1<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"[]> 2<html xml:lang="en-US" lang="en-US" xmlns="http://www.w3.org/1999/xhtml"> 3 <head> 4 <meta http-equiv="Content-Type" content="text/html; charset=utf-8" /> 5 <meta http-equiv="Content-Style-Type" content="text/css" /> 6 <link rel="stylesheet" href="../css/manpage.css" type="text/css" /> 7 <style type="text/css"> 8 <!-- 9 span.static_style 10 { 11 font-size : 8pt; 12 color : white; 13 font-weight : bold; 14 background : #44f; 15 border-left : solid 1px #aaf; 16 border-top : solid 1px #aaf; 17 border-right : solid 1px #00c; 18 border-bottom : solid 1px #00c; 19 padding-left : 2px; 20 padding-right : 2px; 21 } 22 23 span.virtual_style 24 { 25 font-size : 8pt; 26 color : white; 27 font-weight : bold; 28 background : #0a0; 29 border-left : solid 1px #0f0; 30 border-top : solid 1px #0f0; 31 border-right : solid 1px #060; 32 border-bottom : solid 1px #060; 33 padding-left : 2px; 34 padding-right : 2px; 35 } 36 37 span.protected_style 38 { 39 font-size : 8pt; 40 color : white; 41 font-weight : bold; 42 background : #444; 43 border-left : solid 1px #ccc; 44 border-top : solid 1px #ccc; 45 border-right : solid 1px #222; 46 border-bottom : solid 1px #222; 47 padding-left : 2px; 48 padding-right : 2px; 49 } 50 table.table, table.table td, table.table th 51 { 52 border-collapse: collapse; 53 background-color: white; 54 } 55 56 table.table 57 { 58 width: auto; 59 margin: 1em; 60 position : static; 61 font-family : Arial; 62 } 63 64 table.table td, table.table th 65 { 66 padding: 0.2em; 67 } 68 69 table.table td.number, table.table th.number 70 { 71 text-align: right; 72 } 73 74 table.table tbody tr th 75 { 76 text-align: left; 77 font-weight: normal; 78 width: auto; 79 } 80 81 table.table thead tr th, 82 table.table tbody tr th.category 83 { 84 padding: 0 0.2em; 85 } 86 87 table.table caption 88 { 89 font-weight: bold; 90 padding: 0.4em; 91 } 92 table.table th 93 { 94 font-weight : bold; 95 background : #acf; 96 } 97 --> 98 </style> 99<title>StereoCameraCalibrator</title> 100 </head> 101 <body> 102<h1><CODE>StereoCameraCalibrator</CODE></h1> 103<h2>Description</h2> 104 <div class="section"> 105 <p> 106<CODE>StereoCameraCalibrator</CODE> is a tool for manually setting the calibration data for the stereo cameras. This tool can set the following values. 107 108<table class="table"><tbody><caption>Position offsets</caption><tr><th><B>Parameter Name</B></th><th><B>Setting Name in the Tool</B></th><th><B>Member in <CODE>StereoCameraCalibrationData</CODE> Structure</B></th></tr><tr><td>Scaling factor</td><td><B>scale</B></td><td><CODE>scale</CODE></td></tr><tr><td>Angle of rotation around the light axis</td><td><B>rotZ</B></td><td><CODE>rotationZ</CODE></td></tr><tr><td>Amount of horizontal translation</td><td><B>transX</B></td><td><CODE>translationX</CODE></td></tr><tr><td>Amount of vertical translation</td><td><B>transY</B></td><td><CODE>translationY</CODE></td></tr></tbody></table><table class="table"><tbody><caption>Angles of view</caption><tr><th><B>Parameter Name</B></th><th><B>Setting Name in the Tool</B></th><th><B>Member in <CODE>StereoCameraCalibrationData</CODE> Structure</B></th></tr><tr><td>Angle of view of the left camera</td><td><B>angleL</B></td><td><CODE>angleOfViewLeft</CODE></td></tr><tr><td>Angle of view of the right camera</td><td><B>angleR</B></td><td><CODE>angleOfViewRight</CODE></td></tr></tbody></table> 109 110<B>Note:</B> Any values configured with this tool will be reset to their factory defaults if you run the <CODE>Config</CODE> tool and reset settings. 111 </p> 112 </div> 113<h2>How to Calibrate Position Offsets</h2> 114 <div class="section"> 115 <p> 116<h4>Preparing the Chart</h4> 117 <p> 118Print the chess chart (<CODE>chesschart-14mm-16x10.pdf</CODE>) stored in the <CODE>documents/api/tools</CODE> folder. Place this chart 250mm away from the CTR camera module. Both the camera module and the chart must be horizontal.<br /><B>Note:</B> The calibrated values will contain errors if the distance between the camera module and the chart is not 250 mm, or if the camera module and chart are not both horizontal. <br /><B><font color="red">Note:</font></B> Be sure to print the chart at actual size, because any change in size when printing will prevent correct calibration. 119 </p> 120<h4>Calibrating the Values</h4> 121 <p> 122Use Left/Right on the +Control Pad to select the setting to calibrate, then use Up/Down to change its value. (For example, if you press Right on the +Control Pad while <CODE>rotZ</CODE> is selected, the cursor moves to <CODE>transX</CODE> on the next line.))<br /><br /> Adjust the values of <CODE>scale</CODE>, <CODE>rotZ</CODE>, <CODE>transX</CODE>, and <CODE>transY</CODE> so that the chess chart in the left image exactly overlaps the chess chart in the right image. For how to set <CODE>angleL</CODE> and <CODE>angleR</CODE>, see <B>How to Set the Angles of View</B>. 123 </p> 124<h4>Setting the Parameters</h4> 125 <p> 126Press the A Button to save all the calibrated values to the system as calibration data. Note that all the calibration values are saved at once, not just the setting you have currently selected.<br /><br />Press the B Button to cancel any adjustments you have made to the selected setting and reset it to its original value (the value saved in the system). 127 </p> 128 </p> 129 </div> 130<h2>How to Set the Angles of View</h2> 131 <div class="section"> 132 <p> 133<h4>Preparing the Chart</h4> 134 <p> 135Just as when calibrating the position offsets, print the chess chart (<CODE>chesschart-14mm-16x10.pdf</CODE>) stored in the <CODE>documents/api/tools</CODE> folder. Place this chart 250mm away from the CTR camera module. 136 </p> 137<h4>Calibrating the Values</h4> 138 <p> 139To calibrate the left camera's angle of view, select <CODE>angleL</CODE> and press the B Button. To do the same for the right camera, select <CODE>angleR</CODE> and press the B Button.<br /><br />The upper screen displays only the image for the selected side, overlaid with two square icons. The calibration value is the default value: <CODE>66.0</CODE>. 140 </p> 141 <p> 142If you adjust the value with Up/Down on the +Control Pad, the two icons overlaid on the image move closer or farther apart. Adjust the distance between these two icons so that they lie exactly on two squares of the chess chart whose centers are 84mm apart. Each square is 14 mm wide, so the squares you want the icons to lie on have 5 full squares between them.<br />(See figure below.) 143 <pre> 144 ■□■□■□■ 145 ↑ ↑ 146 Adjust the value so that the icons lie exactly on the two end squares. 147 </pre> 148If the size of the chess square does not perfectly match the size of the icon, align the center of the icon with the center of the square.<br />You can also use the Slide Pad to change the position of the icons. When you are making very fine adjustments, we recommend moving the icons rather than moving the camera module or the chart. 149 </p> 150<h4>Setting the Parameters</h4> 151 <p> 152Press the A Button to save all the calibrated values to the system as calibration data. Note that all the calibration values are saved at once, not just the setting you have currently selected.<br /><br /> Press the B Button to cancel any adjustments you have made to the selected setting and reset it to its original value (the value saved in the system). 153 </p> 154 </p> 155 </div> 156<h2>Revision History</h2> 157 <div class="section"> 158 <dl class="history"> 159 <dt>2010/06/08</dt> 160<dd>Initial version.<br /></dd> 161 </dl> 162 </div> 163 <hr><p>CONFIDENTIAL</p></body> 164</html>