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multiple camera self calibration Toolbox
Matlab Python Perl C C++ Shell
Latest commit 1343b48 May 11, 2015 @astraw astraw fix for MATLAB 2014b
As reported by Arjun Nair and confirmed by Hunter McClelland at
https://groups.google.com/forum/#!topic/multicamselfcal/qPNOtf1YsvQ ,
this fixes a fatal error in MATLAB 2014b. I tested it with Octave
3.2.4 and the quick test in the README still works.

README.rst

Multi Camera Self Calibration toolbox

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.
  • The original website 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.

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]

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 <bug@octave.org> (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
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