Machine Vision Localization System - Revision history

MatthewElwin: /* Computer Setup */

2010-05-04T20:46:30Z

Computer Setup

← Older revision		Revision as of 15:46, 4 May 2010
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	Available at \\mcc.northwestern.edu\dfs\me-labs\lims\Swarms\LogitechDrivers.zip		Available at \\mcc.northwestern.edu\dfs\me-labs\lims\Swarms\LogitechDrivers.zip
	or http://www.logitech.com/index.cfm/435/3057&cl=us,en. If you download them from the logitech website		or http://www.logitech.com/index.cfm/435/3057&cl=us,en. If you download them from the logitech website
	you need BOTH versions of the ~~sofware~~ (qc1150 and lws110). These are available under downloads as		you need BOTH versions of the software (qc1150 and lws110). These are available under downloads as
	"Logitech webcam software with Vid", and "Quickcam v. 11.5". ~~Make~~ ~~sure~~ ~~cameras~~ ~~are~~ ~~unplugged.~~		"Logitech webcam software with Vid", and "Quickcam v. 11.5". Install qc1150 first, and restart as requested.
	~~Run~~ lws110 ~~and~~ ~~install~~ it ~~(note~~ ~~that~~ the Vid software ~~is unnecessary~~). ~~Plug~~ in ~~the~~ ~~cameras~~.		Install lws110 (Note that you do not need the Vid software), and restart as requested.
	~~Open~~ Device ~~manager.~~ ~~Under~~ Imaging ~~Devices,~~ ~~right~~ ~~click~~ ~~one~~ of ~~the Logitech~~ cameras, ~~and~~ ~~choose~~ ~~Uninstall.~~		Device Manager -> Imaging devices should display a list of 4 cameras. For each camera right click,
			Choose update driver software, Browse my computer, Let me pick from a list, select QuickCam Communicate Deluxe Version: 11.5.0.1145
	Check "Delete the Driver Software for this device" to uninstall the drivers.
			Hit next to install the drivers. Do this for all 4 cameras before restarting. You now have the new software
	When that completes, do not restart. Go to control panel/programs and uninstall
			(for controlling cameras individually), and the old drivers (for working with the vision system.).
	the "Logitech Drivers". Restart the computer. You should see "installing hardware". When this completes, go to device
	manager and look under imaging devices. Make sure that the cameras show up as "Usb Video Device" and not anything with "Quickcam"
	in the name.Unplug the cameras. Run qc1150.exe, choose custom install, and install the drivers only but not the software. You
	should now have updated logitech software (allowing control of all four cameras), and the old drivers (allowing the vision system to
	work.) In the software go to settings (the gears icon) and choose the selection below the owl icon. Click update settings and turn
	off updates.

MatthewElwin: /* Computer Setup */

2010-05-04T17:54:19Z

Computer Setup

← Older revision		Revision as of 12:54, 4 May 2010
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	you need BOTH versions of the sofware (qc1150 and lws110). These are available under downloads as		you need BOTH versions of the sofware (qc1150 and lws110). These are available under downloads as
	"Logitech webcam software with Vid", and "Quickcam v. 11.5". Make sure cameras are unplugged.		"Logitech webcam software with Vid", and "Quickcam v. 11.5". Make sure cameras are unplugged.
	Run lws110 and install it (note that the Vid software is unnecessary). ~~Then~~ go to ~~control panel/programs and uninstall~~		Run lws110 and install it (note that the Vid software is unnecessary). Plug in the cameras.
			Open Device manager. Under Imaging Devices, right click one of the Logitech cameras, and choose Uninstall.
⚫	the ~~logitech~~ ~~drivers~~. Run qc1150, ~~do a~~ custom install, and install the drivers only but not the software. ~~This will yield~~
	~~setup~~ ~~with~~ the ~~new~~ ~~logitech~~ ~~software~~ ~~and~~ ~~the~~ ~~old~~ ~~logitech~~ drivers.		Check "Delete the Driver Software for this device" to uninstall the drivers.
			When that completes, do not restart. Go to control panel/programs and uninstall
			the "Logitech Drivers". Restart the computer. You should see "installing hardware". When this completes, go to device
			manager and look under imaging devices. Make sure that the cameras show up as "Usb Video Device" and not anything with "Quickcam"
		⚫	in the name.Unplug the cameras. Run qc1150.exe, choose custom install, and install the drivers only but not the software. You
			should now have updated logitech software (allowing control of all four cameras), and the old drivers (allowing the vision system to
			work.) In the software go to settings (the gears icon) and choose the selection below the owl icon. Click update settings and turn
			off updates.

MatthewElwin: /* Computer Setup */

2010-05-04T17:19:06Z

Computer Setup

← Older revision		Revision as of 12:19, 4 May 2010
Line 61:		Line 61:

	1. Download and install the Logitech QuickCam Communicate Deluxe Webcam Drivers -		1. Download and install the Logitech QuickCam Communicate Deluxe Webcam Drivers -
	Available at \\mcc.northwestern.edu\dfs\me-labs\lims\Swarms\LogitechDrivers.zip or		Available at \\mcc.northwestern.edu\dfs\me-labs\lims\Swarms\LogitechDrivers.zip
	http://www.logitech.com/index.cfm/435/3057&cl=us,en. If you download them from the logitech website ~~you need BOTH versions of the sofware (qc1150 and lws110). These are available under downloads as Logitech webcam software with Vid, and Quickcam v. 11.5~~		or http://www.logitech.com/index.cfm/435/3057&cl=us,en. If you download them from the logitech website
			you need BOTH versions of the sofware (qc1150 and lws110). These are available under downloads as
	Make sure cameras are unplugged. Run lws110 and install it (note that the Vid software is unnecessary). Then go to control panel/programs and Uninstall the drivers. Then run qc1150, do a custom install, and install the drivers but not the software. This will yield a setup with the new logitech software and the old logitech drivers.
			"Logitech webcam software with Vid", and "Quickcam v. 11.5". Make sure cameras are unplugged.
			Run lws110 and install it (note that the Vid software is unnecessary). Then go to control panel/programs and uninstall
			the logitech drivers. Run qc1150, do a custom install, and install the drivers only but not the software. This will yield
			setup with the new logitech software and the old logitech drivers.

MatthewElwin: /* Computer Setup */

2010-05-04T17:15:51Z

Computer Setup

← Older revision		Revision as of 12:15, 4 May 2010
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	In the current implementation, this system has been developed for a Windows based computer (as restricted by the videoInput library). The system should run in Windows XP or Vista. To setup the computer to develop and run the software, the three required libraries must be installed.		In the current implementation, this system has been developed for a Windows based computer (as restricted by the videoInput library). The system should run in Windows XP or Vista. To setup the computer to develop and run the software, the three required libraries must be installed.

	1. Download and install the Logitech QuickCam Communicate Deluxe Webcam Drivers - ~~http://www.logitech.com/index.cfm/435/3057&cl=us,en~~		1. Download and install the Logitech QuickCam Communicate Deluxe Webcam Drivers -
			Available at \\mcc.northwestern.edu\dfs\me-labs\lims\Swarms\LogitechDrivers.zip or
	*Note: there have been some issues between the camera drivers and the libraries used in the machine vision code. Drivers that have worked are software/driver builds '''11.5.0.1145''', '''11.5.0.1169'''
			http://www.logitech.com/index.cfm/435/3057&cl=us,en. If you download them from the logitech website you need BOTH versions of the sofware (qc1150 and lws110). These are available under downloads as Logitech webcam software with Vid, and Quickcam v. 11.5
			Make sure cameras are unplugged. Run lws110 and install it (note that the Vid software is unnecessary). Then go to control panel/programs and Uninstall the drivers. Then run qc1150, do a custom install, and install the drivers but not the software. This will yield a setup with the new logitech software and the old logitech drivers.


	2. Install Microsoft Visual Studio Professional (Express Edition is incompatible with some of the code)		2. Install Microsoft Visual Studio Professional (Express Edition is incompatible with some of the code)
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	6. Download and install the videoInput Library - http://muonics.net/school/spring05/videoInput/		6. Download and install the videoInput Library - http://muonics.net/school/spring05/videoInput/
	*Note: The most recent version, 0.1995, may be used, as well as the older version, 0.1991

	7. Download the source code for the vision system here: [[Media:vision_system_localization_project.zip\|Vision System Localization Project]]		7. Download the source code for the vision system here: [[Media:vision_system_localization_project.zip\|Vision System Localization Project]]

HeBai: /* Calibration Results */

2010-03-09T03:32:09Z

Calibration Results

← Older revision		Revision as of 22:32, 8 March 2010
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	% All those complementary variables are saved in the complete matlab data file Calib_Results.mat.		% All those complementary variables are saved in the complete matlab data file Calib_Results.mat.
	% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/		% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/


	%-- Focal length:		%-- Focal length:
	fc = [ 835.070614323296470 ; 776.358109604829560 ];		fc = [ 835.070614323296470 ; 776.358109604829560 ];

	%-- Principal point:		%-- Principal point:
	cc = [ 448.722941671177130 ; 333.157042750110920 ];		cc = [ 448.722941671177130 ; 333.157042750110920 ];

	%-- Skew coefficient:		%-- Skew coefficient:
	alpha_c = 0.000000000000000;		alpha_c = 0.000000000000000;

	%-- Distortion coefficients:		%-- Distortion coefficients:
	'''kc = [ 0.000000000000000 ; -0.030646660052499 ; 0.000000000000000 ; 0.000000000000000 ; 0.000000000000000 ];'''		'''kc = [ 0.000000000000000 ; -0.030646660052499 ; 0.000000000000000 ; 0.000000000000000 ; 0.000000000000000 ];'''

HeBai: /* Calibration Results */

2010-03-09T03:31:43Z

Calibration Results

← Older revision		Revision as of 22:31, 8 March 2010
Line 172:		Line 172:
	We also attached below the matlab calibration results for the intrinsic parameters of one of the cameras (notice the fairly small distortion coefficients):		We also attached below the matlab calibration results for the intrinsic parameters of one of the cameras (notice the fairly small distortion coefficients):

	% Intrinsic ~~and Extrinsic~~ Camera Parameters		% Intrinsic Camera Parameters
	%		%
	% This script file can be directly ~~excecuted~~ under Matlab to recover the camera intrinsic and extrinsic parameters.		% This script file can be directly executed under Matlab to recover the camera intrinsic and extrinsic parameters.
	% IMPORTANT: This file contains neither the structure of the calibration objects nor the image coordinates of the calibration points.		% IMPORTANT: This file contains neither the structure of the calibration objects nor the image coordinates of the calibration points.
	% All those complementary variables are saved in the complete matlab data file Calib_Results.mat.		% All those complementary variables are saved in the complete matlab data file Calib_Results.mat.
	% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/		% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/


	%-- Focal length:		%-- Focal length:
	fc = [ 835.070614323296470 ; 776.358109604829560 ];		fc = [ 835.070614323296470 ; 776.358109604829560 ];

	%-- Principal point:		%-- Principal point:
	cc = [ 448.722941671177130 ; 333.157042750110920 ];		cc = [ 448.722941671177130 ; 333.157042750110920 ];

	%-- Skew coefficient:		%-- Skew coefficient:
	alpha_c = 0.000000000000000;		alpha_c = 0.000000000000000;

	%-- Distortion coefficients:		%-- Distortion coefficients:
	'''kc = [ 0.000000000000000 ; -0.030646660052499 ; 0.000000000000000 ; 0.000000000000000 ; 0.000000000000000 ];'''		'''kc = [ 0.000000000000000 ; -0.030646660052499 ; 0.000000000000000 ; 0.000000000000000 ; 0.000000000000000 ];'''

	==Pausing==		==Pausing==

HeBai: /* Calibration Results */

2010-03-09T03:29:24Z

Calibration Results

@@ Line 165: / Line 165: @@
 === Calibration Results ===
-The maximum calibration error is around 5mm, which is around 2 pixels error.
+Using the 8-parameter homography calibration, the maximum calibration error is around 5mm, which is around 2 pixels error.
 [[Image:HB_calibration_error.jpg|300px|thumb|left|The absolute calibration error of the twenty-five landmarkers on the ground. Different quadrants are denoted by different colors.]]
 <br clear = 'all'>
 ==Pausing==

HeBai: /* Calibration Results */

2010-03-09T03:22:59Z

Calibration Results

← Older revision		Revision as of 22:22, 8 March 2010
Line 165:		Line 165:

	=== Calibration Results ===		=== Calibration Results ===
	The maximum calibration error is around 5mm, which is around 2 pixels error. ~~'''ATTACH A FIGURE.'''~~		The maximum calibration error is around 5mm, which is around 2 pixels error.

			[[Image:HB_calibration_error.jpg\|300px\|thumb\|left\|The absolute calibration error of the twenty-five landmarkers on the ground. Different quadrants are denoted by different colors.]]
			<br clear = 'all'>

	==Pausing==		==Pausing==

HeBai: /* Theory */

2010-03-09T02:25:28Z

Theory

← Older revision		Revision as of 21:25, 8 March 2010
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	Note that the above homography 8-parameter calibration works well when the distortion of the camera is not noticeable. If the camera distortion is significant, advanced calibration techniques, such as the [http://www.vision.caltech.edu/bouguetj/calib_doc/ matlab calibration toolbox], must be used.		Note that the above homography 8-parameter calibration works well when the distortion of the camera is not noticeable. If the camera distortion is significant, advanced calibration techniques, such as the [http://www.vision.caltech.edu/bouguetj/calib_doc/ matlab calibration toolbox], must be used.

	For our webcams, we tried the matlab calibration toolbox and found that the distortion coefficients are ~~small~~ ~~enough~~. Therefore, we choose the homography method to calibrate our cameras. This will make the calibration matrix a lot simpler than the full matlab calibration, yet still yields sufficiently good answers.		For our webcams, we tried the matlab calibration toolbox and found that the distortion coefficients are fairly small. Therefore, we choose the homography method to calibrate our cameras. This will make the calibration matrix and the computation a lot simpler than the full matlab calibration, yet still yields sufficiently good answers.

	=== Calibration Procedures ===		=== Calibration Procedures ===

HeBai: /* Theory */

2010-03-09T02:24:17Z

Theory

← Older revision		Revision as of 21:24, 8 March 2010
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	</math>		</math>

	Since there are 8 parameters (<math>h_{ij}</math>) to obtain, we need at least four points on the floor, i.e. <math>N\geq 4</math>. Once we obtain M and C from the point coordinates in the image and on the floor, it is easy to compute H (e.g. in matlab, use <math>M \backslash C</math>). Putting the obtained H into the matrix form, we obtain the homography from <math>(u,v)</math> to <math>(x,y)</math>. Then given any image coordinate <math>(\bar u, \bar v)</math>, we can compute its corresponding floor coordinate <math>(\bar x,\bar y)</math> according to the homography relationship above. Do not forget to divide the scaling factor <math>\lambda</math>.		Since there are 8 parameters (<math>h_{ij}</math>) to obtain, we need at least four points on the floor, i.e. <math>N\geq 4</math>. Once we obtain M and C from the point coordinates in the image and on the floor, it is easy to compute H (e.g. in matlab, use <math>M \backslash C</math>). Putting the obtained <math>H</math> into the matrix form, we obtain the homography from <math>(u,v)</math> to <math>(x,y)</math>. Then given any image coordinate <math>(\bar u, \bar v)</math>, we can compute its corresponding floor coordinate <math>(\bar x,\bar y)</math> according to the homography relationship above. Do not forget to divide the scaling factor <math>\lambda</math>.

	Note that the above homography 8-parameter calibration works well when the distortion of the camera is not noticeable. If the camera distortion is significant, advanced calibration techniques, such as the [http://www.vision.caltech.edu/bouguetj/calib_doc/ matlab calibration toolbox], must be used.		Note that the above homography 8-parameter calibration works well when the distortion of the camera is not noticeable. If the camera distortion is significant, advanced calibration techniques, such as the [http://www.vision.caltech.edu/bouguetj/calib_doc/ matlab calibration toolbox], must be used.