Overview: Deepen Calibrate is a software tool that makes the critical task of sensor data calibration simple and quick.
This page allows the users to create, list, launch and delete calibration datasets. Admins can manage user’s access to these datasets on this page.
Click on ‘New Calibration’ to create a new calibration dataset.
2. Calibration Selection:
Upon clicking the ‘New Calibration’ button, the user can make a selection from the different calibrations. Select ‘Radar-Camera Calibration’ to create a new radar-camera calibration dataset.
3. Calibration Instructions Page:
Upon selecting ‘Radar-Camera Calibration’, the user is welcomed to the instructions page
Click on ‘Get started’ after finishing with the instructions. A pop-up is displayed that asks for:
Edge length of the reflector
Configuration of the checkerboard
The user must fill in all the mandatory fields and click on ‘Set Details’ to proceed ahead.
4. Calibration Pipeline:
Radar-Camera Calibration consists of two stages:
Radar Camera setup: Add camera details, files and reflector coordinates.
Calibrate: Run the calibration algorithm and visualise the results.
A few other details
The user can choose to hit the ‘Save changes’ option at any stage to prevent loss of work.
The user can navigate between the stages and update the details as per convenience.
Download the results by using the ‘Export’ option.
Click on the ‘Help Center’ button ( the top right corner) to get your doubts answered related to the calibration.
4.1 Radar Camera Setup:
This stage is broadly categorised into three steps:
Setup Camera Intrinsics: Add/upload your camera’s intrinsic parameters. The user can click on ‘Get intrinsic parameters’ to calibrate the camera.
Add files: Upload the files captured using the camera.
Add reflector coordinates: Enter the coordinates of thereflector captured using radar.
To move on to the calibration stage, complete the radar-camera setup and then click on continue.
The user can review the files and camera intrinsics here before hitting the ‘calibrate’ button. This may take upto 1-2 minutes for us to get accurate results, depending on the quality and number of image files.
Validate the results in Visualize mode and mark the calibration process as complete. These extrinsic, camera intrinsics and error parameters can be exported by using the ‘Export’ option.
Please note that :
The visualization renders calibration results both in 2D and 3D.
The reprojection error rate gives the mean distance error between points in 2D.
The translational error rate gives the mean distance error between points in 3D.
5. Extrinsic Calibration Output:
roll, pitch, yaw, px, py, pz are the extrinsic parameters downloaded from the calibration tool.
reflectorPointsInRadar is the 3d coordinates of the reflector in the radar coordinate system.
reflectorPointsInCamera is the 3d coordinates of the reflector in the camera coordinate system.