Multi-Camera Self-Calibration: Sample datasets

Few sample datasets can be downloaded from the page.

General setup

Desription

7 cameras in a general hemispherical configuration. Relatively high portion of outliers (wrongly detected points). One camera has significant nonlinear distortion. 500 frames for each camera.

Config field

Example of the config field in the configdata.m. Do not forget to set the experiment name in the expname.

  elseif strcmp(experiment,'TestData')
  config.paths.data		= ['/local/MultiCam/Data/TestData/'];
  config.files.basename = 'arctic';
  config.paths.img      = [config.paths.data,config.files.basename,'%d/'];
  config.files.imnames	= [config.files.basename,'%d.pvi.*.'];
  config.files.idxcams	= [2,4,6,10,11,13,15];
  config.imgs.LEDsize	= 7; % avg diameter of a LED in pixels  
  config.imgs.LEDcolor	= 'green'; % color of the laser pointer
  config.imgs.subpix	= 1/3;
  config.cal.nonlinpar	= [70,0,1,0,0,0];
  config.cal.NL_UPDATE	= [1,0,1,0,0,0];
  config.cal.DO_GLOBAL_ITER = 1;
  config.cal.GLOBAL_ITER_THR = 1;
  config.cal.GLOBAL_ITER_MAX = 5;
  config.cal.INL_TOL	= 10; % if UNDO_RADIAL than it may be relatively small <1 
  config.cal.NUM_CAMS_FILL = 10;
  config.cal.DO_BA		= 1;
  config.cal.UNDO_RADIAL= 0; % CalTech (BlueC compatible)
  config.cal.MIN_PTS_VAL = 30;
  config.cal.NTUPLES	= 3;

Download

Images only [tar.gz 13MB], you will need to run im2points and then gocal. Complete data (images+results) [tar.gz 14MB].

One-side setup

Desription

4 cameras located on one plane sideways of the point cloud. Moderate radial distortion. Relatively high portion of outliers.

Config field

Example of the config field in the configdata.m. Do not forget to set the experiment name in the expname.

  elseif strcmp(experiment,'TestDataOneSide')
  config.paths.data		= ['/local/MultiCam/Data/TestDataOneSide/'];
  config.files.basename = 'arctic';
  config.paths.img      = [config.paths.data,config.files.basename,'%d/'];
  config.files.imnames	= [config.files.basename,'%d.pvi.*.'];
  config.files.idxcams	= [1:4];
  config.imgs.LEDsize	= 7; % avg diameter of a LED in pixels  
  config.imgs.LEDcolor	= 'green'; % color of the laser pointer
  config.imgs.subpix	= 1/3;
  config.cal.nonlinpar	= [70,0,1,0,0,0];
  config.cal.NL_UPDATE	= [1,0,1,0,0,0];
  config.cal.DO_GLOBAL_ITER = 1;
  config.cal.GLOBAL_ITER_THR = 0.3;
  config.cal.GLOBAL_ITER_MAX = 5;
  config.cal.INL_TOL	= 10; % if UNDO_RADIAL than it may be relatively small <1 
  config.cal.NUM_CAMS_FILL = 10;
  config.cal.DO_BA		= 1;
  config.cal.UNDO_RADIAL= 0; % CalTech (BlueC compatible)
  config.cal.MIN_PTS_VAL = 30;
  config.cal.NTUPLES	= 3;

Download

Images only [tar.gz 6MB], you will need to run im2points and then gocal. Complete data (images+results) [tar.gz 7MB].