• central cameras: camera systems in which optical rays coming from the camera and reflected by the mirror surface intersect into a unique point.
• central omnidirectional cameras:
  • catadioptric omnidirectional cameras: combining a pinhole camera (perspective camera) with hyperbolic, parabolic, and elliptical mirrors
  • dioptric omnidirectional cameras: using fisheye lens to enlarge the FOV.

The samples in this repo use OpenCV's implementation of CMei's model (ref 1.) to calibrate a catadioptric camera system.

• Add samples for omnidirectional camera calibration and rectification
• Test on real data

sudo apt-get install \
    libopencv-dev \
    rapidjson-dev \

make apps

// calibration sample
./build/omnidirectional_camera_calibration ./data/param_config.json

// undistortion sample
./build/omnidirectional_camera_undistortion ./data/img_para_001.pgm

the calibration data for this test is from HERE

1. Single View Point Omnidirectional Camera Calibration from Planar Grids, ICRA 2007

2. A Multiple-Camera System Calibration Toolbox Using A Feature Descriptor-Based Calibration Pattern, IROS 2013

3. Omnidirectional Camera by Scaramuzza et al.