AIBO Vision Calibration HP Dell AIBO Vision Calibration

AIBO Vision Calibration ● HP > Dell

AIBO Vision Calibration ● Vision Calibration http: //www. cc. gatech. edu/~kjohara/visioncalibration. tgz vskov 147@gmail. com kjohara@cc. gatech. edu ● Extract the archive – creates directory CMPACK-Vision-Calibration/

AIBO Vision Calibration ● Vision Calibration package – Source code – Utilities – Binaries ● Imaging software – GIMP

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

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

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)

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_raw 7. cfg You should now have a bunch of files like “i 00 xx. ppm” which contain the images you took

● Image i 0009. ppm

AIBO Vision Calibration ● >. . . /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”

Image imagergb. ppm ● Cut version, actual image is longer ● All the images tiled ●

AIBO Vision Calibration ● >. . . /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”

● ● Left: imagergb. ppm Right: label. ppm

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 colors. txt ● Compare test output with hand-colored file ● > cp out. tmap Sideways/MS/config/thresh. tm

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 colors. txt ● Compare test output with hand-colored file ● > cp out. tmap Sideways/MS/config/thresh. tm