Equipment : Différence entre versions

Version du 22 janvier 2016 à 13:17

Equipment List

• 2 tripods
• 1 measuring wheel
• 1 GPS unit with SD card ("Columbus") NS office
• 4 nu-metrics NC-200 traffic sensors: counts, speed and vehicle classification (based on length)
• 1 telescopic pole with surveillance camera encasing that can contain a camera, typically GoPro
• 1 telescopic pole with battery and adapter for GoPro camera
• Cameras:
  • 1 GoPro Hero2 camera with extra wifi module and battery pack + 2 external charger battery (Anker http://www.amazon.ca/gp/product/B009USAJCC?*Version*=1&*entries*=0)
  • 1 GoPro Hero3+ white with battery pack
  • 1 GoPro Hero3 with battery pack
• 1 car (black Ford Escape 2006): parked in the new pavilion (Lassonde); the fob gives us access to the parking of the main pavilion to load up the car through the back door on the 3rd floor, very close to B344

Rules for the car

• Register the use of the equipment on the calendar (email nicolas [dot] saunier [at] polymtl [dot] ca)
• Log all trips with the vehicle: hour you leave and return the vehicle, purpose/destination, km and gas refill
• Fob in and out of the parking every time, even if the barrier is up
• Leave the fob (RFID) hanging on the rear view mirror

Camera Matrices and Distortion Coefficients

NOTE: Validate these parameters on your data before using them.

With GoPro cameras, verify FOV setting. Not all version of the Hero3 support FOV change. Reffer to http://gopro.com/product-comparison-hero3-cameras

• Sample parameters for GoPro HD Hero2 1280*960 (In-house calibration), unknown FOV:

       camera_matrix = [[377.42, 0.0,     639.12],
                        [0.0,    378.43,  490.20],
                        [0.0,    0.0,     1.0]]
       dist_coeffs = [-0.11759321,  0.0148536,  0.00030756, -0.00020578, -0.00091816]

• Sample parameters for GoPro HD Hero2 1280*720 http://www.htw-mechlab.de/index.php/undistortion-der-gopro-hd-hero2/:

       camera_matrix = [[469.96, 0.0,    640],
                        [0.0,    467.68, 360],
                        [0.0,    0.0,    1.0]]
       dist_coeffs = [-0.18957, 0.037319, 0.0, 0.0, -0.00337]

• Sample parameters for GoPro HD Hero2 1920*1080 (In-house calibration), wide FOV:

       camera_matrix = [[ 894.18, 0.0,    951.75],
                        [   0.0,  913.20, 573.04],
                        [   0.0,  0.0,    1.0]]
       dist_coeffs   = [-0.35887,  0.16375, -0.00081, -0.00074, -0.04039]

• Sample parameters for GoPro HD Hero2 4K (In-house calibration):

       camera_matrix = [[  1.80151934e+03,   0.00000000e+00,   1.88663242e+03],
                        [  0.00000000e+00,   1.80423487e+03,   1.48375206e+03],
                        [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00]]
        dist_coeffs = [ -3.41396353e-01,   1.70761088e-01,   1.85596892e-05,   6.56168307e-04,  -5.22716120e-02]

• Sample parameters for GoPro HD Hero3 White 1280*960 (In-house calibration), "Ultra-Wide" (?) FOV:

       camera_matrix = [[568.82, 0.0,     630.27],
                        [0.0,    565.51,  469.72],
                        [0.0,    0.0,     1.0]]
       dist_coeffs = [-0.25889354,  0.0812486 ,  0.00119071,  0.0044503 , -0.0119863]

• Sample parameters for GoPro HD Hero3 1280*720 (In-house calibration), wide FOV:

  camera_matrix =[[ 843.83, 0.00,  939.77],
                  [ 0.00,   843.67, 547.26],
                  [ 0.00,   0.00,   1.00]]
  dist_coeffs = [-2.62630520e-01, 1.20270201e-01, 2.23896448e-04, -5.21657471e-04, -3.68401697e-02]

• Sample parameters for GoPro HD Hero4 black 1280*720 (In-house calibration), ultra wide FOV:

  camera_matrix =[[ 584.95, 0.00,   635.12],
                  [ 0.22,   584.42, 367.63],
                  [ 0.00,   0.00,   1.00]]
  dist_coeffs = [-0.26117408,  0.09197799, -0.00055912,  0.00033594, -0.01686286]