----------------------------------------------------------------------------From: Reg Willson <rgwillson@mmm.com>Subject: Camera Calibration using Tsai's Method - revision 3.0b3This release of the camera calibration software includes the followingchanges:    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.comThe 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.zipThe 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.htmlSpecial thanks to	Markus Menke <M.Menke@dkfz-Heidelberg.de>,	Franz-Josef L|cke <luecke@zinfo.zess.uni-siegen.de>,	Piotr Jasiobedzki <piotr@vis.toronto.edu>,	Jim Vaughan <vaughan@brighton.ac.uk>,	Pete Rander <Peter.Rander@IUS4.IUS.CS.CMU.EDU>, andmany others for all their help with the PC/DOS port and bug reports.Comments, suggestions, and bug reports can be directed to me atReg Willson <rgwillson@mmm.com>.Reg Willson, 28-Oct-95----------------------------------------------------------------------------From: Reg Willson <rgwillson@mmm.com>Subject: Camera Calibration using Tsai's Method - revision 2.1This revision includes a fully self contained implementation of Roger Tsai'scamera calibration algorithm using *public domain* MINPACK optimizationroutines (the code may also be built using commercial IMSL optimizationroutines).  Also included is a fix for a bug that reduced the accuracy offull coplanar calibration and increased the convergence time of fullnon-coplanar calibration.  Finally, generic macros have been added for threeless common math routines used in the code.Thanks to Torfi Thorhallsson (torfit@verk.hi.is) at the University ofIceland who provided the self contained MINPACK version of the code.Torfi also identified the coplanar calibration bug.Thanks also to Frederic Devernay <Frederic.Devernay@sophia.inria.fr> whoalso submitted a unified MINPACK/IMSL/NAG version of the calibration code.Future code revisions will likely use Fred's macros for isolating andsimplifying the interfaces to the various optimization packages.  Also inthe works is a PC compatible version of the code.Comments, suggestions, and bug reports can be directed to me atReg Willson <rgwillson@mmm.com>.Reg Willson, 04-Jun-94----------------------------------------------------------------------------From: Reg Willson <rgw@cs.cmu.edu>Subject: Camera Calibration using Tsai's Method - revision 2.0This software release represents a set of updates to the software placed inthe VISLIST ARCHIVE in 1993 by Jon Owen.  The release contains a bug fix,improvements to several routines, and new code for exterior orientationcalibration.  The code should also be much easier to compile than theprevious 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 <vr@cs.tu-berlin.de>.Included in this release is Frederic Devernay's<Frederic.Devernay@sophia.inria.fr> significantly improved routine forconverting from undistorted to distorted sensor coordinates.  Rather thaniteratively solving a system of two non-linear equations to perform theconversion, the new routine algebraically solves a cubic polynomial in Rd(using the Cardan method).This release also contains improved routines for calculating calibrationerror statistics, including the new routines:	object_space_error_stats ()and	normalized_calibration_error ()The first routine calculates the statistics for the magnitude of thedistance of closest approach (i.e. 3D error) between points in object spaceand the line of sight formed by back projecting the measured 2D coordinatesout through the camera model.  The second routine is based on an errormeasure proposed by Weng in IEEE PAMI, October 1992.Finally this release contains new checks for coordinate handedness problemsin the calibration data.This release uses optimization routines from the IMSL commercial softwarepackage.  An updated version of the code set up for the NAG commercialsoftware package will hopefully be available soon.  Bug reports can bedirected to either Jon or myself.Reg Willson, 17-Feb-94----------------------------------------------------------------------------From: jcowen@cs.utah.eduSubject: Camera Calibration using Tsai's MethodSeveral months ago, I posted to the vision list asking for cameracalibration help.  One response led me to contact Reg Willson, who wasextremely helpful, and sent me his implementationof Roger Tsai's calibration algorithm.  He said I could re-distribute itas needed, and we've made it ftp'able from cs.utah.edu.  It's in thepub/ReverseEngineering/src/CameraCalibration directory.  I'd like to get bug reports, so I can filter them and pass them on toReg.  Also, if anybody replaces the IMSL stuff w/public domain routines,I'd like to know.Thanks,Jon----------------------------------------------------------------------------