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Birds Eye View/Calibration Guide: Difference between revisions
→Cameras Transform
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The purpose of this stage is to convert each individual image into an aerial view. You do so by outlining the square calibration pattern in each image. You must be in the '''Cameras View'''. | The purpose of this stage is to convert each individual image into an aerial view. You do so by outlining the square calibration pattern in each image. You must be in the '''Cameras View'''. | ||
# Start by clicking the thumbnail of the image to which you desire to perform the transformation. The image will be displayed in the '''Main View'''. | # Start by clicking the thumbnail of the image to which you desire to perform the transformation. The image will be displayed in the '''Main View'''.[[File:BEV Calibration Tool Load Camera.png|alt=BEV Calibration Tool Load Camera, shows the Camera View window with an image loaded to the Main View|center|thumb|600x600px|Camera View, image loaded at Main View]] | ||
# Activate the '''Polygon Tool''' in the Main Toolbar. | # Activate the '''Polygon Tool''' in the Main Toolbar. | ||
# Select the first corner of the pattern by clicking on it, this would correspond to the square top-left corner in the aerial view. | # Select the first corner of the pattern by clicking on it, this would correspond to the square top-left corner in the aerial view. | ||
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# Once you are happy with your square selection click '''Apply''' in the Main Toolbar. | # Once you are happy with your square selection click '''Apply''' in the Main Toolbar. | ||
#* The transformed image will be shown in the '''Result View.''' | #* The transformed image will be shown in the '''Result View.''' | ||
#* The thumbnail will show a green check indicating this image already has a transformation. | #* The thumbnail will show a green check indicating this image already has a transformation.[[File:BEV Calibration Cameras View Polygon Apply.png|alt=At Cameras View, polygon selection on Main View and transformed image on Results View|center|thumb|900x900px|At Cameras View, polygon selection on Main View and transformed image on Results View]] | ||
# Adjust any point as needed and click '''Apply''', as many times as you need, until you can see a perfect square in the results View{{Message|type=note|You can start the process again by clicking on the Delete button in the Main Toolbar to delete the current polygon.}} | # Adjust any point as needed and click '''Apply''', as many times as you need, until you can see a perfect square in the results View | ||
#* You can enable/adjust the grid in the Settings Menu to verify the square pattern in the Results View.{{Message|type=note|You can start the process again by clicking on the Delete button in the Main Toolbar to delete the current polygon.}} | |||
# Adjust the scale and offset of the transformed image using the Toolbar Menu controls, '''Scale, X Offset and Y Offset.''' You must hit '''Apply''' to reflect the changes. | # Adjust the scale and offset of the transformed image using the Toolbar Menu controls, '''Scale, X Offset and Y Offset.''' You must hit '''Apply''' to reflect the changes. | ||
#* Information discarded by the scale and offset may not be available in the BEV workspace (depending on the output resolution) | #* Information discarded by the scale and offset may not be available in the BEV workspace (depending on the output resolution) | ||
#* Keeping too much information (zoom out) will make the image uncomfortable to manipulate in the BEV workspace. | #* Keeping too much information (zoom out) will make the image uncomfortable to manipulate in the BEV workspace. | ||
#* Scale and translation can be adjusted at any time. | #* Scale and translation can be adjusted at any time. | ||
{{Message|content=If the original images have lens distortion, you might see curvature in straight lines even after performing the transformation|type= | {{Message|content=If the original images have lens distortion, you might see curvature in straight lines even after performing the transformation|type=warning}} | ||
=== Build Birds Eye View === | === Build Birds Eye View === | ||
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#* You can always go back to the individual image in the Cameras View and adjust the transformation, scale and offset. | #* You can always go back to the individual image in the Cameras View and adjust the transformation, scale and offset. | ||
# Once you have matched all the images you can click '''Apply''' to see the blended result. Actually you don’t need to wait until you have all the images, you can hit apply any time you want to see a partial BEV result. The resultant BEV will be shown at the '''Result View.''' At this point the resulting image may not be easy to view because you may have many overlaps that will be solved when you select the ROIs. | # Once you have matched all the images you can click '''Apply''' to see the blended result. Actually you don’t need to wait until you have all the images, you can hit apply any time you want to see a partial BEV result. The resultant BEV will be shown at the '''Result View.''' At this point the resulting image may not be easy to view because you may have many overlaps that will be solved when you select the ROIs. | ||
{{Message|content=Do not expect a perfect match, the different perspectives of the cameras always will cause some disparities. |type= | [[File:BEV Calibration Tool Transformed Images Positioning.png|alt=BEV Calibration Tool Transformed Images Positioning at BEV Main View window|center|thumb|900x900px|BEV Calibration Tool - BEV View, transformed images positioning]] | ||
{{Message|content=Do not expect a perfect match, the different perspectives of the cameras always will cause some disparities. |type=warning}} | |||
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#* Don't hesitate revisiting previous images to adjust their configuration. | #* Don't hesitate revisiting previous images to adjust their configuration. | ||
#* ROIs can be tricky, you can always experiment with different areas and positions. | #* ROIs can be tricky, you can always experiment with different areas and positions. | ||
# Once you have matched all the images you can click '''Apply''' to see the blended result. Actually you don’t need to wait until you have all the images, you can hit apply any time you want to see a partial BEV result. The resultant BEV will be shown in the '''Result View.''' | #Once you have matched all the images you can click '''Apply''' to see the blended result. Actually you don’t need to wait until you have all the images, you can hit apply any time you want to see a partial BEV result. The resultant BEV will be shown in the '''Result View.'''[[File:BEV Calibration Tool ROI Selection.png|alt=BEV Calibration Tool, ROI Selection at BEV Main View window and blended result shown at Results View|center|thumb|900x900px|BEV Calibration Tool ROI Selection]] | ||
# You can also add an overlay from the settings panel to hide the hole where the cameras are positioned. | # You can also add an overlay from the settings panel to hide the hole where the cameras are positioned. | ||
[[File:BEV Calibration Tool Car Overlay.png|alt=BEV Calibration Tool, Overlay car on BEV composition|center|thumb|900x900px|BEV Calibration Tool, Overlay car on BEV composition]] | |||
=== Export the Calibration File === | === Export the Calibration File === | ||