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Jan 09, 2013, 10:58 PM
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Baby Vicon busted

The problem became obvious, immediately after starting the calibration. The pointing direction of the servos can't be known precisely enough to get a distance from the angles of the cameras. The convergence angle needs to be more precisely known than any other angle to get a useful distance.

The cameras in a 2 eye mount have a fixed convergence which can be hard coded. The cameras in 1 eye per mount have variable convergence which must be deduced from the servo angles. That couldn't be known as accurately as hoped. The Hitec HS-311 is the tightest servo known, but it's still not accurate enough.

If the cameras were on different sides of the room, so they always converged at 90 degrees, the problem would be solved, but that would require having a 270 degree field of view with no lights that could interfere with machine vision. The cameras have to be close together & on the same side of the room to make the lighting practical.

Time to tear down another experiment & build a 3rd dual eye mount.
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