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UCSD-E4E / stingray-auv

ROS packages for the Stingray 3.0 AUV
http://e4e.ucsd.edu/wordpress/?page_id=36
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Order Calibration Object #6

Closed PNaughton closed 10 years ago

PNaughton commented 11 years ago

I get all of my calibration targets from 858 Graphics. You can see the prices for aluminum dibond prints at http://www.858graphics.com/Dibond-Printing.html, which I think are very reasonable.

The options I include are: 3/16" White Dibond for Material Options, Matte for Laminate, and None for Cutting.

I have a simple Python script (attached) that you can use to create calibration patterns as PDF files. Note that ROS only supports checkerboards, but OpenCV additionally supports circles and assymetric circles.

I recommend putting text on the bottom, making the patterns with differing numbers of rows and columns, and using metric units for your targets. I have also found that using 2 different sized targets improves calibration -- just remember that the 2 targets must have different numbers of rows and columns from each other.

For the GC750C cameras I recommend getting one board about 14" square-ish with an 8x6 pattern (~$30), and a second board that is 28" square-ish with a 6x5 pattern (~$120). If price is a problem for the bigger boards then you can use some of the boards we have at work.

Let me know if you have any questions.

PNaughton commented 10 years ago

antonella purchased omeed is working on this