📄 camera calibration toolbox for generic lenses.mht
字号:
From: <由 Windows Internet Explorer 7 保存>
Subject: Camera Calibration Toolbox for Generic Lenses
Date: Mon, 27 Oct 2008 19:55:24 +0800
MIME-Version: 1.0
Content-Type: multipart/related;
type="text/html";
boundary="----=_NextPart_000_0000_01C9386D.F391D020"
X-MimeOLE: Produced By Microsoft MimeOLE V6.00.2900.5579
This is a multi-part message in MIME format.
------=_NextPart_000_0000_01C9386D.F391D020
Content-Type: text/html;
charset="iso-8859-15"
Content-Transfer-Encoding: quoted-printable
Content-Location: http://www.ee.oulu.fi/~jkannala/calibration/calibration.html
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<HTML><HEAD><TITLE>Camera Calibration Toolbox for Generic Lenses</TITLE>
<META http-equiv=3DContent-Type content=3D"text/html; =
charset=3Diso-8859-15">
<STYLE type=3Dtext/css>H1 {
FONT-WEIGHT: bold; COLOR: #184273; FONT-FAMILY: Verdana, Arial, =
Helvetica; size: 100%
}
H2 {
FONT-WEIGHT: bold; COLOR: #184273; FONT-FAMILY: Verdana, Arial, =
Helvetica; size: 100%
}
H3 {
FONT-WEIGHT: bold; COLOR: #184273; FONT-FAMILY: Verdana, Arial, =
Helvetica; size: 100%
}
.cat {
FONT-WEIGHT: bold; FONT-SIZE: 120%; COLOR: #184273; FONT-FAMILY: =
Verdana, Arial, Helvetica
}
BODY {
FONT-WEIGHT: normal; COLOR: #000000; FONT-FAMILY: Arial, Helvetica; =
size: 100%
}
TD {
FONT-WEIGHT: normal; COLOR: #000000; FONT-FAMILY: Arial, Helvetica; =
size: 100%
}
TH {
FONT-WEIGHT: normal; COLOR: #000000; FONT-FAMILY: Arial, Helvetica; =
size: 100%
}
TR {
FONT-WEIGHT: normal; COLOR: #000000; FONT-FAMILY: Arial, Helvetica; =
size: 100%
}
A:link {
FONT-WEIGHT: normal; COLOR: #000000; FONT-FAMILY: Arial, Helvetica; =
TEXT-DECORATION: underline; size: 100%
}
A:visited {
FONT-WEIGHT: normal; COLOR: #000000; FONT-FAMILY: Arial, Helvetica; =
TEXT-DECORATION: underline; size: 100%
}
A:hover {
FONT-WEIGHT: normal; COLOR: #ff0000; FONT-FAMILY: Arial, Helvetica; =
TEXT-DECORATION: underline; size: 100%
}
A:active {
FONT-WEIGHT: normal; COLOR: #ff0000; FONT-FAMILY: Arial, Helvetica; =
TEXT-DECORATION: underline; size: 100%
}
.title {
FONT-WEIGHT: bold; COLOR: #ffffff; FONT-FAMILY: Verdana, Arial, =
Helvetica; size: 100%
}
</STYLE>
<META content=3D"MSHTML 6.00.6000.16735" name=3DGENERATOR></HEAD>
<BODY bgColor=3D#ffffff>
<CENTER>
<H2>Camera Calibration Toolbox for Generic Lenses</H2></CENTER><BR>
<H3>Version 2</H3>
<P>Copyright (C) 2004-2007 <A=20
href=3D"http://www.ee.oulu.fi/infolab/personnel/view.php?edit=3D15">Juho =
Kannala</A>=20
<<A =
href=3D"mailto:jkannala@ee.oulu.fi">jkannala@ee.oulu.fi</A>><BR><BR>La=
st=20
updated: 2007-11-04</P>
<H3>Introduction</H3>
<P>This is a camera calibration toolbox for Matlab which can be used for =
calibrating several different kinds of central cameras. A central camera =
is a=20
camera which has a single effective viewpoint. The toolbox has been =
successfully=20
used for both conventional and omnidirectional cameras such as fish-eye =
lens=20
cameras and catadioptric cameras. The calibration is based on viewing a =
planar=20
calibration object. The intrinsic and extrinsic camera parameters are =
estimated=20
from control point correspondences between the calibration plane and =
calibration=20
images. This toolbox is a result of research that has been carried out =
in the <A=20
href=3D"http://www.lce.hut.fi/">Laboratory of Computational =
Engineering</A> at the=20
Helsinki University of Technology and in the <A=20
href=3D"http://www.ee.oulu.fi/mvg/">Machine Vision Group</A> at the =
University of=20
Oulu. </P>
<H3>Changes to the first version</H3>
<P>The most important changes are:</P>
<OL>
<LI>The calibration algorithm has changed. The current implementation =
works=20
better for lenses having a field of view significantly over 180 =
degrees.=20
<LI>The interactive preprocessing step of calibration images has been=20
improved. Now user may adjust the grayscale threshold that is used to =
extract=20
the circular control points. </LI></OL>
<P>The first version is available <A=20
href=3D"http://www.lce.hut.fi/research/compinf/calibration/">here</A>.</P=
>
<H3>License</H3>
<P>This software is distributed under the GNU General Public License =
(version 2=20
or later); please refer to the file <A=20
href=3D"http://www.ee.oulu.fi/~jkannala/calibration/License.txt">License.=
txt</A>,=20
included with the software, for details. </P>
<H3>Download</H3>
<P>Toolbox: <A=20
href=3D"http://www.ee.oulu.fi/~jkannala/calibration/calibration_v23.tar.g=
z">calibration_v23.tar.gz</A>=20
<A=20
href=3D"http://www.ee.oulu.fi/~jkannala/calibration/calibration_v22.tar.g=
z">(calibration_v22.tar.gz)</A>=20
</P>
<P>Demo: <A=20
href=3D"http://www.ee.oulu.fi/~jkannala/calibration/fisheyedemo.tar.gz">f=
isheyedemo.tar.gz</A>=20
</P>
<H3>Installation</H3>
<P>Copy all the m-files into a directory and add it to your MATLABPATH. =
Matlab=20
version 6.5 or later with the Image Processing Toolbox and Optimization =
Toolbox=20
is required.</P>
<P>To run the demo extract the data from the above package into a =
directory and=20
execute function FISHEYEDEMO.</P>
<H3>Usage</H3>
<P>There are two ways of using the toolbox: </P>
<P></P>
<OL>
<LI>Given the point correspondences between the calibration plane and=20
calibration images one may directly compute the camera parameters.=20
<LI>If a calibration pattern with circular control points is used, one =
may=20
extract the centroids of the projected circles from the calibration =
images by=20
using an interactive procedure. After this the camera parameters may =
be=20
computed. </LI></OL>
<P></P>
<P>For more instructions see the <A=20
href=3D"http://www.ee.oulu.fi/~jkannala/calibration/README">README</A> =
file. </P>
<H3>Examples</H3>Below there are two images of a planar calibration =
pattern=20
taken with two different cameras. By using the calibrated values for the =
internal camera parameters both original images in the left are =
backprojected on=20
the face of a cube whose centroid is at the viewpoint of the camera. The =
results=20
of these warpings are shown on the right below and it can be seen that =
the scene=20
lines are straight in the warped images. (The mapping from the =
calibration plane=20
onto the cube is a central projection which preserves lines.)=20
<P>Catadioptric camera:=20
<CENTER><IMG height=3D200=20
src=3D"http://www.ee.oulu.fi/~jkannala/calibration/kaidanbh.png"> =
</CENTER>
<P></P>
<P>Wide-angle lens camera:=20
<CENTER><IMG height=3D200=20
src=3D"http://www.ee.oulu.fi/~jkannala/calibration/sonyb2h.png"> =
</CENTER>
<P></P>
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -