A small optimization of this procedure is to start off with an approximately correct mapping. The foveation code is in this shell script , and here is the main loop of normcorr . This means that the computer may choose to foveate regions where there is nothing to track. This will result in more failures, but that just means that we'll have to let the process run longer. The following image shows the data gathered by above method over the course of a weekend.
Green rectangles represent good data.
Yellow rectangles represent failures identified by the tracker. The rectangles do not extend to the top or bottom of the image due to limitations in the tilt range of the EVI-D30. By plotting output parameters as a function of input parameters we can get an idea what kind of mapping we're going to have to approximate by the shape of the resulting plots. The plot below show the surprising result that P is a linear function of x. The following plots show that pan is independent of y and tilt is independent of x.