Vision_sdk : 3d calibration tool for Surround vision

Josh HUANG

Hi All:

I use 3D Surround Vision Calibration Tool "vision_sdk/apps/tools/surround_vision_tools/3d_calibration_tool/exe_out/main.exe".

In Step 3 (Lens Look-up Table), I run "LUT Generation tool" and Lens Model select "Custom Lens LUT" and import .xls file and press "Submit".

Nothing happened and the tool's window is alive not crash.

"Equisolid" and "Stereographic" are workable but "Custom Lens LUT" is not work.

is it tool's problem?

over 7 years ago

0 Yordan Kamenov over 7 years ago

TI__Mastermind 42515 points

Hi Josh,

I have forwarded your question to a VisionSDK expert.

Regards,
Yordan

0 Josh HUANG over 7 years ago in reply to Yordan Kamenov

Intellectual 290 points

Hi all:

Attach my .xls file for check any problem.

Column1 is angles theta in degrees 0.0, 0.1, 0.2, ......, 89.9, 90.0

Column2 is distorted radius rd in pixels 0.0/4.2, 0.1/4.2, 0.2/4.2, ......, 89.9/4.2, 90.0/4.2 (4.2 is pixel size of using sensor)

Lens.xls

0 Josh HUANG over 7 years ago in reply to Yordan Kamenov

Intellectual 290 points

Hi Yordan Kamenov

No any VisionSDK expert feedback to me.

Can you help forwarded again? Thanks!

Regards,
Josh

0 Yordan Kamenov over 7 years ago in reply to Josh HUANG

TI__Mastermind 42515 points

Hi Josh,

sorry for the delay. I have pushed them.

Regards,
Yordan

0 Shashank Dabral over 7 years ago in reply to Yordan Kamenov

TI__Intellectual 1530 points

Hi,
The tool requires as input, a single column format. Please try with only the second (right) column.

Regards
Shashank

0 Josh HUANG over 7 years ago in reply to Shashank Dabral

Intellectual 290 points

Hi Shashank:

I follow your advice but still not work after press "Submit" in Step 3 of 3D Surround Vision Calibration Tool (main.exe).

Can you offer sample .xls file to me for test Step 3?

Thanks!

Regards,
Josh

0 Josh HUANG over 7 years ago in reply to Josh HUANG

Intellectual 290 points

Hi Shashank Dabral
Could you help the above requirement？

Thank you!

Regards,
Josh

0 Shashank Dabral over 7 years ago in reply to Josh HUANG

TI__Intellectual 1530 points

Hi Josh,
I think I incorrectly mentioned the 1 column format. That was for the csv, the xls should be in the 2 column format similar to the one you have. I tried out your xls but it's not working fine. I think it maybe that you have too many entries in the xls. Typically we only have a step size of 1 degree, so only 90 entries for 90 degree fov. The tool interpolates and creates around 1024 entries. I will work with the TI Field to deliver a sample xls to you, I can't attached them on a public forum.

Regards
Shashank

0 Josh HUANG over 7 years ago in reply to Shashank Dabral

Intellectual 290 points

Hi Shashank:
Thanks for your replay and help!

I'm waiting and looking forward to sample xls, thanks a lot!

Regards,
Josh

0 Shashank Dabral over 7 years ago in reply to Josh HUANG

TI__Intellectual 1530 points

I have sent you the sample xls.
One extra step you have to do is to convert the 2nd column from mm to pixels. For instance if the pixel size is 4.2um, then the first entry of column two would be (0.2427763/4.2) *1000

0 Josh HUANG over 7 years ago in reply to Shashank Dabral

Intellectual 290 points

Hi Shashank:
I have some question from your sample xls:
1. The first column only 0~90 entries? (I found your sample up to 100 degree)
2. If my lens mapping function is Equidistant (linear scaled) r=f*θ, so column two (for example 1 degree and f is 1.4) would be
(1.4*(1/180*PI)/4.2)*1000 Is this description correct?

Another problem, when I Run Surround Calibration Tool in Step 4: Camera Poses Estimation,

I have clicked all the corner locations in the input images but I did't receive confirmation and tool no any respond after waiting 5 mins.

I close main.exe window and tool display a dialog as follow:

0 Shashank Dabral over 7 years ago in reply to Josh HUANG

TI__Intellectual 1530 points

Hi,
You would have to convert column two to pixel domain. Also, unless you solve the lens model issue the calibration will not work. Please look at the provided documentation with vision sdk and try out the lens table generation first before trying to calibration. The error message is normal to get on closing the tool.

Regards
Shashank

0 Josh HUANG over 7 years ago in reply to Shashank Dabral

Intellectual 290 points

Hi Shashank Dabral:

I finished the Step1~Step3 in Calibration tool and obtained the lens table. But I run surround calibration(already clicked all the corner locations in the input images) at Step4 was no any response.

when I close the no response window, a dialog display "Attempt to reference field of non-structure array. Error in => main.m at line 31"

0 Shashank Dabral over 7 years ago in reply to Josh HUANG

TI__Intellectual 1530 points

Hi,
Can you first try the test lens correction tool and see the output looks ok or not? Also, one of the issues could be that the calibration boxes may be way towards the edges of the image in which case you can try raising the height of the skateboard to see if it helps with the calibration.
The error you get is not an issue.
Regards
Shashank

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Vision_sdk : 3d calibration tool for Surround vision

when I close the no response window, a dialog display "Attempt to reference field of non-structure array. Error in => main.m at line 31"