Tuesday, May 19, 2009

Calibration: My Greatest Fear

Matt's recent post on config files got me in a blogging mood, which is probably a bad idea. I have an interview tomorrow in Sunnyvale, so I need to wake up at 6, which is only 4 and a half hours from now. Might as well keep pushing.

At the end of last week, I wrote a basic parser for our config file that contains the calibration data we need to properly initialize BlobDetector and BlobStitcher objects. The parser is wrapped in a Calibrator object that populates an array of Camera objects with the calibration data. The Calibrator is then passed by reference to a funtion in each of the Blob objects (Blobjects?) to read data from the Camera array and set values accordingly.

I spent yesterday and today reading about clipping and how to determine if a point is within a polygon, only to wind up using a slight modification of the pnpoly algorithm linked at the end of my last post.

Needless to say, by the end of the evening, I had a basic setup with two cameras that only output blobs that were within a defined region of the capture space.

The milestone (if you can call it that) is promising, in that it means stitching blobs is doable, at least in a crude, by-hand-calibration, good-enough-to-work engineering sense. It doesn't mean we're ready for Maker Faire yet, nor does it mean we're in the clear for our presentations in June, but it does mean we're close.

My next biggest worry is dealing with calibration and the overlapping region of the cameras. Basic decisions are worrying me now, like is it better if we always cut cameras off from the left, or do we give some full view and inhibit others more?

And we haven't even gotten into how we're calculating the calibration parameters based on user input ("touch here please" , "swipe there please")...

Wednesday is the IEEE Dunk Tank. We're still trying to convince Petersen that IEEE is a legitimate pre-professional organization.

Tomorrow night I'll get offsets to work, and Wednesday I'll try to get touch point-to-image point mapping to work.

Oh, and we ordered our projection surface from Dilad in Canada.

I guess I'd better rest up for that interview tomorrow..

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