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SVAUG データシート(PDF) 11 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) 11 Page - NXP Semiconductors

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Lens calibration
Surround View Application,
User’s Guide, Rev. 1, 07/2018
NXP Semiconductors
11
5.2.4. Calibration
You are now ready to calibrate the omnidirectional camera. To do this, click the “Calibration” button.
An input dialog asking for the degree of the polynomial expansion appears. This parameter enables you
to set the maximum order of the polynomial which approximates the function that back-projects every
pixel point into a 3D space. Several experiments with different camera models show that a polynomial
order of 4 provides the best results.
Figure 10. OCamCalib
“Calibration” menu
At the end of the calibration, the toolbox displays a graph which shows the plot of function “F”, and the
plot of angle “THETA” of the corresponding 3D vector with respect to the horizon.
5.2.5. Find Center tool
Use the Find Center tool always before using the Calibration Refinement. In fact, the automatic
detection of the image center is done by iterative application of a linear estimation method, which is
suboptimum. When you estimate the image center, then you may run the Calibration Refinement, which
refines all calibration parameters and the position of the center using a non-linear method.
This routine tries to extract the image center automatically. If you did not set the correct values for the
center of the omnidirectional image during the grid corner extraction, then you may use the automatic
detection of the center. To do this, click the “Find center” button and the OCamCalib Toolbox starts an
iterative method to compute the image center, which minimizes the reprojection error of all grid points.
The automatic center detection may take some time (around 10 minutes).
5.2.6. Calibration Refinement
By clicking the “Calibration Refinement” button, the Toolbox starts the non-linear refinement of the
calibration parameters using the Levenberg-Marquadt algorithm. The optimization is performed by
attempting to minimize the sum of squared reprojection errors.
5.2.7. Export Data
Click the “Export Data” button to export the calibration results to the calib_results.txt file. It is saved to
the folder in which the application is placed. Append the camera number (1, 2, 3, or 4) as a postfix to the
file name (for example, calib_results_4.txt) and copy the file from the current Windows OS folder to the
Linux OS /App/Content/camera_models folder.


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