notes.txt

tsai经典标定程序 MATLAB语言

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From: Reg Willson <[e-mail]>
Subject: Camera Calibration using Tsai's Method - revision 3.0b3

This release of the camera calibration software includes the following
changes:

    1) source code written entirely in C, 

    2) Unix and PC/DOS (Borland 4.5) compatibility,

    3) cleaner dynamic memory allocation, and 
  
    4) a Frequently Asked Questions (FAQ) file and a change log file. 

The release is available via anonymous ftp from

    ftp.teleos.com

The code and documentation are contained in the files

    /VISION-LIST-ARCHIVE/SHAREWARE/CODE/CALIBRATION/Tsai-method-v3.0b3.tar.Z
    /VISION-LIST-ARCHIVE/SHAREWARE/CODE/CALIBRATION/tsai30b3.zip

The release is also available via the world wide web at URL

    http://www.ius.cs.cmu.edu/afs/cs.cmu.edu/user/rgw/www/TsaiCode.html

Special thanks to
	Markus Menke <[e-mail]>,
	Franz-Josef L|cke <[e-mail]>,
	Piotr Jasiobedzki <[e-mail]>,
	Jim Vaughan <[e-mail]>,
	Pete Rander <[e-mail]>, and
many others for all their help with the PC/DOS port and bug reports.

Comments, suggestions, and bug reports can be directed to me at
Reg Willson <[e-mail]>.


Reg Willson, 28-Oct-95

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From: Reg Willson <[e-mail]>
Subject: Camera Calibration using Tsai's Method - revision 2.1

This revision includes a fully self contained implementation of Roger Tsai's
camera calibration algorithm using *public domain* MINPACK optimization
routines (the code may also be built using commercial IMSL optimization
routines).  Also included is a fix for a bug that reduced the accuracy of
full coplanar calibration and increased the convergence time of full
non-coplanar calibration.  Finally, generic macros have been added for three
less common math routines used in the code.

Thanks to Torfi Thorhallsson ([e-mail]) at the University of
Iceland who provided the self contained MINPACK version of the code.
Torfi also identified the coplanar calibration bug.

Thanks also to Frederic Devernay <[e-mail]> who
also submitted a unified MINPACK/IMSL/NAG version of the calibration code.
Future code revisions will likely use Fred's macros for isolating and
simplifying the interfaces to the various optimization packages.  Also in
the works is a PC compatible version of the code.

Comments, suggestions, and bug reports can be directed to me at
Reg Willson <[e-mail]>.


Reg Willson, 04-Jun-94

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From: Reg Willson <[e-mail]>
Subject: Camera Calibration using Tsai's Method - revision 2.0

This software release represents a set of updates to the software placed in
the VISLIST ARCHIVE in 1993 by Jon Owen.  The release contains a bug fix,
improvements to several routines, and new code for exterior orientation
calibration.  The code should also be much easier to compile than the
previous release.

The bug fix occurs in the routines ncc_compute_R and ncc_compute_better_R.
In the corrected routines the r4, r5, and r6 terms are not divided by cp.sx.
This bug was reported by Volker Rodehorst <[e-mail]>.

Included in this release is Frederic Devernay's
<[e-mail]> significantly improved routine for
converting from undistorted to distorted sensor coordinates.  Rather than
iteratively solving a system of two non-linear equations to perform the
conversion, the new routine algebraically solves a cubic polynomial in Rd
(using the Cardan method).

This release also contains improved routines for calculating calibration
error statistics, including the new routines:

	object_space_error_stats ()
and
	normalized_calibration_error ()

The first routine calculates the statistics for the magnitude of the
distance of closest approach (i.e. 3D error) between points in object space
and the line of sight formed by back projecting the measured 2D coordinates
out through the camera model.  The second routine is based on an error
measure proposed by Weng in IEEE PAMI, October 1992.

Finally this release contains new checks for coordinate handedness problems
in the calibration data.

This release uses optimization routines from the IMSL commercial software
package.  An updated version of the code set up for the NAG commercial
software package will hopefully be available soon.  Bug reports can be
directed to either Jon or myself.


Reg Willson, 17-Feb-94

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From: [e-mail]
Subject: Camera Calibration using Tsai's Method

Several months ago, I posted to the vision list asking for camera
calibration help.  One response led me to contact Reg Willson, who was
extremely helpful, and sent me his implementation
of Roger Tsai's calibration algorithm.  He said I could re-distribute it
as needed, and we've made it ftp'able from cs.utah.edu.  It's in the
pub/ReverseEngineering/src/CameraCalibration directory.  

I'd like to get bug reports, so I can filter them and pass them on to
Reg.  Also, if anybody replaces the IMSL stuff w/public domain routines,
I'd like to know.

Thanks,
Jon

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