Calibration for EIS
-
Hi! When I follow the instructions on here to calibrate at half resolution for EIS, I'm noticing that the output video is zoomed in. Even setting misp_zoom to 0, and resolution to 4040x3040 for an imx412 camera is not giving me the full camera view.
I'm using voxl-camera-server_2.2.4
Here is my voxl-camera-server.conf file:{ "type": "imx412", "name": "hires", "enabled": true, "camera_id": 1, "fps": 10, "en_preview": true, "en_raw_preview": true, "en_misp": true, "preview_width": 4040, "preview_height": 3040, "misp_width": 2020, "misp_height": 1520, "misp_awb": "auto", "misp_zoom": 0, "en_eis": false, "eis_mode": "full-follow", "eis_view": "eis-only", "eis_follow_rate": 0.01, "en_large_video": false, "en_small_video": true, "en_snapshot": false, "ae_mode": "lme_msv", "en_rotate": false, "misp_venc_enable": true, "misp_venc_mode": "h264", "misp_venc_br_ctrl": "cbr", "misp_venc_Qfixed": 30, "misp_venc_Qmin": 15, "misp_venc_Qmax": 51, "misp_venc_nPframes": 29, "misp_venc_mbps": 3, "ae_desired_msv": 100, "exposure_min_us": 25, "exposure_max_us": 5000, "gain_min": 100, "gain_max": 32000, "exposure_soft_min_us": 5000, "snapshot_jpeg_quality": 75, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h264", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "small_venc_osd": false, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 40, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 40, "large_venc_osd": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "exif_focal_length": 3.0999999046325684, "exif_focal_length_in_35mm_format": 17, "exif_fnumber": 1.2400000095367432, "misp_venc_osd": false, "misp_gamma": 1.6, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 } -
@SKA , the minimum zoom should be 1.0, not 0.0. Can you try to see if that works?
Alex
-
@Alex-Kushleyev I tried 1.0 as well, it didn't make a difference.
-
@SKA ,
Does the zoom level change if you change misp_zoom param from 1.0 to a higher number? You can also adjust zoom via voxl-portal when you view the stream and enable the check box for camera controls (bottom left). Did you try changing zoom that way?
Alex
-
@Alex-Kushleyev No, it doesn't change. Let me try adjusting in voxl-portal.
-
@SKA , you are probably looking at the wrong stream, since you have small video enabled, which does not use misp. Use hires_misp_ streams
-
@Alex-Kushleyev I'm looking at hires_misp_grey. I know I've been looking at the misp streams all along because they haven't been fisheye, like the hires_small_grey stream.
Also, just checked out the zoom slider in voxl-portal, it doesn't seem to work -
@SKA , just to clarify, if you disable EIS, then undistortion is disabled, you will see fisheye image. If EIS is enabled, the output will be undistorted (zoomed in a bit). Part of EIS figures out the minimum zoom level such that the undistorted image is maximized (no black pixels at the edges), so if EIS is enabled and you set misp_zoom to 1.0, the image will appear slightly zoomed in because it is undistorted (and parts of the image are no longer visible, what used to be the corners).
if you set misp_zoom to 1.0 and eis is disabled, you will see the image that is not zoomed in. If your misp width and height aspect ratio differs from the raw preview aspect ratio, then misp will crop the top+bottom (usually), to get the correct aspect ratio. For example, if your raw preview size is 4040x3040 and your misp output is 1920x1080, then misp will first crop the top and bottom of the raw image to get the 16:9 aspect ratio and then resize the image to 1920x1080 (well actually all the steps are happening at the same time, not sequentially).
I have to ask, how do you know that your image is zoomed in and not original? btw since you have the small video stream enabled, you can look at that image (hires_small_color) to see if the zoom level is the same - this is coming from the ISP and it should also crop + resize to your resolution for small video stream you have selected (you can make the small video resolution the same as misp output resolution and compare images, they should look identical zoom-wise)
Alex
