Multi-Camera Self-Calibration

Matlab package for a complete and fully automatic calibration of multi-camera setups (3 cams min). A standard laser pointer is the only hardware you need. No calibration object and user interaction required.

Keywords: multiple cameras calibration, multicamera calibration, selfcalibration, multi-camera calibration, calibration of a camera network.

Authors of the code

Tomas Svoboda. Corresponding author. Design of the package, Euclidean stratification, Finding points, I/O operations, interfacing, robust reconstruction for calib validations ...
Daniel Martinec and Tomas Pajdla. Filling points in projective reconstruction via rank-4 factorization.
Jean-Yves Bouguet. Radial distortion routines.
Tomas Werner. Projective Bundle Adjustment.
Ondrej Chum. RANSAC implementation

History

February, 2011. Code slightly modified and made Octave compatible by Andrew Straw and his collaborators. See the readme for more details. Thanks Andrew!
May 24, 2005. Version 1.0 released.
October 29, 2004. Sample data available for download.
July 15, 2004. Our journal paper accepted.
20 August, 2003. Documentation upgrade.
30 July, 2003. Release Candidate 2.
18 July, 2003. First public release candidate.
Early spring of 2002. First really working version of the linear model estimation. Then testing, upgrading, testing, upgrading, testing, ...

Downloads

Send an email to Tomas Svoboda, svoboda_at_cmp.felk.cvut.cz if you would like to receive announcements about upgrades. Please write SelfCal to the Subject field. Any suggestions, bug-reports are welcome.

Version 1.0, release 1, gzipped tar-file of sources. Change log since the RC2.
Sample data. It may be useful when checking your instalation and explaining meaning of some config parameters.
RC2 of the Version 1.0 gzipped tar-file with sources [30 July, 2003]. Changes made to the RC1.
RC1 of the Version 1.0 gzipped tar-file with sources [18 July, 2003].

The code has been tested on several Linux machines and different version of the Matlab package.

Warranty, Support, Condition of Use

The software is offered as is. The use is free. Essential modifications of the code (not config changes) and their re-distribution must approved by me. Please use the artictle in the Presence journal as the reference.

Publications and Documentation

Tomas Svoboda. A Software for Complete Calibration of MultiCamera Systems. Talk given at MIT CSAIL. Jan 25, 2005. [Slides PDF | Printout PDF]
Tomas Svoboda, Daniel Martinec, and Tomas Pajdla. A convenient multi-camera self-calibration for virtual environments. PRESENCE: Teleoperators and Virtual Environments, pp 407-422, 14(4), August 2005. MIT Press
Manuscript of the journal article [PDF, 1.7MB]. Its bib-entry.
Early version of the TR-users guide. [PDF], [Version from 20 August, 2003]. The more downloads and feedback the harder I will work on upgrades and documentation :-) I can provide some test data on request.
Graphical sketch of the self-calibration problem.
Short description of the output parameters.
Short video [avi, DivX] showing calibration of our mobile ViRoom setup in a factory.