文件列表:

calibration_v23\arrangeblobs.m (1834, 2007-10-29)
calibration_v23\asymmetricdistortion.m (1449, 2007-10-29)
calibration_v23\backproject.m (1473, 2007-10-30)
calibration_v23\backprojectgeneric.m (1918, 2007-10-29)
calibration_v23\backprojectsymmetric.m (1356, 2007-10-30)
calibration_v23\backwardproj.m (307, 2007-10-30)
calibration_v23\blobsgrayscale.m (1348, 2007-10-29)
calibration_v23\blobsgrid.m (5458, 2007-10-29)
calibration_v23\blobvis.m (897, 2007-10-29)
calibration_v23\blobvis_update.m (793, 2007-10-29)
calibration_v23\calibboard.m (2556, 2007-10-29)
calibration_v23\calibboard_demo.m (3070, 2007-10-29)
calibration_v23\calibconfig.m (4552, 2007-11-05)
calibration_v23\calibgui.fig (1872, 2007-10-29)
calibration_v23\calibgui.m (6520, 2007-10-29)
calibration_v23\calibimages.m (1050, 2007-10-29)
calibration_v23\calibimages_demo.m (938, 2007-10-29)
calibration_v23\calibrate.m (4641, 2007-11-05)
calibration_v23\calibrateexternal.m (2036, 2007-10-29)
calibration_v23\calibrate_demo.m (3964, 2007-11-05)
calibration_v23\compcentroidcircle.m (4234, 2007-10-29)
calibration_v23\compHs.m (728, 2007-10-29)
calibration_v23\emgmm1d.m (1380, 2007-10-29)
calibration_v23\examineradialprojection.m (644, 2007-10-31)
calibration_v23\findblobs.m (1410, 2007-10-29)
calibration_v23\findellipse.m (1346, 2007-10-29)
calibration_v23\findellipse_demo.m (1435, 2007-10-29)
calibration_v23\fisheyedemo.m (130, 2007-10-29)
calibration_v23\fitellipsexy.m (751, 2007-10-29)
calibration_v23\forwardproj.m (1073, 2007-10-31)
calibration_v23\generic2sphere.m (216, 2007-10-29)
calibration_v23\genericproj.m (925, 2007-10-29)
calibration_v23\genericprojextended.m (1727, 2007-10-29)
calibration_v23\homangleerr.m (327, 2007-10-29)
calibration_v23\homdltps.m (655, 2007-10-29)
calibration_v23\imgellipse.m (1573, 2007-10-29)
calibration_v23\initialiseexternalp.m (1269, 2007-10-29)
calibration_v23\initialiseinternalp.m (1615, 2007-10-29)
calibration_v23\invasymmetriclinear.m (2430, 2007-10-29)
calibration_v23\License.txt (18007, 2007-10-29)
... ...

CAMERA CALIBRATION TOOLBOX FOR GENERIC LENSES Version 2.3 (4th November 2007) Copyright (C) 2004-2007 Juho Kannala Introduction ------------ This is a camera calibration toolbox for generic lenses. The toolbox can be used to calibrate conventional, wide-angle and fish-eye lens cameras. The calibration is based on viewing a planar calibration object. The intrinsic and extrinsic camera parameters are estimated from control point correspondences between the calibration plane and calibration images. This toolbox is a result of research that has been carried out in the Laboratory of Computational Engineering at the Helsinki University of Technology and in the Machine Vision Group at the University of Oulu. License ------- This software is distributed under the GNU General Public Licence (version 2 or later); please refer to the file Licence.txt, included with the software, for details. Installation ------------ Copy all the m-files into a directory and add it to your MATLABPATH. Matlab version 6.5 or later with the Image Processing Toolbox and Optimization Toolbox is required. Usage ----- There are two ways of using the toolbox: 1. Given the point correspondences between the calibration plane and calibration images one may directly compute the camera parameters as follows. (*) First fill in all the necessary information in calibconfig.m. Then run CALIBRATE with the correspondences as input. See HELP CALIBRATE for more information. 2. If a calibration pattern with circular control points is used, one may extract the centroids of the projected circles from the calibration images by using an interactive procedure. After this the camera parameters may be computed. (*) First fill in all the information in calibconfig.m. Then run functions CALIBIMAGES and CALIBRATE (without any input arguments) in the same directory where your calibration images are. Main functions -------------- CALIBCONFIG All information about the calibration images and the camera must be given in file calibconfig.m. CALIBIMAGES An interactive procedure for preprocessing of calibration images. Requires the user to indicate a convex polygon in each image that encloses the calibration pattern. The area inside the polygon should contain a rectangular grid of circular control points and nothing else. Either white circles on black background or black circles on white background may be used. CALIBRATE computes the optimal camera parameters. The number of parameters in the camera model may be chosen in calibconfig.m. The correspondences between the calibration plane and the calibration images may be given as input. Otherwise they are read from the files printed out by CALIBIMAGES. The estimated internal camera parameters are saved into a mat-file. BACKPROJECT The backward camera model. After the calibration this function may be used to compute the directions of back-projected rays corresponding to given image points. UNDISTORT transforms the original distorted images to follow perspective projection. CALIBRATEEXTERNAL computes the pose of the camera with respect to the calibration plane. This is useful when the camera is already calibrated and one needs to compute its pose in a coordinate frame which is fixed to a reference plane. Demo ---- Extract the files from fisheyedemo.tar.gz into a directory and run function FISHEYEDEMO. Version history ---------------- Version 2.3 - Some changes to CALIBRATE and its subprocedures - Added the parameter sys.cata to CALIBCONFIG Version 2.2 - The functions UNDISTORT and CALIBRATEEXTERNAL have been added. - A bug in file backprojectsymmetric.m has been fixed. Now the backprojection works faster. Version 2.1 - The toolbox does not require the Statistics toolbox any more. - In the preprocessing step the interactive threshold adjustment may be skipped (does not work in earlier version of Matlab). Version 2.0 - The interactive preprocessing of calibration images has been improved. Now user may adjust the grayscale threshold that is used to extract the circular control points. - The calibration algorithm has changed. The current implementation should work better for lenses having a field of view significantly over 180 degrees.

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