Point registration using cpd for camera calibration
Hi,
I do not know whether or not I could use Point Set Registration: Coherent Point Drift (CPD) for correcting the error of my 3d positioning using an overhead camera.
I have already done the intrinstic and extrinsic camera calibration but I still have errors between the measuremed position of my tracking object and it's true location. ( I track a board with 4 blobs which should give me the x,y,z of the tracking board)
I would like to find the mapping between my measurements and true positions for those measurements which I can then use for new points to decrease the positioning error.
I have been playing around in matlab with the cpd code here https://sites.google.com/site/myronenko/research/cpd
I can find the transform but I dont know how to use it for new data points. It seems like the transformation matrice is a set of weights for each data point that it has been given. I added new points to the Y set and I get a new position for those points which seems to be ok but I really have no idea how the method deals with the unseen points or how the transformation can be used for your new data.
Thanks a lot for your help
Hi zeinab.t,
I am not quite sure what you exactly want to know.
From your explanations, I think to root issue is a not correct calibration of the vision system. To go a bit deeper:
Calibration is used most frequently for stereo vision systems to calibrate two camera to get a correct 3D image in the acquisition. You wrote, that you are using only one camera. So how do you calibrate the camera? Which functions do you use? How is your vision application setup? A small draft may be helpful. Waht software do you use?
About the tool you used in the link, I can not say anything, since I do not know, how this works in the background.
I think we should keep our eyes to the root cause problem, so you do not need any transformation things that could potentially bring errors into the measurements.
Best regards,
Melanie
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JonathanRob Cole wrote concerning Lens Correction settings:
I only do 80% of vignette correction, and 0% of distortion correction by default, and revisit that decision after importing, but nothing sacred about it - plenty of people use 100% for those too and do fine, or use their own pet numbers...
Yes, absolutely use Lens Correction along with Camera Profiles. Like Rob said, "No reason not to!" But there are some considerations. You may like a little vignetting in the picture and 100% pretty much wipes-out all vignetting. Also, since vignetting correction raises image corner brightness, lens aberrations such as astigmatism and coma will be more visible and can reduce image quality near the edges. It's a trade-off as to what amount to use, which will vary dependent on your lens corner performance. I use a default vignetting setting of 50% for wide angle zooms and 100% for all other lenses, and only adjust higher if the image benefits from it. Distortion setting in an ideal world should benefit from 100% correction, BUT it can also degrade the corner resolution with wide-angle zoom lense images which typically have high barrel distortion. I use a default setting of 0%, and only use it for correcting images with obvious geometry distortion. Even then I rarely need to use 100% to make things look "normal." Chromatic Abberrations adjustment can safely be used at 100% for maximum benefit, assuming the profile is accurate over the zoom focal range. The new Adobe lens profiles seem to work very well in this respect.
These are great"automatic" tool adjustments to make our less than perfect zoom lenses perform near prime lens image quality. OK, zooms don't have the wider aperature of prime lenses, but the high ISO of today's DSLR bodies give us a lot of latitude to play with! -
If you do a search on the web, you will discover that I am far from the only one who finds that she cannot use Firefox because it is incompatible with Windows 7 64 bit. I'm pretty sure there must be hundreds of thousands of users out there that can not use Firefox for the same reason. At what point are you thinking of updating your browser?
Also are you connected to Waterfox and is it safe?In device manager tick Show hidden devices, under view on the toolbar.
If DM cannot see it you cannot install a driver, not sure why that hardware will not get detected.
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