Multi Camera Self Calibration toolbox

|CI test|

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The is an updated version of the Multi Camera Self Calibration toolbox by Svoboda et al.

Links:

• This version of the code lives on github <https://github.com/strawlab/MultiCamSelfCal>_.

• The original website <http://cmp.felk.cvut.cz/~svoboda/SelfCal/>_ remains a good source of information. (This version of the code is being made publicly available with the permission of Tomas Svoboda.)

• We have an online discussion group <http://groups.google.com/group/multicamselfcal>_.

If you use this library, please cite:

Svoboda T, Martinec D, Pajdla T. (2005) A convenient multi-camera self-calibration for virtual environments. PRESENCE: Teleoperators and Virtual Environments. 14(4):407-422. [link <http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1.2564>_]

Changes from the original version

At a high level, the changes are all in the usage, and not in the algorithmic domain. Those I remember are:

• Various small changes to get to work using Octave

• Disable plotting when running using Octave

• Implementation of new configuration file format that lives alongside the calibration data rather than in the source code files

• Inclusion of some sample data and tests

• Inclusion of a python interface to run the MultiCamSelfCal application

• Improved the interface for maximally aligning a new calibration to existing camera centers. See Align-Existing config option, and the original_cam_centers.dat input file.

The version history should make all of the changes clear.

The original readme file is in MultiCamSelfCal/README.txt

Quick test

To test if everything is working for you, do the following::

cd MultiCamSelfCal octave gocal.m --config=../strawlab/test-data/DATA20100906_134124/no-global-iterations.cfg

This will run most of the algorithm on some sample data. Your computer should churn for a few minutes and finally should end with some lines indicating a successful calibration (with mean reprojection error 0.62 pixels)::

GNU Octave, version 3.2.3 Copyright (C) 2009 John W. Eaton and others. This is free software; see the source code for copying conditions. There is ABSOLUTELY NO WARRANTY; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. For details, type `warranty'.

Octave was configured for "x86_64-pc-linux-gnu".

Additional information about Octave is available at http://www.octave.org.

Please contribute if you find this software useful. For more information, visit http://www.octave.org/help-wanted.html

Report bugs to [email protected] (but first, please read http://www.octave.org/bugs.html to learn how to write a helpful report).

For information about changes from previous versions, type `news'.

arg = --config=../strawlab/test-data/DATA20100906_134124/no-global-iterations.cfg config_dir = /home/astraw/astraw-git-root/flydra/MultiCamSelfCal/MultiCamSelfCal/../strawlab/test-data/DATA20100906_134124/ Multi-Camera Self-Calibration, Tomas Svoboda et al., 07/2003

Experiment name: strawlab_test warning: The calibration file config.files.CalPmat does not exist warning: No P mat available warning: The calibration file config.files.CalPmat does not exist warning: No P mat available warning: The calibration file config.files.CalPmat does not exist warning: No P mat available warning: The calibration file config.files.CalPmat does not exist warning: No P mat available warning: No Pmat available

********** After 0 iteration ******************************************* RANSAC validation step running with tolerance threshold: 10.00 ... RANSAC: 2 samples, 523 inliers out of 523 points RANSAC: 1 samples, 523 inliers out of 523 points RANSAC: 2 samples, 432 inliers out of 434 points RANSAC: 1 samples, 362 inliers out of 362 points 522 points/frames have survived validations so far Filling of missing points is running ... Repr. error in proj. space (no fact./fact.) is ... 0.708677 0.688062

Number of detected outliers: 0 About cameras (Id, 2D reprojection error, #inliers): CamId std mean #inliers 1 0.62 0.69 432 2 0.81 0.70 523 3 0.83 0.78 523 4 0.49 0.53 362

Refinement by using Bundle Adjustment Repr. error in proj. space (no fact./fact./BA) is ... 0.714557 0.686345 0.620358 2D reprojection error All points: mean 0.62 pixels, std is 0.61

Python wrapper

John Stowers wrote an API to let this code be directly called from Python. To install:

cd python
python setup.py install

To test:

cd python/tests
nosetests