User Guide for Dual Depth Sensor Configuration - Revision history

VMaslov: /* Calibration */

2014-03-15T20:10:31Z

Calibration

2014-03-15T20:09:57Z

Calibration

2014-03-15T20:07:04Z

Calibration

2014-02-18T09:18:52Z

Processing Calibration Video

2014-02-18T09:08:00Z

Processing Calibration Video

2013-09-07T18:57:24Z

Preparations

2013-03-20T09:25:39Z

Recording Calibration Video

2013-03-20T09:25:10Z

The second configuration

2013-03-20T08:58:32Z

Recording Calibration Video

2013-03-19T08:15:49Z

iPi Mocap Studio

@@ Line 54: / Line 54: @@
 {{:Calibration Definition}}
-<blockquote>Below the calibration with the board is described, which is suitable for all depth sensors. Starting from version '''2.4.1.156''', [[iPi Mocap Studio]] also supports calibration with the aid of glowing marker like flashlight for depth sensors with color camera (Kinect, ASUS Xtion Live, PrimeSense Carmine). For additional information please see [[Dual Depth Sensor Calibration using Flashlight|this article]].</blockquote>
+<blockquote>Below the calibration with the board is described, which is suitable for all depth sensors. Starting from version '''2.4.1.156''', [[iPi Mocap Studio]] also supports calibration with the aid of glowing marker like flashlight for depth sensors with color camera (Kinect, Xtion Live, Carmine). For additional information please see [[Dual Depth Sensor Calibration using Flashlight|this article]].</blockquote>
 There are two possible arrangements of the two sensors:

@@ Line 54: / Line 54: @@
 {{:Calibration Definition}}
-<blockquote>Please note that starting from version '''2.4.1.156''', [[iPi Mocap Studio]] also supports calibration with the aid of glowing marker like flashlight. For additional information please see [[Dual Depth Sensor Calibration using Flashlight|this article]].</blockquote>
+<blockquote>Below the calibration with the board is described, which is suitable for all depth sensors. Starting from version '''2.4.1.156''', [[iPi Mocap Studio]] also supports calibration with the aid of glowing marker like flashlight for depth sensors with color camera (Kinect, ASUS Xtion Live, PrimeSense Carmine). For additional information please see [[Dual Depth Sensor Calibration using Flashlight|this article]].</blockquote>
 There are two possible arrangements of the two sensors:

@@ Line 53: / Line 53: @@
 == Calibration ==
 {{:Calibration Definition}}
 There are two possible arrangements of the two sensors:
@@ Line 58: / Line 60: @@
 # angle between sensors in near to 180 degrees that means that sensors are placed opposite to each other.
-=== The first configuration ===
+=== First configuration ===
 <center><table border=0><tr>
@@ Line 68: / Line 70: @@
 ==== Preparations ====
 For calibration purposes flat rectangular veneer/plywood/cardboard/pasteboard/foamboard is used:
@@ Line 169: / Line 169: @@
 [[Image:Dual-kinect-calibration-save.png|center]]
-=== The second configuration ===
+=== Second configuration ===
 <center><table border=0><tr>

@@ Line 137: / Line 137: @@
 * Please make sure that the ground plane is determined correctly for both sensors after calibration video opening in the '''iPi Studio''' (to switch between sensors use buttons "Camera 1" and "Camera 2" in the top toolbar).
 [[Image:KSensor-process-step2.png|center|400px]]
 * After that it is convenient to turn off visualization of background points (View -> Hide Background).
 [[Image:Dual-kinect-hide-background.png|center]]
-[[Image:Dual-kinect-hide-background.png|center|300px]]
-−
 * Set the beginning of Region of Interest (ROI) to the point where calibration plane is good visible in both sensors.
+[[Image:Dual-kinect-calibration-roi-beg.png|center|600px]]
-[[Image:Dual-kinect-calibration-roi-beg.png|center|700px]]
-−
 * Adjust the end of ROI:
@@ Line 159: / Line 153: @@
 * Go to the '''Calibration''' tab and click "Calibrate Based on 3D Plane" button
 * Please wait for the end of calibration process
@@ Line 166: / Line 159: @@
 ** turn on "Show Depth From All Sensors" option in the "View" menu
 ** rotate the scene and check how 3D-points from different sensors fit with each other
 [[Image:Dual-kinect-calibration-res-eval.jpg|center]]
 * Save the result:
@@ Line 175: / Line 166: @@
 ** click "Save scene..." button
 ** choose file name for your scene parameters
 [[Image:Dual-kinect-calibration-save.png|center]]

← Older revision		Revision as of 09:08, 18 February 2014
Line 159:		Line 159:

	* Go to the '''Calibration''' tab and click "Calibrate Based on 3D Plane" button		* Go to the '''Calibration''' tab and click "Calibrate Based on 3D Plane" button
−
−
−	~~[[Image:Dual-kinect-calibration-start.png\|center]]~~

← Older revision		Revision as of 18:57, 7 September 2013
Line 68:		Line 68:

	==== Preparations ====		==== Preparations ====
		+
		+	<blockquote>Please note that starting from version '''2.4.1.156''', [[iPi Mocap Studio]] also supports calibration with the aid of glowing marker like flashlight. For additional information please see [[Dual Depth Sensor Calibration using Flashlight\|this article]].</blockquote>

	For calibration purposes flat rectangular veneer/plywood/cardboard/pasteboard/foamboard is used:		For calibration purposes flat rectangular veneer/plywood/cardboard/pasteboard/foamboard is used:

@@ Line 195: / Line 195: @@
 ==== Recording Calibration Video ====
-It is also important to have variety in board positions: closer to one sensor and more far from another and vise versa:
+It is also important to have variety in board positions: closer to one sensor and more far from another and vise versa.
 <center><table border=0>

@@ Line 92: / Line 92: @@
 * Start recording by pressing the "Start" button.
 * Go to the capture area with the prepared calibration board.
-* Turn the calibration board to the left and to the right thus view angle is changing but the board is still visible in both sensors.
+* Move the board back and forth, slight tipping and banking, plus slight side-to-side rotation.
 * Stop the recording by pressing the "Stop" button.
@@ Line 113: / Line 113: @@
-'''Note''' that is important to have variety in angles from one hand and good visibility of the calibration plane in each camera from the other hand. It is not so easy to reach good results for 90 degrees angle thus 60-80 degrees angles could be more practical.
+'''Note''' that is important to have variety in board positions: closer and more far from the sensors.
 <center><table border=0>
@@ Line 129: / Line 129: @@
 * The floor (ground) is good visible on the depth maps from both sensors
 * The calibration board is good visible on the depth maps most the time
-* The calibration board is moving and has at least 30 degrees variety in the horizontal view angle
+* The calibration board is moving and has variety in distances to the sensors
 * The amount of yellow points is relatively small

← Older revision		Revision as of 08:15, 19 March 2013
Line 10:		Line 10:


−	'''Note''' that before you start working with two ~~Kinects / ASUS Xtions~~ it's highly recommended to get appropriate results with single ~~Kinect / ASUS Xtion~~ solution: [[User Guide for Single Depth Sensor Configuration]].	+	'''Note''' that before you start working with two depth sensors, it is highly recommended to get appropriate results with single depth sensor solution: [[User Guide for Single Depth Sensor Configuration]].

	== Software Installation ==		== Software Installation ==