cameras already calibrated
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Author:  caspersky [ Wed Sep 15, 2010 5:28 am ]
Post subject:  cameras already calibrated

well i am new to ipi software,
we plan to use the software as reference to compare our results to those retruned by IPI
we have already a successful work in marker less tracking

our stereo calibration method is based on epipolar geometry ( we also use a LED in a dimly lit scene to do an easy matching) and to retreive the scene scaling factor we reference to a known object dimension in the scene,

our calibration method is strong and accurate enough, my question is simple,
is there is anyway to supply the external cameras calibration directly to ur software ( we dont need to do recalibration..), and if yes what is cooridnate system of the soft in order to do the appropriate conversion...

Author:  andrew [ Fri Sep 17, 2010 3:07 am ]
Post subject:  Re: cameras already calibrated

Hello, you can put your calibration output to the following XML structure:

<?xml version="1.0" encoding="US-ASCII"?>
  <!--Positions are in meters-->
  <!--Angles are in degrees-->
  <Camera DiagonalFieldOfView="75.000000">
    <Translation value="2.417861 2.142903 1.364826" />
    <Rotation axis="1.000000 0.000000 0.000000" angle="-24.811390" />
    <Rotation axis="0.000000 1.000000 0.000000" angle="59.876560" />
    <Rotation axis="0.000000 0.000000 1.000000" angle="-1.680654" />
  <Camera DiagonalFieldOfView="75.000000">
    <Translation value="0.606797 2.134588 4.207962" />
    <Rotation axis="1.000000 0.000000 0.000000" angle="-20.657410" />
    <Rotation axis="0.000000 1.000000 0.000000" angle="12.601750" />
    <Rotation axis="0.000000 0.000000 1.000000" angle="2.068917" />
  <Camera DiagonalFieldOfView="75.000000">
    <Translation value="-3.125362 2.018730 0.595288" />
    <Rotation axis="1.000000 0.000000 0.000000" angle="-31.448260" />
    <Rotation axis="0.000000 1.000000 0.000000" angle="-73.953010" />
    <Rotation axis="0.000000 0.000000 1.000000" angle="10.718340" />

Note 1: numbers here is only for example - you need to put your own.
Note 2: coordinate system is Y up based
Note 3: coordinates should be in meters, angles should be in degrees

Save this XML data as SomeFileName.scene.xml and load to the iPiStudio, using button "Load scene..." at "Scene" tab.

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