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AIBO Vision Calibration

AIBO Vision Calibration. HP > Dell. AIBO Vision Calibration. Vision Calibration http://www.cc.gatech.edu/~kjohara/vision-calibration.tgz vskov147@gmail.com kjohara@cc.gatech.edu Extract the archive creates directory CMPACK-Vision-Calibration/. AIBO Vision Calibration.

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AIBO Vision Calibration

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  1. AIBO Vision Calibration • HP > Dell

  2. AIBO Vision Calibration • Vision Calibration http://www.cc.gatech.edu/~kjohara/vision-calibration.tgzvskov147@gmail.comkjohara@cc.gatech.edu • Extract the archive • creates directoryCMPACK-Vision-Calibration/

  3. AIBO Vision Calibration • Vision Calibration package • Source code • Utilities • Binaries • Imaging software • GIMP

  4. AIBO Vision Calibration • Go to CMPACK-Vision-Calibration/dogs/util/example-calibration • The file GATECH-README explains the steps requred for calibration • Mirrors this presentation

  5. AIBO Vision Calibration • MS_VISION_CALIBRATION/ contains the exact image of a calibration memory stick • > mount /mnt/sony • > cp -rf MS_FOR_CALIBRATION/* /mnt/sony/ • Modify /mnt/sony/congif/camera.cfg to adjust gain, lighting, and shutter speed camera param-s • > umount /mnt/sony

  6. AIBO Vision Calibration • Boot up the AIBO • Use the tail to control its head position • Press down head button to take a picture • (LEDs will flasg white) • Press dog's mouth up to write all pictures to MS • (LEDs will turn blue and it will take a second,dog will collapse and shutdown afterward)

  7. AIBO Vision Calibration • > mount /mnt/sony • Copy “log” from MS to a new directory • (> umount /mnt/sony) • > ../log_processing/log_extractor/logextract <log file> ../log_processing/log_extractor/extract_configs/vis_raw7.cfg • You should now have a bunch of files like “i00xx.ppm” which contain the images you took

  8. Image i0009.ppm

  9. AIBO Vision Calibration • > .../tile/tile 1 i*ppm • You should produce “imagergb.ppm” • Hand color the image using GIMP or other similar program • Color pixels that should be ignored black • Color boring (don't care) ones grey • Use the Magic Wand tool to select areas in GIMP (hold Shift to add to selection) • Save the result as “label.ppm”

  10. Image imagergb.ppm • Cut version, actualimage is longer • All the images tiled

  11. AIBO Vision Calibration • > .../tile/tile 1 i*ppm • You should produce “imagergb.ppm” • Hand color the image using GIMP or other similar program • Color pixels that should be ignored black • Color boring (don't care) ones grey • Use the Magic Wand tool to select areas in GIMP (hold Shift to add to selection) • Save the result as “label.ppm”

  12. Left: imagergb.ppm • Right: label.ppm

  13. AIBO Vision Calibration • Edit the file “colors.txt” to ensure it has correct name of the hand-colored file (“label.ppm”) • Also, edit the desired test output file name • If you see “cache.dat” delete it!! • Else old cached date will be used • > ../thresh/thresh colors.txt • Compare test output with hand-colored file • > cp out.tmap Sideways/MS/config/thresh.tm

  14. AIBO Vision Calibration • Edit the file “colors.txt” to ensure it has correct name of the hand-colored file (“label.ppm”) • Also, edit the desired test output file name • If you see “cache.dat” delete it!! • Else old cached date will be used • > ../thresh/thresh colors.txt • Compare test output with hand-colored file • > cp out.tmap Sideways/MS/config/thresh.tm

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