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SVAUG データシート(PDF) 8 Page - NXP Semiconductors

部品番号. SVAUG
部品情報  Surround View Application
ダウンロード  21 Pages
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メーカー  NXP [NXP Semiconductors]
ホームページ  http://www.nxp.com
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SVAUG Datasheet(HTML) 8 Page - NXP Semiconductors

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Lens calibration
Surround View Application,
User’s Guide, Rev. 1, 07/2018
8
NXP Semiconductors
• /Tools/CamCapture/capturing 4—capture the fourth camera frames.
While the current application is running, use the “p” key to save the current frame and the “Esc” key to
quit. The application saves all frames to the current directory in the frameX_Y.jpg format, where “X” is
the camera number (1…4), and “Y” is the frame order number (starts from 0, incremented by the
application).
To obtain good calibration results, these requirements must be met:
• Capture a minimum of 10 frames per each camera for different angles of view.
• Place the checkerboard as close to the cameras as possible (see Figure 6). This improves the
calibration and helps the Automatic Checkerboard Extraction tool to find all corners. Make sure
that every corner of the checkerboard is visible in each image. For the Automatic Checkerboard
Extraction tool, it is important that a white border is visible around the pattern.
• Take pictures of the checkerboard to cover all the visible area on the camera. By doing this, you
enable the calibration to compensate for possible camera misalignments. It also helps to detect
the center of the omnidirectional image.
Perform these additional steps:
• Copy all the frameX_Y.jpg files to the respective App/Content/camera_models/chessboard_X
directory (X is 1…4).
• Set the right <chessboard_num> parameter in the settings.xml file for each camera (1 to 4). This
number must be the same as the number of JPEG pictures in the respective /cheesboard_X
subdirectory.
An example of proper sample images captured with a fisheye camera with a 180-degree field of view is
shown in Figure 6.
Figure 6. Image capturing example
5.2. Camera intrinsic parameters estimation tool
Each camera (lens) must be calibrated to find the camera’s intrinsic parameters. The OCamCalib
Toolbox for Matlab [4] is used to estimate the lens distortion, affine transformation, and image center.
Follow the instructions described in the tutorial on the official webpage [4] to run the application using
Matlab. The second way to run the application is using a prebuilt binary file (ocam_calib.exe) with
Matlab Runtime. This binary file is located in the /Tools/OCamCalib folder (see Figure 4). To run the


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