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Re: JavaCV and OpenCV Camera Calibration with sample code
Depending on the robot's distance from the backboard, the rectangle moves up and down in the field of view. Also, depending on the tilt of the camera, the rectangle may be anywhere on a vertical line at the time of launch. We should be able to get the side to side alignment fairly close.
Some correction due to vertical placement seems to be required. Depending on the processing configuration, when this happens might change. If the cRio is doing the image work, it may be reasonable to do this correction after the fact. A coprocessor off the cRio may have enough cycles to correct up front, and simplify the geometric calculations.
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