diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp index e7668aefd6ad6c76fb473140433c781a1837a4d5..786e01e4e1875dc28691c55ccc4b5d019a2c6daa 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp @@ -46,17 +46,17 @@ double ImageConverter::Pos_Px = .0001; double ImageConverter::Pos_Ix = 0.002; double ImageConverter::Pos_Dx = 0; -double ImageConverter::Pos_Py = 4 * ImageConverter::Pos_Px; -double ImageConverter::Pos_Iy = 4 * ImageConverter::Pos_Ix; -double ImageConverter::Pos_Dy = 4 * ImageConverter::Pos_Dx; +double ImageConverter::Pos_Py = .25 * ImageConverter::Pos_Px; +double ImageConverter::Pos_Iy = .25 * ImageConverter::Pos_Ix; +double ImageConverter::Pos_Dy = .25 * ImageConverter::Pos_Dx; -double ImageConverter::S_Ang_P = 0.01 * ImageConverter::Pos_Px; -double ImageConverter::S_Ang_I = 0.01 * ImageConverter::Pos_Ix; -double ImageConverter::S_Ang_D = 0.01 * ImageConverter::Pos_Dx; +double ImageConverter::S_Ang_P = 0.05 * ImageConverter::Pos_Px; +double ImageConverter::S_Ang_I = 0.05 * ImageConverter::Pos_Ix; +double ImageConverter::S_Ang_D = 0.05 * ImageConverter::Pos_Dx; -double ImageConverter::L_Ang_P = 0.7 * ImageConverter::Pos_Px; -double ImageConverter::L_Ang_I = 0.7 * ImageConverter::Pos_Ix; -double ImageConverter::L_Ang_D = 0.7 * ImageConverter::Pos_Dx; +double ImageConverter::L_Ang_P = 0.9 * ImageConverter::Pos_Px; +double ImageConverter::L_Ang_I = 0.9 * ImageConverter::Pos_Ix; +double ImageConverter::L_Ang_D = 0.9 * ImageConverter::Pos_Dx; float ImageConverter::TheMarkerSize = -1; @@ -108,8 +108,8 @@ double ImageConverter::control_signalYAW; double ImageConverter::zeroMax = .0000000000000000001; double ImageConverter::zeroMin = -.0000000000000000001; -double ImageConverter::Pz_eps = .012; -double ImageConverter::Py_eps = .0001; +double ImageConverter::Pz_eps = .01; +double ImageConverter::Py_eps = .001; double ImageConverter::A_eps = .02; // ? deg. @@ -269,7 +269,6 @@ void ImageConverter::ProgStart(int argc,char** argv) { // Detection of markers in the image passed MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize); - //MDetector.detectRectangles(MDetector.getThresholdedImage(),MDetector._candidates); TheInputImage.copyTo(TheInputImageCopy); @@ -290,17 +289,17 @@ void ImageConverter::ProgStart(int argc,char** argv) if(curr_errorYAW > RefPose[3]) { - move2docking(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\) + move2docking(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) } else { - move2docking(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---) - } + move2docking(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + } } if (ros::ok() && found) { - x_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; - y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1]; + y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; + x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1]; z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2]; //printf("\n X = %4.2f Y = %4.2f Z = %4.2f\n",x_t,y_t,z_t); @@ -436,9 +435,9 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) { RefPose[0] = -.0957; -RefPose[1] = 0.0054; -RefPose[2] = 0.365; -RefPose[3] = -0.65; +RefPose[1] = -0.0965533; +RefPose[2] = 0.371; +RefPose[3] = -0.69; camPose[0] = CamFB->pose.position.x; camPose[1] = CamFB->pose.position.y; @@ -610,10 +609,10 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl if(curr_errorYAW > RefYAW) { - dock(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\) + dock(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) } else { - dock(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---) + dock(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) } } diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ index 99a1201784db1cb9e5804fd6b821b952d5c721e7..e7668aefd6ad6c76fb473140433c781a1837a4d5 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ @@ -42,13 +42,21 @@ using namespace cv; using namespace aruco; using namespace std; -double ImageConverter::Pos_P = .0001; -double ImageConverter::Pos_I = 0.002; -double ImageConverter::Pos_D = 0; +double ImageConverter::Pos_Px = .0001; +double ImageConverter::Pos_Ix = 0.002; +double ImageConverter::Pos_Dx = 0; -double ImageConverter::Ang_P = 0.01 * ImageConverter::Pos_P; -double ImageConverter::Ang_I = 0.01 * ImageConverter::Pos_I; -double ImageConverter::Ang_D = 0.01 * ImageConverter::Pos_D; +double ImageConverter::Pos_Py = 4 * ImageConverter::Pos_Px; +double ImageConverter::Pos_Iy = 4 * ImageConverter::Pos_Ix; +double ImageConverter::Pos_Dy = 4 * ImageConverter::Pos_Dx; + +double ImageConverter::S_Ang_P = 0.01 * ImageConverter::Pos_Px; +double ImageConverter::S_Ang_I = 0.01 * ImageConverter::Pos_Ix; +double ImageConverter::S_Ang_D = 0.01 * ImageConverter::Pos_Dx; + +double ImageConverter::L_Ang_P = 0.7 * ImageConverter::Pos_Px; +double ImageConverter::L_Ang_I = 0.7 * ImageConverter::Pos_Ix; +double ImageConverter::L_Ang_D = 0.7 * ImageConverter::Pos_Dx; float ImageConverter::TheMarkerSize = -1; @@ -100,9 +108,9 @@ double ImageConverter::control_signalYAW; double ImageConverter::zeroMax = .0000000000000000001; double ImageConverter::zeroMin = -.0000000000000000001; -double ImageConverter::Pz_eps = .011; +double ImageConverter::Pz_eps = .012; double ImageConverter::Py_eps = .0001; -double ImageConverter::A_eps = .05; +double ImageConverter::A_eps = .02; // ? deg. ImageConverter::ImageConverter() : @@ -282,10 +290,10 @@ void ImageConverter::ProgStart(int argc,char** argv) if(curr_errorYAW > RefPose[3]) { - move2docking(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) + move2docking(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\) } else { - move2docking(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + move2docking(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---) } } @@ -428,9 +436,9 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) { RefPose[0] = -.0957; -RefPose[1] = 0.00521064; -RefPose[2] = 0.35; -RefPose[3] = -0.679162; +RefPose[1] = 0.0054; +RefPose[2] = 0.365; +RefPose[3] = -0.65; camPose[0] = CamFB->pose.position.x; camPose[1] = CamFB->pose.position.y; @@ -449,13 +457,13 @@ camPose[3] = CamFB->pose.orientation.x; // correspondingly ... // roll in Marker coordinate => yaw in Robot coordinate - ROS_INFO_STREAM(" Zmar = " << CamFB->pose.position.z << " m. \n"); + ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n"); ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n"); - ROS_INFO_STREAM(" Ymar = " << CamFB->pose.position.y << " m. \n"); + ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n"); ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n"); - ROS_INFO_STREAM(" rollmar = " << CamFB->pose.orientation.x << " rad. \n"); + ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n"); ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n"); ROS_INFO_STREAM(" ------------------------------------------------------------- \n"); @@ -498,9 +506,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl diffX = ((curr_errorX - prev_errorX) / dt); // scalling - p_termX = Pos_P * curr_errorX; - i_termX = Pos_I * int_errorX; - d_termX = Pos_D * diffX; + p_termX = Pos_Px * curr_errorX; + i_termX = Pos_Ix * int_errorX; + d_termX = Pos_Dx * diffX; // control signal control_signalX = p_termX + i_termX + d_termX; @@ -533,9 +541,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl diffY = ((curr_errorY - prev_errorY) / dt); // scalling - p_termY = Pos_P * curr_errorY; - i_termY = Pos_I * int_errorY; - d_termY = Pos_D * diffY; + p_termY = Pos_Py * curr_errorY; + i_termY = Pos_Iy * int_errorY; + d_termY = Pos_Dy * diffY; // control signal control_signalY = p_termY + i_termY + d_termY; @@ -567,12 +575,22 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl // differentiation diffYAW = ((curr_errorYAW - prev_errorYAW) / dt); - - // scalling - p_termYAW = Ang_P * curr_errorYAW; - i_termYAW = Ang_I * int_errorYAW; - d_termYAW = Ang_D * diffYAW; - + + if (curr_errorYAW < .08726 && curr_errorYAW > -.08726) // -5 < err < +5 + { + ROS_INFO(" -5 < err < +5 \n"); + // scalling + p_termYAW = S_Ang_P * curr_errorYAW; + i_termYAW = S_Ang_I * int_errorYAW; + d_termYAW = S_Ang_D * diffYAW; + } else if (curr_errorYAW > .08726 || curr_errorYAW < -.08726) // err > +5 or err < -5 + { + ROS_INFO(" err > +5 or err < -5 \n"); + // scalling + p_termYAW = L_Ang_P * curr_errorYAW; + i_termYAW = L_Ang_I * int_errorYAW; + d_termYAW = L_Ang_D * diffYAW; + } // control signal control_signalYAW = p_termYAW + i_termYAW + d_termYAW; @@ -586,16 +604,16 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl } //ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n"); - //ROS_INFO_STREAM("Control signaly = " << control_signalY << ". \n"); - ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<". \n"); - + //ROS_INFO_STREAM("RAW Control signalY = " << control_signalY << ". \n"); + //ROS_INFO_STREAM("RAW Control signalYAW = "<< control_signalYAW <<". \n"); + ROS_INFO_STREAM(" ------------------------------------------------------------- \n"); if(curr_errorYAW > RefYAW) { - dock(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) + dock(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\) } else { - dock(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + dock(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---) } } @@ -625,8 +643,6 @@ void ImageConverter::move2docking(double VelX_est, double VelY_est, double omega ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n"); ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n"); - //ROS_INFO(" ------- /\/\/\/\ --------- \n"); - ROS_INFO(".... ESTIMATION .... !\n"); geometry_msgs::Twist msg; diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp index 69dcc4766c764f4fcc3c72e4fbe6ec14c27fb58d..56678bd618ff18b4dc350f1625d076564a0c67b2 100644 --- a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp +++ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp @@ -162,8 +162,8 @@ int main(int argc,char **argv){ iThresParam1=ThresParam1; iThresParam2=ThresParam2; - cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 100, cvTackBarEvents); - cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 100, cvTackBarEvents); + cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 300, cvTackBarEvents); + cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 300, cvTackBarEvents); char key=0; int index=0; @@ -205,8 +205,8 @@ int main(int argc,char **argv){ bool found = (TheMarkers.size()>0)?true:false; if (found) { - x_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; - y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1]; + y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; + x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1]; z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2]; // printf("%4.2f %4.2f %4.2f\n",x_t,y_t,z_t); @@ -234,8 +234,12 @@ int main(int argc,char **argv){ // See: http://en.wikipedia.org/wiki/Flight_dynamics if (found){ - printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI)); - printf( " Marker distance in metres: x_d:%5.2f y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t); + //printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI)); + //printf( " Marker distance in metres: x_d:%5.2f y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t); + ROS_INFO_STREAM("Y = " << y_t << "m. \n"); + ROS_INFO_STREAM(" X = " << x_t << "m. \n"); + //ROS_INFO_STREAM("Z = " << z_t << "m. \n"); + } if (ros::ok()){ diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~ index a319aea752024c95a0204dadbdb043a2bf5a6cc2..ce0df1e971d51c529545c5d86630cd096612b569 100644 --- a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~ +++ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~ @@ -158,12 +158,12 @@ int main(int argc,char **argv){ cv::namedWindow("INPUT IMAGE",1); MDetector.getThresholdParams( ThresParam1,ThresParam2); - MDetector.setCornerRefinementMethod(MarkerDetector::HARRIS); + MDetector.setCornerRefinementMethod(MarkerDetector::NONE); iThresParam1=ThresParam1; iThresParam2=ThresParam2; - cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 100, cvTackBarEvents); - cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 100, cvTackBarEvents); + cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 300, cvTackBarEvents); + cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 300, cvTackBarEvents); char key=0; int index=0; @@ -205,8 +205,8 @@ int main(int argc,char **argv){ bool found = (TheMarkers.size()>0)?true:false; if (found) { - x_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; - y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1]; + y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; + x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1]; z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2]; // printf("%4.2f %4.2f %4.2f\n",x_t,y_t,z_t); @@ -234,8 +234,12 @@ int main(int argc,char **argv){ // See: http://en.wikipedia.org/wiki/Flight_dynamics if (found){ - printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI)); - printf( " Marker distance in metres: x_d:%5.2f y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t); + //printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI)); + //printf( " Marker distance in metres: x_d:%5.2f y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t); + ROS_INFO_STREAM("X = " << x_t << "m. \n"); + ROS_INFO_STREAM(" Y = " << y_t << "m. \n"); + //ROS_INFO_STREAM("Z = " << z_t << "m. \n"); + } if (ros::ok()){ diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o b/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o index 36ace1b871ea7f4882d63946646474305fb8ea3e..f89348a836ed8d431e2fc5548c15f69710269e3f 100644 Binary files a/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o and b/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o differ diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det b/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det index 622a5409785a426b1b6048552bb936c3b5080aff..c2a2d5e866972e2f8e849b21e8bf08c0edef38c9 100755 Binary files a/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det and b/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det differ diff --git a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml index 6cf7f4ab03a27f3548fd46ebeca0b6b2dd758a7c..93fdad54b32c1048f2d700f2e6338a35ad51f69b 100644 --- a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml +++ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml @@ -1,795 +1,112 @@ %YAML:1.0 -calibration_Time: "Wed Feb 24 16:50:06 2016" -nrOfFrames: 25 -image_Width: 640 -image_Height: 480 -board_Width: 9 -board_Height: 6 -square_Size: 25. -FixAspectRatio: 1. -# flags: +fix_aspectRatio +fix_principal_point +zero_tangent_dist -flagValue: 14 -Camera_Matrix: !!opencv-matrix +calibration_Time: "Thu Jan 28 20:49:41 2016" +nframes: 25 +image_width: 640 +image_height: 480 +board_width: 9 +board_height: 6 +square_size: 25. +flags: 14 +camera_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 4.9031223533168264e+02, 0., 3.1950000000000000e+02, 0., - 4.9031223533168264e+02, 2.3950000000000000e+02, 0., 0., 1. ] -Distortion_Coefficients: !!opencv-matrix + data: [ 4.3885336776199966e+02, 0., 3.1950000000000000e+02, 0., + 4.3885336776199966e+02, 2.3950000000000000e+02, 0., 0., 1. ] +distortion_coefficients: !!opencv-matrix rows: 5 cols: 1 dt: d - data: [ 1.4399436323751644e-01, -1.2796039720497560e-01, 0., 0., - -6.0770347834399863e-01 ] -Avg_Reprojection_Error: 8.5885035883430993e-01 -Per_View_Reprojection_Errors: !!opencv-matrix + data: [ 1.7935688861528923e-01, -7.7499648947306266e-01, 0., 0., + 7.8402390383601062e-01 ] +avg_reprojection_error: 2.4981405385515072e+00 +per_view_reprojection_errors: !!opencv-matrix rows: 25 cols: 1 dt: f - data: [ 4.63754267e-01, 2.51068443e-01, 1.94270805e-01, - 2.36312449e-01, 1.48495167e-01, 1.35369956e-01, 1.54188156e-01, - 1.54869199e-01, 2.09137380e-01, 1.57230124e-01, 2.70036757e-01, - 2.94935256e-01, 3.74449730e-01, 4.51102346e-01, 6.07178628e-01, - 9.73838270e-01, 3.79880428e-01, 1.39952153e-01, 2.66872108e-01, - 3.82923722e+00, 8.43535066e-01, 2.39103660e-01, 2.56929129e-01, - 3.84845018e-01, 4.58980739e-01 ] -# a set of 6-tuples (rotation vector + translation vector) for each view -Extrinsic_Parameters: !!opencv-matrix + data: [ 3.57268906e+00, 3.99192119e+00, 2.90065944e-01, + 1.16031790e+00, 1.70506015e-01, 1.46292651e+00, 1.53549254e-01, + 4.34785396e-01, 4.56490099e-01, 1.70323861e+00, 2.52026296e+00, + 6.90914512e-01, 2.55129194e+00, 3.63088584e+00, 3.10711956e+00, + 6.87528706e+00, 6.26607001e-01, 5.05158520e+00, 1.98911294e-01, + 1.09289420e+00, 2.30857044e-01, 1.05702937e+00, 2.89913940e+00, + 2.73852974e-01, 3.94171149e-01 ] +extrinsic_parameters: !!opencv-matrix rows: 25 cols: 6 dt: d - data: [ 1.8923966409045856e-01, -5.9263026337349214e-02, - -5.5447402355783798e-02, 2.7874075809839418e+01, - -1.1152107241743346e+02, 4.5092522510214792e+02, - -6.1009763816119944e-02, 8.4584208324062646e-02, - -2.3753083225557373e-02, -8.9229738353895812e+01, - 1.4259750662732321e-01, 4.7842178632945775e+02, - 1.6061635045613042e-02, -3.1360183045516514e-02, - 5.7545199933209745e-01, -3.4264560413489967e+01, - -2.9009355840602154e+01, 4.8024560517521252e+02, - 4.7284634320830285e-02, 1.1336120978834484e-02, - 6.5001844819239530e-03, -1.3616649935815940e+02, - 4.8907407442446718e+01, 6.9905436498003246e+02, - -1.3481398810630506e-02, 2.7661824641330691e-02, - 1.0348929661214391e-01, -6.2914889137982058e+01, - -3.9428076900305570e+01, 5.6354676121160264e+02, - 1.2134046333239003e-01, 4.2493881304471415e-01, - 7.8284039497573543e-01, 4.0086429470700828e+01, - 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4.70777832e+02, - 3.43977203e+02 ] + data: [ 2.9534092898769038e-01, 6.1191203211706580e-01, + 2.7470360197503951e-01, 3.0897767118905767e+02, + -2.7028243575734706e+02, 8.6565084060147069e+02, + 2.9297173480178690e-01, 4.3627724238355592e-02, + 2.7557341503636601e-01, 3.3116979020558648e+02, + -2.5617405901847133e+02, 8.2311266833216223e+02, + 1.9960958806751974e-01, 3.1570035545892154e-02, + 1.2708962425660275e-01, 1.6156231430746246e+02, + -1.4514954021277916e+02, 8.0137640295345932e+02, + 1.7494303625327573e-01, 7.3762512539771466e-02, + 5.0445851712512930e-02, 7.1987206587896949e+01, + -1.1500106245595917e+02, 8.2353927348596790e+02, + 1.0234705790811430e-01, -1.1539621441104764e-01, + 9.3823337675376525e-02, 3.1951578907123128e+00, + -7.3345485888594339e+01, 5.4473869138122870e+02, + 1.0942603376568098e-01, -5.9318892360192710e-01, + 9.5775466286502769e-02, -3.8823998417529481e+01, + -1.1592244101755368e+02, 4.9920788777776937e+02, + 6.8545562709697624e-02, 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-4.4556587270167364e-01, + 1.0097455290209503e-01, -1.2145806617879346e+02, + -1.2798429440809215e+02, 5.6133507374165401e+02, + 2.3654264178246068e-01, 3.9389292144973714e-01, + 1.4214179205750122e-01, 2.4053435581390497e+02, + -1.7279635755661363e+02, 6.8273474539050335e+02, + 6.4987254416647111e-01, -3.6293817596871580e-01, + 1.0078523111242824e-01, -5.8606915356988907e+01, + -2.9455752868085062e+02, 5.7511182387312783e+02, + 6.0310685405449205e-01, -3.5976502266231236e-01, + 7.5167449805944517e-02, -6.3046293636116808e+01, + -2.5452068803618670e+02, 6.2150508517227308e+02, + -1.0757093992629109e-01, -3.1012141221073214e-01, + 7.3580613719712207e-01, 9.9779658033440739e+01, + -2.1400709907294950e+02, 6.6232726155321564e+02, + 2.2954511127490282e-01, -3.7211298773974766e-01, + -7.6145986559509349e-01, -1.2422205039530508e+02, + -1.0736266283214722e+02, 5.5679343451118723e+02 ] diff --git a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~ index 93fdad54b32c1048f2d700f2e6338a35ad51f69b..6cf7f4ab03a27f3548fd46ebeca0b6b2dd758a7c 100644 --- a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~ +++ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~ @@ -1,112 +1,795 @@ %YAML:1.0 -calibration_Time: "Thu Jan 28 20:49:41 2016" -nframes: 25 -image_width: 640 -image_height: 480 -board_width: 9 -board_height: 6 -square_size: 25. -flags: 14 -camera_matrix: !!opencv-matrix +calibration_Time: "Wed Feb 24 16:50:06 2016" +nrOfFrames: 25 +image_Width: 640 +image_Height: 480 +board_Width: 9 +board_Height: 6 +square_Size: 25. +FixAspectRatio: 1. +# flags: +fix_aspectRatio +fix_principal_point +zero_tangent_dist +flagValue: 14 +Camera_Matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 4.3885336776199966e+02, 0., 3.1950000000000000e+02, 0., - 4.3885336776199966e+02, 2.3950000000000000e+02, 0., 0., 1. ] -distortion_coefficients: !!opencv-matrix + data: [ 4.9031223533168264e+02, 0., 3.1950000000000000e+02, 0., + 4.9031223533168264e+02, 2.3950000000000000e+02, 0., 0., 1. ] +Distortion_Coefficients: !!opencv-matrix rows: 5 cols: 1 dt: d - data: [ 1.7935688861528923e-01, -7.7499648947306266e-01, 0., 0., - 7.8402390383601062e-01 ] -avg_reprojection_error: 2.4981405385515072e+00 -per_view_reprojection_errors: !!opencv-matrix + data: [ 1.4399436323751644e-01, -1.2796039720497560e-01, 0., 0., + -6.0770347834399863e-01 ] +Avg_Reprojection_Error: 8.5885035883430993e-01 +Per_View_Reprojection_Errors: !!opencv-matrix rows: 25 cols: 1 dt: f - data: [ 3.57268906e+00, 3.99192119e+00, 2.90065944e-01, - 1.16031790e+00, 1.70506015e-01, 1.46292651e+00, 1.53549254e-01, - 4.34785396e-01, 4.56490099e-01, 1.70323861e+00, 2.52026296e+00, - 6.90914512e-01, 2.55129194e+00, 3.63088584e+00, 3.10711956e+00, - 6.87528706e+00, 6.26607001e-01, 5.05158520e+00, 1.98911294e-01, - 1.09289420e+00, 2.30857044e-01, 1.05702937e+00, 2.89913940e+00, - 2.73852974e-01, 3.94171149e-01 ] -extrinsic_parameters: !!opencv-matrix + data: [ 4.63754267e-01, 2.51068443e-01, 1.94270805e-01, + 2.36312449e-01, 1.48495167e-01, 1.35369956e-01, 1.54188156e-01, + 1.54869199e-01, 2.09137380e-01, 1.57230124e-01, 2.70036757e-01, + 2.94935256e-01, 3.74449730e-01, 4.51102346e-01, 6.07178628e-01, + 9.73838270e-01, 3.79880428e-01, 1.39952153e-01, 2.66872108e-01, + 3.82923722e+00, 8.43535066e-01, 2.39103660e-01, 2.56929129e-01, + 3.84845018e-01, 4.58980739e-01 ] +# a set of 6-tuples (rotation vector + translation vector) for each view +Extrinsic_Parameters: !!opencv-matrix rows: 25 cols: 6 dt: d - data: [ 2.9534092898769038e-01, 6.1191203211706580e-01, - 2.7470360197503951e-01, 3.0897767118905767e+02, - -2.7028243575734706e+02, 8.6565084060147069e+02, - 2.9297173480178690e-01, 4.3627724238355592e-02, - 2.7557341503636601e-01, 3.3116979020558648e+02, - -2.5617405901847133e+02, 8.2311266833216223e+02, - 1.9960958806751974e-01, 3.1570035545892154e-02, - 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