Last year, we bought 6 omni-mirrors from your team(TU/e). Now we are trying to use these mirrors in our new developed robots. From your codes, we find the equation: real_distance = para_a*tan(para_b*pixel_distance). The real_distance is the actual distance between the robot and the object, and the pixel_distance is the pixel distance of them.How do you get two parameters para_a and para_b? Could you give us some advices about calibrating the omnidirectional vision using your mirror?Thank you!