Print it for example on a A4 paper and attach it on a piece of carton. Unzip the file, run Matlab, and type ocam_calib. You can download the OcamCalib Toolbox from the links given at the top of this page. Please report any bug, question, suggestion, or special request to me: davide (dot) scaramuzza (at) ieee (dot) org The Calibration Refinement tool requires the Matlab Optimization Toolbox, in particular the function lsqnonlin, which you should have by default. ![]() The OCamCalib Toolbox for Matlab has been successfully tested under Matlab 8.0, 8.1 2013 for Windows, MacOS and Linux. The Toolbox showed to give very good calibration results even in the latter case (reprojection error < 0.5 pixels!). In fact, the Toolbox is able to provide an optimal solution even when the “single view point property” is not perfectly verified (for instance when the camera optical center is not exactly in the focus of the hyperbola or also for spherical mirrors). The camera-mirror system possesses a single effective viewpoint (see section 18 for a definition), or also a “quasi” single viewpoint. The calibration performed by the OCamCalib Toolbox is based on the following hypotheses: Unlike other toolboxess, which require the visibility of the external boundary of the mirror to determine the image center, the OCamCalib Toolbox automatically identifies the center without any user interaction! ![]() It does not require the visibility of the circular external boundary of the mirror. The detection of the image center is performed automatically. It does not require calibrating the perspective camera separately: the system camera-mirror is treated as a unique compact system that encapsulates both the intrinsic parameters of the camera and the parameters of the mirror. The toolbox does not require a priori knowledge about the mirror shape. The toolbox is the only one with Automatic Corner Extraction (no manual extraction is required). The novel aspects of the OCamCalib Toolbox with respect to other toolboxes are the following: This relation clearly depends on the mirror shape and on the intrinsic parameters of the camera. After these two steps, the calibration is completely automatically performed.Īfter the calibration, the toolbox provides two functions (CAM2WORLD and WORLD2CAM) which express the relation between a given pixel point and its projection onto the unit sphere (this is a 3D vector emanating from the single effective view point) (see section 17). Therefore, no manual extraction is needed. With the new version of the toolbox this operation is done completely automatically. Then, the user is asked to extract the corner points. First, it requires the user collect a few pictures of a checkerboard shown at different positions and orientations. The Toolbox permits the user to easily and quickly calibrate the omnidirectional camera through two steps. Furthermore, you can also see a demo of how the toolbox works here. A detailed introduction to this model is in section 19 of this Tutorial. The Toolbox implements the procedure initially described in the paper and later extended in and. The OcamCalib Toolbox for Matlab allows the user (also inexpert users) to calibrate any central omnidirectional camera, that is, any panoramic camera having a single effective viewpoint (see section 17). Please read this tutorial very carefully before contacting me for help. This Toolbox was partially inspired by the "Caltech Calibration Toolbox" by Jean-Yves Bouguet ![]() Please report any bug, question, suggestion to the Google group: ocamcalib-toolbox (at) googlegroups (dot) com This toolbox is currently used by NASA, PHILIPS, BOSCH, DAIMLER Includes Automatic Corner Extraction and undistortion functions (Matlab & C/C++)
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