JeVois 1.3MP Sensor with 120deg Fisheye Lens

Question

Hello everyone.

I have changed the lens of the camera for one with 120 degree vision, which I highly recommend as it has improved by 30% the effectiveness of the Robot Tracking system.

I have uploaded a video to youtube in which the camera is shown tracking an ArUco code without losing sight of it.

https://www.youtube.com/watch?v=4zxQoMtPL8Q

Answer 1

Nice work tuning your servo system!!

I noticed that as the marker got close to the camera that there was considerable Fisheye distortion.

Do you know if there is a new calibration set with the distortion values available for this new lens? If so, where can it be downloaded from?

Comments

I am not sure if there are new values to correct this distortion. The truth is that even with this distortion the camera responds very well. It would be good to know if Jevois is working on this detail. Greetings.

Answer 2

Super nice! Thanks for sharing.

There is a GPU shader in jevoisbase that can be used to do correction for barrel distorsion. So far, it has only be used in this module: http://jevois.org/moddoc/DemoGPU/modinfo.html  you can set the effect to "Dewarp". But the GPU shading is implemented as a Component that could be re-used in any module you like. See http://jevois.org/basedoc/classFilterGPU.html

As you say, it looks like for ArUco, this may not even be needed, great to know. I wonder whether this is still the case when your ArUco is much farther away, like a few meters away from the camera? I would expect that the distorsion effects should be relatively-speaking smaller over the extent of an ArUco and hence detection should work well too?

Comments

here is the original post that gave rise to the barrel correction shader contributed by one of our users: http://jevois.org/qa/index.php?qa=153