diff --git a/README.md b/README.md index 30f7f10b86d95a951e1f1231d346f517802e9d38..3989029b00e00fec73eefd37e57216af42f2fa54 100644 --- a/README.md +++ b/README.md @@ -37,6 +37,7 @@ MicroCART has 3 areas of development: - [How to document things on Gitlab](documentation/how_to_document_things_on_gitlab.md) - [How to update the website](website/README.md) - [How to use Git](documentation/how_to_use_git.md) +- [How to Calibrate the Camera System](documentation/how_to_calibrate_the_camera_system.md) # Stable Releases To browse stable releases from previous teams, view the [Tags](/../tags). diff --git a/documentation/how_to_calibrate_the_camera_system.md b/documentation/how_to_calibrate_the_camera_system.md index a04a5fb1f9e69c76c90b9c76f9bbbd5c428ae53a..5f462e0ce9d20b83a02702fad9059c1935d4899e 100644 --- a/documentation/how_to_calibrate_the_camera_system.md +++ b/documentation/how_to_calibrate_the_camera_system.md @@ -1,24 +1,51 @@ # How to calibration the camera system -*This tutorial is in a draft state* - -On the computer Coover 3050-07, open the Tracking Tools program. - -1. Click the "Camera Calibration" button. (It is a picture of a wand). -2. Get the calibration wand (on top of cabinet). Ensure the calibration wand is REMOVED from the viewing area. -3. Click "Start Wanding". - 4. If you get a message about reflective materials being seen, click "Block". -5. Click "Start Wanding" again. -6. Start painting - -Look at each individual camera sample count, and ensure each camera has a sufficient number. Also look at the generic "sufficient for quality" indicator. Try to get samples data points for all areas of the viewing area. - -Last time, we tried to get the sufficient quality at "very high" and each camera sample count over 10,000. - -After you finished, click "Apply Result". - -Then click "apply and refine" and save. - -Next, you'll be calibrating the floor. Then use the L-tool with the trackables (in the cabinet). In order to get the z-axis pointing vertically, you'll need to pinch the L-tool so that it sits upright on the floor (we used bricks). You can use a level to ensure it is stable. - -Click "Set Ground Plane". \ No newline at end of file +On the computer Coover 3050-07, open the Tracking Tools program. Make sure you have all the tools required which include a +wand and ground plane component. These are usually kept on top of the cabinets in the corner of Coover 3050. In addition to +these instructions see the [DANC wiki page](https://wikis.ece.iastate.edu/distributed-autonomous-and-networked-control-lab/index.php/Distributed_Autonomous_and_Networked_Control_Lab_Wiki) +which may have more information as well as the [OptiTrack Wiki](https://v20.wiki.optitrack.com/index.php?title=Calibration). + +All steps take place on the OptiTrack - Tracking Tools software on the Coover 3050 computer co3050-07. + +Below shows the OptiTrack - Tracking Tools Software on initial opening, many of the steps will refer to actions that can be seen +on this image. + + + +1. Open up a new project with "New Project" button, directly under File drop down menu. Or navigate to "File->New". +2. If the "3-Marker Calibration" window is shown on the screen, usually on the right side, continue to next step. + If not go to "Tools->3-Marker Calibration". +3. Now that the 3-Marker Calibration tool is open make sure to remove as much of the IR disturbance as possible, + more disturbance leads to worse calibration. Usually you need to ensure all window blinds are down and that + all IR reflective components (like the Quad) are out of the camera system view. +4. After as much of the IR reflective components are removed from view click "Block Visible" in the "3-Marker Calibration" + window to remove the left over spots. +5. Before you start wanding check that the following configuration options are set. + * Quality -> Very High + * OptiWand -> Large (500mm) + +6. Click "Start Wanding", directly next to the "Block Visible" button in the "3-Marker Calibration" window. +7. This step will take awhile (approx. 10 minutes) as you wand the entire area of the camera system. Make sure to get at least 5000 samples + for each of the cameras. Try not to exceed 10,000 samples as this can lead to worse calibration results. Walk around the camera area moving + the wand in a variety of different movements to try to cover the full camera volume. +8. After sufficient samples have been taken click "Calculate" within "Calibration Engine" and wait until all cameras have exceptional + listed next to them before continuing. This process takes 5-6 minutes on average. +9. Click "Apply Results" then "Apply" when the next windows comes up. It will prompt you to save a timeline, just click "Save". +10. The next step is to set the ground plane. This window should be automatically switched to after you save, but if not you can switch at the + top of the window within the "3-Marker Calibration" window by clicking "Ground Plane". +11. Set up the ground plane component as shown in the window above. The Z direction should point towards the ceiling, X direction towards the + white boards, and the IR balls should be facing towards the door. If you lift up the carpet tiles you can use the lines on the floor to + orient the piece in the correct X direction. Additionally, the levels in the lab may help with this process to get the best results. + +  + +12. Once everything is set, check that the "Vertical Offset (mm)" is set to 55, this value can be measured with a meter stick and it + is the distance from the ground to the height of the lower IR ball. Next, click "Set Ground Plane". This will prompt you to save a + file, just click "Save". +13. Save the project, with the "Save Project" button or go to "File->Save Project". +14. The last step is to enable streaming to VRPN. If you test the backend within the ground station directory without the following steps + to complete it will not connect to the VRPN system. +15. The OptiTrack Tracking Tool software support streaming to VRPN go to "View->Streaming Pane". +16. In the "Streaming Properties" windows enable "Broadcast Frame Data" within "VRPN Streaming Engine" and ensure that the + "VRPN Broadcast Port" is 3883. +17. Save the project, and you are now done! \ No newline at end of file diff --git a/documentation/images/CameraGroundPlane.jpg b/documentation/images/CameraGroundPlane.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4146bef57f4fb8136a5ec2f79db1d51250dfe9f6 Binary files /dev/null and b/documentation/images/CameraGroundPlane.jpg differ diff --git a/documentation/images/OptiTrack_Tracking_Tools.PNG b/documentation/images/OptiTrack_Tracking_Tools.PNG new file mode 100644 index 0000000000000000000000000000000000000000..66c1874ff4fbec9f528f00f76adf710b271c2043 Binary files /dev/null and b/documentation/images/OptiTrack_Tracking_Tools.PNG differ