Difference between revisions of "Eyesis4Pi Calibration"

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==IMU==
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==Goniometer and IMU==
 
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|[[File:Eyesis-with-cradle-pattern_small_2.jpeg|500px|thumb|Fig.1 Positive rotation angles in the calibration machine]]
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|[[File:Eyesis-with-cradle-pattern_small_2.jpeg|380px|thumb|Fig.1 Positive rotation angles in the calibration machine]]
 
|valign='top'|[[File:Goniometer.jpeg|400px|thumb|Fig.2 Goniometer]]
 
|valign='top'|[[File:Goniometer.jpeg|400px|thumb|Fig.2 Goniometer]]
 
|valign='top'|[[File:Eyesis4pi axes.jpeg|400px|thumb|Fig.3 IMU in Eyesis4π]]
 
|valign='top'|[[File:Eyesis4pi axes.jpeg|400px|thumb|Fig.3 IMU in Eyesis4π]]
 
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|}
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IMU is [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] - 2400 samples per second
  
 
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.
 
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.
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* [[Eyesis4pi_Post-Processing|User Guide - Post-processing: ImageJ]]
 
* [[Eyesis4pi_Post-Processing|User Guide - Post-processing: ImageJ]]
 
* [[Eyesis4Pi_data_structure|Data Structure Description]]
 
* [[Eyesis4Pi_data_structure|Data Structure Description]]
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* [[Eyesis4Pi_Calibration|Calibration Process]]
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[[Category:Eyesis4Pi]]
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[[Category:IMU]]

Latest revision as of 11:27, 22 December 2016

Goniometer and IMU

Fig.1 Positive rotation angles in the calibration machine
Fig.2 Goniometer
Fig.3 IMU in Eyesis4π

IMU is ADIS 16375 - 2400 samples per second

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:

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)

Links