文件列表:

ScaramuzzaOCamCalib\add_suppress.m (3721, 2002-02-21)
ScaramuzzaOCamCalib\analyse_error.m (2079, 2006-04-17)
ScaramuzzaOCamCalib\calibrate.m (5367, 2006-03-06)
ScaramuzzaOCamCalib\calibration.m (1893, 2006-05-03)
ScaramuzzaOCamCalib\calib_data.mat (8788, 2015-01-29)
ScaramuzzaOCamCalib\cam2world.m (963, 2006-05-12)
ScaramuzzaOCamCalib\check_active_images.m (561, 2005-11-08)
ScaramuzzaOCamCalib\check_directory.m (4958, 2001-11-27)
ScaramuzzaOCamCalib\clear_windows.m (105, 2000-01-26)
ScaramuzzaOCamCalib\click_calib.m (9308, 2006-04-07)
ScaramuzzaOCamCalib\click_ima_calib.m (2447, 2006-01-19)
ScaramuzzaOCamCalib\cornerfinder.m (5193, 2004-01-08)
ScaramuzzaOCamCalib\create_simulation_points.m (3811, 2006-01-19)
ScaramuzzaOCamCalib\data_calib.m (2760, 2005-11-08)
ScaramuzzaOCamCalib\findcenter.m (3112, 2006-04-17)
ScaramuzzaOCamCalib\findcorner_insick_image.m (410, 2006-02-03)
ScaramuzzaOCamCalib\findinvpoly.m (635, 2006-05-03)
ScaramuzzaOCamCalib\fixvariable.m (580, 2001-10-22)
ScaramuzzaOCamCalib\FUNrho.m (61, 2005-09-15)
ScaramuzzaOCamCalib\generate_sim_points.m (1444, 2005-09-19)
ScaramuzzaOCamCalib\getpoint.m (189, 2005-08-17)
ScaramuzzaOCamCalib\get_ocam_model.m (367, 2006-05-03)
ScaramuzzaOCamCalib\ginput3.m (6556, 2005-11-05)
ScaramuzzaOCamCalib\ima_read_calib.m (2762, 2006-01-15)
ScaramuzzaOCamCalib\loading_calib.m (257, 2005-11-10)
ScaramuzzaOCamCalib\loadpgm.m (1927, 2000-01-12)
ScaramuzzaOCamCalib\loadppm.m (2469, 2000-09-08)
ScaramuzzaOCamCalib\mosaic.m (1591, 2004-01-08)
ScaramuzzaOCamCalib\ocam_calib.m (4296, 2006-04-17)
ScaramuzzaOCamCalib\omni3d2pixel.m (1667, 2006-04-09)
ScaramuzzaOCamCalib\omni_find_extrs_parameters.m (2314, 2006-04-17)
ScaramuzzaOCamCalib\omni_find_intrs_parameters.m (965, 2006-04-17)
ScaramuzzaOCamCalib\optimizefunction.m (4611, 2006-04-17)
ScaramuzzaOCamCalib\optimizefunction_all.m (2143, 2006-04-17)
ScaramuzzaOCamCalib\optimizeintpar.m (1497, 2006-04-17)
ScaramuzzaOCamCalib\planefrompoints.m (95, 2005-07-18)
ScaramuzzaOCamCalib\Plotta_curve.m (692, 2006-01-26)
ScaramuzzaOCamCalib\prova.m (1404, 2006-04-17)
ScaramuzzaOCamCalib\prova1.m (1317, 2006-01-19)
ScaramuzzaOCamCalib\prova2.m (1452, 2006-04-17)
... ...

---------------------------------------------------------------------------- ---------------------------------------------------------------------------- OCamCalib - Omnidirectional Camera Calibration Toolbox Author: Davide Scaramuzza email: davsca@tiscali.it Home page of the ToolBox: http://asl.epfl.ch/~scaramuz/research/Davide_Scaramuzza.htm ---------------------------------------------------------------------------- ---------------------------------------------------------------------------- Copyright (C) 2006 DAVIDE SCARAMUZZA - Swiss Federal Institute of Technology Lausanne (EPFL) Author: Davide Scaramuzza - email: davsca@tiscali.it Website: http://asl.epfl.ch/~scaramuz/research/Davide_Scaramuzza.htm This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA ---------------------------------------------------------------------------- ---------------------------------------------------------------------------- This Matlab Toolbox allows calibrating any central omnidirectional camera, that is, having a single effective viewpoint. The toolbox implements the procedure described in the paper [3]. A detailed TUTORIAL about how using the OCamCalib Toolbox and the description of the Mirror-Camera model, which is used, can be found in the attached file OcamCalib_Tutorial.pdf. The detailed description of the technique is in my paper in [1]. The ToolBox allows the user to find the intrinsic parameters characterizing the mirror shape. That means that you do not require a priori knowledge about the mirror shape equation. The only thing which has to be assumed is that the system camera-mirror possesses a single effective viewpoint (see [2] for a definition). The Toolbox permits easy and practical calibration because it only requires the user to take a few pictures of a checker board shown at different positions and orientations. Then, the user is asked to click manually on the corner points. Finally, calibration is automatically performed. Furthermore, this Toolbox can AUTOMATICALLY detect the image center in a very fast way, WITHOUT requiring the user to insert any primary estimate of the image center. Here are some steps to get quickly started with the OCamCalib ToolBox, but I recomend you to read the attached Tutorial for better using it and understanding its functionalities. 1. Type "ocam_calib" to lunch the graphical interface of the toolbox. 2. 'Read names' permits to load the images of a chessboard, which will be used for calibration. It is sufficient typing the base name of the image files. 3. 'Extract grid corners' requires the user to click on the chessboard corner points 4. 'Calibration' runs the Calibration procedure described in the paper [1]. It require to specify the polynomial degree (choose a degree of 2, 3 or 4th order, 4th is used as default). This Calibration procedure implements a linear least square minimization. After this step you may want to primary run 'Find center' (step 10), which finds the image center and performs again the calibration with the new coordinates of the center. 5. 'Calibration Refinement' refines the calibration parameters (both INTRINSIC and EXTRINSIC) by using a NON-linear method based on the maximum likelihood criterion. Before running this routine it is better to have well computed the coordinates of the image center. Thus, I suggest the user to run 'Find center' (step 10). 6. 'Show Extrinsic' displays the 3D configuration of camera and chessboards. 7. 'Analyze error' displays the pixel reprojection error of the grid corners. 8. 'Reproject on images' reprojects the estimated 3D grid corners onto the images. 9. 'Show calib results' shows the calibration results. 10.'Find center' is an interesting tool which allows the user to automatically find the center of the omnidirectional image when he does not know the location of the center. This tool is very useful when the image circular external boundary is not visible in the image. Note that this option uses the current polynomial degree approximation. If you want to change the polynomial degree you must run again the calibration (step 4). 11.'Recomp. corners'. This tool recomputes the corner points of the chessboard applying a corner detector around every reprojected grid corner. It is very useful if you badly clicked on the corner points during the manual extraction of the grid corners (step 3). 12. After 10, you may want to lunch step 9 again. 13.'Save' saves the calibration results in "Omni_Calib_Results.mat". 14.'Load' loads the last calibration results. 15.'Exit' quites the program. For any question, observation, comment or critic, do not hesitate to contact the author: Davide Scaramuzza at davsca@tiscali.it Check frequently the Home Page of the Toolbox for any version upgrade: http://asl.epfl.ch/~scaramuz/research/Davide_Scaramuzza.htm REFERENCES [1] Davide Scaramuzza, Agostino Martinelli and Roland Siegwart, "A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion", in Proceedings of IEEE International Conference of Vision Systems (ICVS'06), New York, January 5-7, 2006. [2] S. Baker and S. Nayar, "A theory of single-viewpoint catadioptric image formation", International Journal of Computer Vision, 35(2), November 1999, pp. 175, 1996.

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