make the markers clearer as
indicated in the README.txt file, such as using more than 8 bpp, which should
help..
Original comment by samuel.a...@gmail.com
on 30 Aug 2011 at 12:57
OK. Thanks!
I tried to use more than 8bpp, i.e. Y16 or Raw16, but it always reports a
severe error, as shown in the attachment (flycaptureCovnertImage() Error 2).
Original comment by fengzhen...@gmail.com
on 30 Aug 2011 at 4:46
Attachments:
That should work, but I guess there may very well be a bug in there (and
FlyCapture isn't helping .. libdc1394 works better, but not on Windows
unfortunately)
Original comment by samuel.a...@gmail.com
on 1 Sep 2011 at 11:45
Fixed that flycaptureConvertImage() error in the latest release
Original comment by samuel.a...@gmail.com
on 1 Oct 2011 at 1:44
But it still reported error when I tried the latest version with camera image
format as Y16...
The error message is a little different from previous one. It's now
FlyCaptureFrameGrabber.java:405 not 401.
Thank you very much for keeping updating JavaCV!
Original comment by fengzhen...@gmail.com
on 4 Oct 2011 at 7:38
Attachments:
Well, it works just fine for me here. Make sure your image is not actually a
Bayer image, but a real grayscale, monochrome image, because newer versions of
FlyCapture do not support conversion from Bayer or YUV to RGB anymore, for some
reason...
In any case, if you figure out what does not work on your system, let me know
and I will fix it, thank you
Original comment by samuel.a...@gmail.com
on 6 Oct 2011 at 12:21
Original issue reported on code.google.com by
fengzhen...@gmail.com
on 25 Jul 2011 at 9:09Attachments: