Shimizu stereo (Hardware & basic functions (Vignetting effect (Use a…
Hardware & basic functions
:check: Modify ros message's timestamp according to the PC time.
:check:Timestamp reset upon external PPS.
:check:Simple white/color balance method.
:check:Order color clibration board.
Use a projector for both the lighting and the color target.
The projector may not be bright enough
Using 6-order polynomial correction performs poorly on real images. Too red in the center area. Maybe it could not be used on RGB image.
May need controllable lighting and the light should be bright enough to simulate outdoor environment. What the actual brightness we need. Do we need a measuring method for illuminance? The auto-exposure should also be modified to expose the image to some constant level of brightness or some brightness level on which we have vignetting correction factors.
Use white paper as the evenly illuminated target.
Order lighting sets.
The 6-order polynomial correction method may not be the best. Maybe first blurring the image and then use the difference between the expected evenly illuminated image and the blurred image directly as the vignetting correction mask.
:check:The target frame rate is 10Hz
Not publish the images through ROS.
:check:Try to use raw_8 image format to store the image data.
Methods & algorithms
:red_cross:Use CUDA, Not finished
:check:Try to use smaller grids :warning: Not working