The Epipolar Geometry Toolbox (EGT) is a toolbox designed for Matlab. Its core functionalities are extended by the use of many additional toolboxes. Combined with interactive Matlab environment and advanced graphical functions, EGT provides a wide set of functions to approach computer vision problems with multiple views. When used with the Robotics Toolbox by P. Corke, EGT allows to design also Visual Servoing simulations also in real experiments.
In these years we have observed the necessity to develop a software environment that could help researchers to rapidly create a multiple camera setup, use visual data and design new visual servoing algorithms. With EGT we provide a wide set of easy-to-use but also completely customizable functions in order to create general multi-camera scenarios and manipulate the visual information between them. A distinguishable remark of EGT is that it can be used to create and manipulate visual data provided both by pin-hole and panoramic cameras. Catadioptric cameras, due to their wide field of view, has been recently applied in visual servoing context.
EGT can be freely downloaded and requires Matlab 6.5 or upper. The detailed manual is provided with a large set of examples, figures and source code also for beginners.
EGT is open source. The current version of EGT is v1.3 and it has been released in December 2005. EGT v1.3 includes many new functionalities with respect to the previous one and a detailed and updated manual, also.