Test sequence

[motters]

I've uploaded a file containing test stereo camera images, called
sequence1.zip. The images were originally bitmaps, but I had to
convert them to jpeg format in order to reduce the file size to
something that Google would accept. Hopefully not too much of the
original image quality is lost (webcam images are not especially good
quality to begin with anyway).

The sequence of images is for a robot travelling down a narrow
corridor, 95cm wide, along a straight path. Each stereo pair of
images are taken at 10cm intervals along the path, and at image index
47 the robot does a 180 degree turn and heads back down the corridor
in the opposite direction.

The zip file also includes a calibration file for the stereo camera
which was used, which gives details such as baseline length and
alignment offsets. In this test the stereo camera was rolled at an
angle of 45 degrees. This was really due to a foible of the
particular correspondence algorithm which I was using at the time.
Future sequences will probably be taken without any camera roll, in a
more conventional fashion.

[bohemian]

Thanks Bob, that was really helpful.