Image Engineering GEOCAL Manuale utente

Image Engineering GmbH & Co. KG · Im Gleisdreieck 5 · 50169 Kerpen · Germany

T +49 2273 99 99 1-0 · F +49 2273 99 99 1-10 · www.image-engineering.com

GEOCAL / GEOCAL XL

User Manual

December 22, 2023

Image Engineering

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CONTENT

1INTRODUCTION...........................................................................................................4

1.1 Conformity..............................................................................................................4

1.2 Intended use...........................................................................................................4

1.3 General safety information......................................................................................4

2GETTING STARTED....................................................................................................5

2.1 Scope of delivery....................................................................................................5

2.2 Commissioning.......................................................................................................5

3OPERATING INSTRUCTIONSHARDWARE................................................................6

3.1 GEOCAL / GEOCAL XL..........................................................................................6

3.2 Diffractive Optical Element (DOE) ...........................................................................6

3.3 Camera settings......................................................................................................6

3.3.1 Camera position and suitable lenses................................................................ 7

3.3.2 Exposure......................................................................................................... 8

4DIFFERENCES BETWEEN GEOCAL AND GEOCAL XL .............................................9

4.1 Why a larger version of the GEOCAL?....................................................................9

5OPERATING INSTRUCTIONS SOFTWARE...............................................................10

5.1 Installing GEOCAL software..................................................................................10

5.2 Configuration file (XML format)..............................................................................10

5.3 Artificial sample images.........................................................................................10

5.4 Loading images for analysis..................................................................................11

5.5 Deleting images....................................................................................................11

5.6 Image analysis......................................................................................................12

5.7 Saving results.......................................................................................................13

5.8 Export Grids..........................................................................................................14

5.9 Plotting.................................................................................................................14

5.9.1 Grid view........................................................................................................ 14

5.9.2 Distortion curve.............................................................................................. 14

5.9.3 Quiver plot..................................................................................................... 14

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5.9.4 2d color scatter.............................................................................................. 14

5.9.5 Histogram...................................................................................................... 14

5.10 Logging................................................................................................................15

5.11 Quit......................................................................................................................15

5.12 TRADEMARK AND COPYRIGHT.........................................................................15

6ADDITIONAL INFORMATION....................................................................................16

6.1 Disposal instructions.............................................................................................16

6.2 Power circuit modification for production line use...................................................16

7TECHNICAL DATA SHEET........................................................................................16

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1 INTRODUCTION

Important information: Read the manual carefully before using the device. Inappropriate utilization may cause

damage to the device, to the DUT (device under test), and/or other components of your setup.

Keep these instructions in a safe place and pass them on to any future user.

1.1 Conformity

We, Image Engineering GmbH & Co. KG, hereby declare that GEOCAL/GEOCAL XL corresponds to the

essential requirements of the following EC directives:

- 2011/65/EU - RoHS 2

- 2014/35/EU - Low Voltage

- 2014/30/EU - Electromagnetic Compatibility

And standards or normative documents:

- EN 61326-1:2013 –Electrical equipment for measurement, control, and laboratory use - EMC

requirements - Part 1: General requirements

- EN 61000-3-2:2014 - Electromagnetic compatibility(EMC) - Part 3-2: Limits -Limitsforharmoniccurrent

emissions

- EN 61000-3-3:2013 - Electromagnetic compatibility (EMC) - Part 3-3: Limits

- EN 62471-2:2009 - Photobiological safety of lamps and lamp systems

- DIN EN 60825-1 - Safety of laser products - Part 1: Equipment classification and requirements

1.2 Intended use

GEOCAL/GEOCAL XL consistsof an illuminating hardware device and software for the geometriccalibration of

camera systems. The GEOCAL software is used for calculating the calibration parameters from a single image

taken with a camera system of the point grid generated by the GEOCAL hardware device.

•Only suitable for indoor use.

•Place the system in a dry and constant tempered environment. Avoid high air humidity.

1.3 General safety information

WARNING! GEOCAL/GEOCAL XL uses a laser diode for illumination.

LASER RADIATION CLASS 1M LASER PRODUCT

•Do not stare into the beam

•Do not view directly with optical instruments

•Do not open the housing of GEOCAL / GEOCAL XL under any circumstances

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2 GETTING STARTED

2.1 Scope of delivery

•GEOCAL or GEOCAL XL hardware device

•The latest software version on the USB storage device

•Power supply + cable

•USB cable (type B to type A)

•Test report

2.2 Commissioning

•Remove the packaging material.

•The power socket and the main power switch are located on the back side of the device next to the

USB type B socket.

Connect GEOCAL/GEOCAL XL to a power outlet and switch it on.

Please note that the blue LED next to the power switch indicates thatthe power line is active and that

GEOCAL is ready for operation.

•Install the latest GEOCAL software (Windows, 64bit)

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3 OPERATING INSTRUCTIONS HARDWARE

3.1 GEOCAL / GEOCAL XL

After switching on, GEOCAL/GEOCAL XL is ready for use. No warm-up phase is required.

3.2 Diffractive Optical Element (DOE)

A diffractive optical element (DOE) isusedto split the incoming light beam and generate a calibration grid of

evenly distributed light spots with a wavelength of 633 nm. The DOE is mounted on the front of the

GEOCAL/GEOCAL XL device (visible glass plate mounted in circular cutout, see Figure 2).

3.3 Camera settings

Set the camera to manual exposure mode.If manual mode is notavailable, use the automatic exposure mode.

The image should be saved in a lossless formatfor best results. TIFF format is recommended, and PNG and

JPEG (lossy) are also supported. If you convert RAW image data to another format, ensure the image is

debayered in the process.

The autofocus must be turned off. Since GEOCAL / GEOCAL XL uses a collimated light beam virtually

originatingfrominfinity, the appropriate focus distance will be near infinity. Using manual focus, ensure the

camera is focused on the light points.

Exposure program

Manual

Aperture

No default value

ISO Speed

Lowest value (e.g.,100)

Autofocus

Off

File type

TIFF is recommended. PNG

and JPEG are also supported

DOE

Figure 1: Calibration grid

(the brightest spot marks the center)

Figure 2: Location of the DOE

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3.3.1 Camera position and suitable lenses

Place the camera in front of the diffractive optical element in the circular opening on the front of

GEOCAL/GEOCAL XL.

The camera can be placed directly in front of the DOE; no minimumdistance is needed (view Figure 3 below).

The principal axis of the lens should be aligned approx. perpendicular to the DOE. Achieve this by aligning the

0th diffraction order, the brightest spot in the grid center, with thecenter of theimage.See Figure 4 forreference.

Make sure that the point grid covers the whole image and that the border of the DOE is not visible.

The top side of GEOCAL/GEOCAL XL and the top side of the camera must have the same orientation. A rotation

of the camera around the optical axis of approx. +/- 2° will be tolerable.

No furtheralignmentsteps are necessary. The camera's translation does not influence the mapping of the light

points. The camera rotation to the DOE is part of the calibration and is determined during the process and

reported as part of the result.

The lens's front elementmust notbe larger than 77 mm in diameter for GEOCAL or 155 mm for GEOCAL XL to

capture the point grid in full format.

Figure 3: Setting the distance between the camera and GEOCAL/GEOCAL XL

Figure 4: Good alignment (0th order in the center of image) Bad alignment (0th order far off center)

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Note: Please use caution when positioning the camera. The DOE is made of glass and has a

thickness of only 1.5 mm.

Ensure the calibration is performed in a dark environment to avoid stray light, reflections, or similar

interfering factors.

3.3.2 Exposure

Forbest results, theexposure should beselectedso that the individual light points are not saturated (i.e., no

white pixels or a minimal number of white pixels in the center of each point) with the exception of the 0th

diffraction order. The 0th orderwill always be much brighter than the points surrounding it. See Figure 5 below for

an example.

Depending on your camera, you might encounter different problems:

The exposure time of my camera cannot be set short enough to avoid saturation.

Possible solutions:

- Set the ISO to the lowest native value available (ISO 100 for most cameras)

- Stop down the aperture if possible

- If the image is stilltoo bright, you could use an ND-Filter to reduce the amount of light reaching the

image sensor

The intensity drop-off is too steep towards the edges of the image, and no more points are visible.

This problem may occur for ultra-wide-angle lenses. If the images cannot be adequately analyzed, try the

following.

Generate an HDR image by taking multiple images of the point grid using a range of exposure times (do not

change aperture settings in this case) and combine theminto a high dynamic range image to achieve more or

less uniform exposure across the entire sensor. Do not change the camera's orientation between images

because the points would no longer be aligned to one another through multiple images.

Figure 5: Suitable exposure (dark background, small points) Exposure too bright (red background, larger, saturated points)

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4 DIFFERENCES BETWEEN GEOCAL AND GEOCAL XL

The key difference between GEOCAL XL and the standard GEOCAL is the physical size of the diffractive

optical element(DOE) thatgeneratesthe point grid. While the standard GEOCAL has a usable diameter

of 77 mm, the GEOCAL XL provides a functional diameter of 155 mm.

4.1 Why a larger version of the GEOCAL?

A larger DOE is needed when the device under test (DUT) cannotbe placed directly in front of the DOE,

for example, whenacar's windshield isinvolved. As mentioned in chapter 3.3.1, "Camera position and

suitable lenses," the generatedpoint gridneeds to cover the entire camera sensor to provide a reliable

calibration.

Figure 6: Use case for the larger DOE provided in the GEOCAL XL

As illustrated in Figure 6 above, the windscreen angleprevents the standard GEOCAL from being placed

close enough to the camera to provide a full-frame image of the standard DOE. This angle would result in

a less precise and less reliable calibration.

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5 OPERATING INSTRUCTIONS SOFTWARE

The GEOCAL software allows you to calibrate your camera system in a matter of seconds.

The results can be saved as CSV or XML files.

5.1 Installing GEOCAL software

•Execute the GEOCAL installer (GEOCAL_Vx.x.x.exe, 64-bit) and follow the instructions.

•The software is now ready for use.

5.2 Configuration file (XML format)

Four default configuration filesin XML format are provided with the software.If your calibration procedure does

not require special settings, you can use one of the four configuration files for the desired distortion model. You

can modify these files by copying them from the install location in:

C:\Program Files\Image Engineering\GEOCAL 1.x.x\configuration

to some other folder, modify them and then load them with the software for usage.

See document GEOCAL_calibration_models_.pdf for details on the usage of the configuration files.

Loading a config file:

Click File →Load configuration (Ctrl+c)→navigate to the folder containing the file →select the file and click

"open."

5.3 Artificial sample images

There are four sample images available, which can be found in this location:

C:\Program Files\Image Engineering\GEOCAL 1.x.x\samples

These images were synthetically created with the following parameters:

Focal lengths [fx, fy]:

3030

Skew:

Tangential coefficients:

Principal point [u0, v0]:

[960, 752]

DOE parameters [grating constant, wavelength]:

[43.9, 0.6328]

DOE and camera angles [Alpha, beta, omega, phi, kappa]:

Image

Model

Radial coefficients [1 to 6]

simulate_model1.png

CUSTOM_MODEL_1

[1, 0.1, 0.1, 0.1, 0.1, 0.1]

simulate_model2.png

CUSTOM_MODEL_2

[1, 1, 1, 1, 1, 1] * 10-6

simulate_modelf.png

FISHEYE_MODEL

[0.5, 0.5, 0.5, 0.5, 0.5, 0.5]

simulate_modele.png

EVEN_BROWN_MODEL

[0.5, 0.5, 0.5, 0.5, 0.5, 0.5]

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