User manual

Small Vision System User Manual 47
Figure 4-4 Smallv calibration dialog window.
6. Detect the corner features in all views by pressing the
features button in the lower bar of
buttons. This cycles through all the images, displaying the corners in green as they are detected.
If the feature finder fails on an image, please re-capture the image and redetect the features. When
redetecting features for a single stereo pair, use the
features button in the stereo pair box.
7. Compute the calibration parameters (intrinsics, extrinsics) and rectification matrices by pressing
the
calibrate button in the lower button bar. This operates in three phases:
a) Calibrates individual views using a planar model of the calibration object. The projection of
these model features is shown in red.
b) Calibrates all the views jointly using nonlinear optimization over all the intrinsic and extrinsic
parameters. This phase usually takes a few minutes, and when finished, the projected model
features are shown in yellow.
c) Computes the rectification matrices from the joint calibration in (b).
8. When the calibration is finished, the parameter listing at the bottom is updated, and you have a
couple additional options in the lower button bar:
save writes the parameter file to disk and OK
exits the calibration dialog and transfers the new parameters to the main
smallv window.