Eyesis4Pi Calibration

IMU

Fig.1 Positive rotation angles in the calibration machine

Fig.2 Goniometer

Fig.3 IMU in Eyesis4π

During the calibration process the goniometer rotates the camera about 2 axes (y & z on Fig.1) by precisely known angles. To calibrate IMU one needs to match the goniometer angles with the IMU data. Notes:

• The images are taken in the middle of the rest state of the goniometer.
• IMU log contains 3 types of events: IMU data packet, GPS data packet, Image captured.
• Images timestamps are recorded in the IMU log.

Calibration process output examples:

Camera 00:0E:64:08:1B:89 IMU calibration data:

• IMU data: test.log-00001...00015
• Goniometer angles: ImageSet_orientation.csv

Axial - angle about the z-axis in degrees (positive rotation is shown on Fig.1)
Tilt - angle about the y-axis in degrees (positive rotation is shown on Fig.1)

• Other goniometer and camera parameters: Camera_parameters.csv

Links

• Code for parsing IMU log: PHP , Java.