This week, I focused on putting together the entire pipeline on the actual projector and camera setup. There were a lot of lessons learned during this portion of integration because we learned we needed more stable mounting mechanism and clearer guidance toward the user on setup. Furthermore, when testing the camera with the projector, I realized that the camera saw the projection in the RGB states because of the faster fps. This will likely not be a problem however by grayscaling and thresholding. This is necessary for the auto-calibration process. The USB camera we were testing with has a fisheye effect that our actual camera does not have. None of these factors will delay our timeline significantly, but this does mean I need to put more bandwidth on manufacturing a more secure mounting for the camera and projector.
Next week, I will manufacture the mounts for the projector and camera. I will also work on speeding up the autocalibration by running some computer vision on the images taken in.
Verification:
- Projector Calibration
- Ensure the bleed over onto the floor is within the specified range from the requirements. If not, update table corner detection to identify table bounds.
- Ensure that the spacing is measured to be the distances specified in the requirements. If not, change table bounds.
- Hardware
- Ensure that the hardware mounting for the projector is secure and not susceptible to falling from minor bumps. Verified via checking camera detection of projection difference.
- Ensure that the hardware mounting for the camera is secure and not susceptible to falling from minor bumps. Verified via checking camera detection of projection difference.
- Recipe Processing
- Ensure that the recipe is split into appropriate steps. This will be analyzed from the user acceptance process.