blob: 92ab3a0c1b487baa9067d32c281694c16864aa89 (plain) (blame)

ofs	hex dump	ascii
0000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/..................
0020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0060	00 00 00 00 20 20 20 37 35 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......750.....471.....454......
0080	20 20 20 20 20 20 30 20 20 36 37 36 33 32 36 35 30 32 35 20 20 20 36 33 33 37 00 20 00 00 00 00	......0..6763265025...6337......
00a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
00c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
00e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
01a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
01c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
01e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 61 6c 69 62 5f 67 75 69 2e 6d 00 00 00 00 00 00 00	TOOLBOX_calib/calib_gui.m.......
0220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0260	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
0280	20 20 31 34 37 33 33 20 20 36 37 36 33 30 37 30 32 31 33 20 20 31 30 35 34 32 00 20 00 00 00 00	..14733..6763070213..10542......
02a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
02c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
02e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
03a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
03c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
03e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0400	66 70 72 69 6e 74 66 28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	fprintf(1,'*--------------------
0420	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
0440	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
0460	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2a 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31	----------------*\n');.fprintf(1
0480	2c 27 7c 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 43 61 6e 65 72 61 20 63 61 6c	,'|...................Canera.cal
04a0	69 62 72 61 74 69 6f 6e 20 66 72 6f 6d 20 6d 75 6c 74 69 70 6c 65 20 69 6d 61 67 65 73 20 6f 66	ibration.from.multiple.images.of
04c0	20 61 20 70 6c 61 6e 61 72 20 67 72 69 64 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	.a.planar.grid..................
04e0	20 20 20 20 20 20 20 7c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 7c 20 20 20 20 20 20	.......|\n');.fprintf(1,'|......
0500	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 28 63 29 20 4a 65 61 6e 2d 59 76 65	....................(c).Jean-Yve
0520	73 20 42 6f 75 67 75 65 74 20 2d 20 41 75 67 75 73 74 20 33 31 73 74 2c 20 31 39 39 39 20 20 20	s.Bouguet.-.August.31st,.1999...
0540	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 7c 5c	..............................|\
0560	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	n');.fprintf(1,'*---------------
0580	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
05a0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
05c0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2a 5c 6e 5c 6e 5c 6e 27 29 3b 0a	---------------------*\n\n\n');.
05e0	0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 4c 49 53 54 20 4f 46 20 43 41 4c 49 42 52 41 54 49 4f 4e	..fprintf(1,'LIST.OF.CALIBRATION
0600	20 43 4f 4d 4d 41 4e 44 53 20 28 74 6f 20 62 65 20 65 78 65 63 75 74 65 64 20 66 72 6f 6d 20 31	.COMMANDS.(to.be.executed.from.1
0620	20 74 6f 20 35 29 3a 5c 6e 5c 6e 27 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 31 2d 20 49 6d	.to.5):\n\n');..fprintf(1,'1-.Im
0640	61 67 65 20 6e 61 6d 65 73 3a 20 20 20 20 20 20 20 20 20 20 4c 65 74 73 20 74 68 65 20 75 73 65	age.names:..........Lets.the.use
0660	72 20 65 6e 74 65 72 20 74 68 65 20 66 69 6c 65 20 6e 61 6d 65 73 20 6f 66 20 74 68 65 20 63 61	r.enter.the.file.names.of.the.ca
0680	6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73 20 28 6d 61 78 20 3d 20 33 30 20 69 6d 61 67 65	libration.images.(max.=.30.image
06a0	73 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20	s).\n');.fprintf(1,'............
06c0	20 20 20 20 20 20 20 20 20 20 20 20 20 49 74 20 69 6e 63 6c 75 64 65 73 20 62 61 73 65 6e 61 6d	.............It.includes.basenam
06e0	65 2c 20 69 6d 61 67 65 20 74 79 70 65 20 28 27 27 74 69 66 27 27 2c 20 27 27 62 6d 70 27 27 20	e,.image.type.(''tif'',.''bmp''.
0700	6f 72 20 27 27 72 61 73 27 27 29 2c 20 6e 75 6d 62 65 72 69 6e 67 20 73 63 68 65 6d 65 2e 5c 6e	or.''ras''),.numbering.scheme.\n
0720	27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	');.fprintf(1,'.................
0740	20 20 20 20 20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 6c 61 75 6e 63 68 73 20 74 68	........Automatically.launchs.th
0760	65 20 6e 65 78 74 20 73 74 65 70 20 28 52 65 61 64 20 69 6d 61 67 65 73 29 2e 5c 6e 27 29 3b 0a	e.next.step.(Read.images).\n');.
0780	66 70 72 69 6e 74 66 28 31 2c 27 32 2d 20 52 65 61 64 20 69 6d 61 67 65 73 3a 20 20 20 20 20 20	fprintf(1,'2-.Read.images:......
07a0	20 20 20 20 52 65 61 64 73 20 69 6e 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61	....Reads.in.the.calibration.ima
07c0	67 65 73 20 66 72 6f 6d 20 66 69 6c 65 73 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	ges.from.files.\n');.fprintf(1,'
07e0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 41 75 74 6f 6d 61 74	.........................Automat
0800	69 63 61 6c 6c 79 20 6c 61 75 6e 63 68 73 20 74 68 65 20 6e 65 78 74 20 73 74 65 70 20 28 45 78	ically.launchs.the.next.step.(Ex
0820	74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74	tract.grid.corners).\n');.fprint
0840	66 28 31 2c 27 33 2d 20 45 78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 3a 20 45 78	f(1,'3-.Extract.grid.corners:.Ex
0860	74 72 61 63 74 73 20 74 68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 66 72 6f 6d 20 74 68 65	tracts.the.grid.corners.from.the
0880	20 69 6d 61 67 65 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20	.image.\n');.fprintf(1,'........
08a0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 42 61 73 65 64 20 66 6f 75 72 20 6d 61 75 61	.................Based.four.maua
08c0	6c 20 63 6c 69 63 6b 73 20 70 65 72 20 69 6d 61 67 65 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66	l.clicks.per.image.\n');.fprintf
08e0	28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 65	(1,'.........................The
0900	20 63 61 6c 69 62 72 61 74 69 6f 6e 20 64 61 74 61 20 69 73 20 73 61 76 65 64 20 75 6e 64 65 72	.calibration.data.is.saved.under
0920	20 27 27 63 61 6c 69 62 5f 64 61 74 61 2e 6d 61 74 27 27 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74	.''calib_data.mat''.\n');.fprint
0940	66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 41 75	f(1,'.........................Au
0960	74 6f 6d 61 74 69 63 61 6c 6c 79 20 6c 61 75 6e 63 68 73 20 74 68 65 20 6e 65 78 74 20 73 74 65	tomatically.launchs.the.next.ste
0980	70 20 28 52 75 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74	p.(Run.calibration).\n');.fprint
09a0	66 28 31 2c 27 34 2d 20 52 75 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 3a 20 20 20 20 20 20 4d 61	f(1,'4-.Run.calibration:......Ma
09c0	69 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 70 72 6f 63 65 64 75 72 65 2e 5c 6e 27 29 3b 0a 66	in.calibration.procedure.\n');.f
09e0	70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	printf(1,'......................
0a00	20 20 20 4f 70 74 69 6d 69 7a 61 74 69 6f 6e 20 6f 66 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64	...Optimization.of.intrinsic.and
0a20	20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 74 6f 20 6d 69 6e 69 6d 69 7a	.extrinsic.parameters.to.minimiz
0a40	65 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20	e\n');.fprintf(1,'..............
0a60	20 20 20 20 20 20 20 20 20 20 20 74 68 65 20 72 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f	...........the.reprojection.erro
0a80	72 20 28 69 6e 20 74 68 65 20 6c 65 61 73 74 20 73 71 75 61 72 65 73 20 73 65 6e 73 65 2e 5c 6e	r.(in.the.least.squares.sense.\n
0aa0	27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	');.fprintf(1,'.................
0ac0	20 20 20 20 20 20 20 20 45 73 74 69 6d 61 74 65 64 20 70 61 72 61 6d 65 74 65 72 73 3a 20 32 20	........Estimated.parameters:.2.
0ae0	66 6f 63 61 6c 20 6c 65 6e 67 74 68 73 2c 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 2c 5c	focal.lengths,.principal.point,\
0b00	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	n');.fprintf(1,'................
0b20	20 20 20 20 20 20 20 20 20 72 61 64 69 61 6c 20 28 32 20 63 6f 65 66 66 2e 20 2d 3e 20 34 20 64	.........radial.(2.coeff..->.4.d
0b40	65 67 72 65 65 20 6d 6f 64 65 6c 29 20 61 6e 64 20 74 61 6e 67 65 6e 74 69 61 6c 20 28 32 20 63	egree.model).and.tangential.(2.c
0b60	6f 65 66 66 2e 29 20 64 69 73 74 6f 72 74 69 6f 6e 2c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28	oeff.).distortion,\n');.fprintf(
0b80	31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 61 6e 64 20	1,'.........................and.
0ba0	65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 36 20 70 61 72 61 6d 65 74 65	extrinsic.parameters.(6.paramete
0bc0	72 73 20 70 65 72 20 69 6d 61 67 65 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20	rs.per.image).\n');.fprintf(1,'.
0be0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 65 20 66 69 6e 61	........................The.fina
0c00	6c 20 73 6f 6c 75 74 69 6f 6e 20 69 73 20 73 61 76 65 64 20 75 6e 64 65 72 20 27 27 43 61 6c 69	l.solution.is.saved.under.''Cali
0c20	62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 27 27 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c	b_Results.mat''.\n');.fprintf(1,
0c40	27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 46 6f 72 20 61 20	'.........................For.a.
0c60	64 65 73 63 72 69 70 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d	description.of.the.intrinsic.cam
0c80	65 72 61 20 6d 6f 64 65 6c 2c 20 72 65 66 65 72 20 74 6f 20 74 68 65 20 72 65 66 65 72 65 6e 63	era.model,.refer.to.the.referenc
0ca0	65 3a 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20	e:\n');.fprintf(1,'.............
0cc0	20 20 20 20 20 20 20 20 20 20 20 20 22 41 20 46 6f 75 72 2d 73 74 65 70 20 43 61 6d 65 72 61 20	............"A.Four-step.Camera.
0ce0	43 61 6c 69 62 72 61 74 69 6f 6e 20 50 72 6f 63 65 64 75 72 65 20 77 69 74 68 20 69 6d 70 6c 69	Calibration.Procedure.with.impli
0d00	63 69 74 20 49 6d 61 67 65 20 43 6f 72 72 65 63 74 69 6f 6e 22 5c 6e 27 29 3b 0a 66 70 72 69 6e	cit.Image.Correction"\n');.fprin
0d20	74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 4a	tf(1,'.........................J
0d40	61 6e 6e 65 20 48 65 69 6b 6b 69 6c 61 20 61 6e 64 20 4f 6c 6c 69 20 53 69 6c 76 65 6e 2c 20 49	anne.Heikkila.and.Olli.Silven,.I
0d60	6e 66 6f 74 65 63 68 20 4f 75 6c 75 20 61 6e 64 20 44 65 70 61 72 74 6d 65 6e 74 20 6f 66 20 45	nfotech.Oulu.and.Department.of.E
0d80	45 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20	E\n');.fprintf(1,'..............
0da0	20 20 20 20 20 20 20 20 20 20 20 55 6e 69 76 65 72 73 69 74 79 20 6f 66 20 4f 75 6c 75 2c 20 41	...........University.of.Oulu,.A
0dc0	70 70 65 61 72 65 64 20 69 6e 20 43 56 50 52 27 27 39 37 2c 20 50 75 65 72 74 6f 20 52 69 63 6f	ppeared.in.CVPR''97,.Puerto.Rico
0de0	2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20	.\n');.fprintf(1,'..............
0e00	20 20 20 20 20 20 20 20 20 20 20 56 69 73 69 74 20 68 74 74 70 3a 2f 2f 77 77 77 2e 65 65 2e 6f	...........Visit.http://www.ee.o
0e20	75 6c 75 2e 66 69 2f 7e 6a 74 68 2f 63 61 6c 69 62 72 2f 43 61 6c 69 62 72 61 74 69 6f 6e 2e 68	ulu.fi/~jth/calibr/Calibration.h
0e40	74 6d 6c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20	tml\n');.fprintf(1,'............
0e60	20 20 20 20 20 20 20 20 20 20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 6c 61 75 6e 63	.............Automatically.launc
0e80	68 73 20 74 68 65 20 6e 65 78 74 20 73 74 65 70 20 28 47 72 61 70 68 69 63 20 6f 75 74 29 2e 5c	hs.the.next.step.(Graphic.out).\
0ea0	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 35 2d 20 47 72 61 70 68 69 63 20 6f 75 74 3a 20	n');.fprintf(1,'5-.Graphic.out:.
0ec0	20 20 20 20 20 20 20 20 20 47 65 6e 65 72 61 74 65 73 20 74 68 65 20 67 72 61 70 68 69 63 61 6c	.........Generates.the.graphical
0ee0	20 6f 75 74 70 75 74 20 61 73 73 6f 63 69 61 74 65 64 20 74 6f 20 74 68 65 20 63 75 72 72 65 6e	.output.associated.to.the.curren
0f00	74 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 73 6f 6c 75 74 69 6f 6e 2e 5c 6e 27 29 3b 0a 66 70 72	t.calibration.solution.\n');.fpr
0f20	69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	intf(1,'........................
0f40	20 49 74 20 73 68 6f 77 73 20 74 68 65 20 33 44 20 6c 6f 63 61 74 69 6f 6e 73 20 6f 66 20 74 68	.It.shows.the.3D.locations.of.th
0f60	65 20 67 72 69 64 73 2c 20 61 6e 64 20 72 65 70 72 6f 6a 65 63 74 73 20 74 68 65 20 33 44 20 70	e.grids,.and.reprojects.the.3D.p
0f80	61 74 74 65 72 6e 73 20 6f 6e 20 74 68 65 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20	atterns.on.the\n');.fprintf(1,'.
0fa0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6f 72 69 67 69 6e 61 6c	........................original
0fc0	20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74	.calibration.images.\n');.fprint
0fe0	66 28 31 2c 27 36 2d 20 73 6f 6c 2e 20 77 69 74 68 20 63 65 6e 74 65 72 3a 20 20 20 20 20 4c 65	f(1,'6-.sol..with.center:.....Le
1000	74 73 20 74 68 65 20 75 73 65 72 20 73 65 6c 65 63 74 20 74 68 65 20 63 61 6c 69 62 72 61 74 69	ts.the.user.select.the.calibrati
1020	6f 6e 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 6f 6d 70 75 74 65 64 20 70 72 69 6e 63 69	on.solution.with.computed.princi
1040	70 61 6c 20 70 6f 69 6e 74 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20	pal.point.\n');.fprintf(1,'.....
1060	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 69 73 20 69 73 20 74 68 65 20	....................This.is.the.
1080	64 65 66 61 75 6c 74 20 63 61 73 65 20 28 73 6f 6c 75 74 69 6f 6e 20 72 65 74 61 69 6e 65 64 20	default.case.(solution.retained.
10a0	61 66 74 65 72 20 52 75 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 29 2e 5c 6e 27 29 3b 0a 66 70 72	after.Run.calibration).\n');.fpr
10c0	69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	intf(1,'........................
10e0	20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 28 72 65 29 67 65 6e 65 72 61 74 65 73 20 74 68 65	.Automatically.(re)generates.the
1100	20 67 72 61 70 68 69 63 61 6c 20 6f 75 74 70 75 74 20 61 73 73 6f 63 69 61 74 65 64 20 74 6f 20	.graphical.output.associated.to.
1120	74 68 61 74 20 73 6f 6c 75 74 69 6f 6e 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 37	that.solution.\n');.fprintf(1,'7
1140	2d 20 73 6f 6c 2e 20 77 69 74 68 6f 75 74 20 63 65 6e 74 65 72 3a 20 20 4c 65 74 73 20 74 68 65	-.sol..without.center:..Lets.the
1160	20 75 73 65 72 73 20 73 65 6c 65 63 74 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 73 6f	.users.select.the.calibration.so
1180	6c 75 74 69 6f 6e 20 77 69 74 68 6f 75 74 20 63 6f 6d 70 75 74 65 64 20 70 72 69 6e 63 69 70 61	lution.without.computed.principa
11a0	6c 20 70 6f 69 6e 74 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20	l.point.\n');.fprintf(1,'.......
11c0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 49 6e 20 74 68 61 74 20 63 61 73 65 2c 20	..................In.that.case,.
11e0	74 68 65 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 69 73 20 61 73 73 75 6d 65 64 20 61	the.principal.point.is.assumed.a
1200	74 20 74 68 65 20 63 65 6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 2e 5c 6e 27 29 3b 0a	t.the.center.of.the.image.\n');.
1220	66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	fprintf(1,'.....................
1240	20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 67 65 6e 65 72 61 74 65 73 20 74 68 65 20	....Automatically.generates.the.
1260	67 72 61 70 68 69 63 61 6c 20 6f 75 74 70 75 74 20 61 73 73 6f 63 69 61 74 65 64 20 74 6f 20 74	graphical.output.associated.to.t
1280	68 61 74 20 73 6f 6c 75 74 69 6f 6e 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20	hat.solution.\n');.fprintf(1,'..
12a0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 69 73 20 6f 70 74 69	.......................This.opti
12c0	6f 6e 20 69 73 20 73 6f 6d 65 74 69 6d 65 73 20 75 73 65 66 75 6c 20 77 68 65 6e 20 74 68 65 20	on.is.sometimes.useful.when.the.
12e0	70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 69 73 20 64 69 66 66 69 63 75 6c 74 20 74 6f 5c	principal.point.is.difficult.to\
1300	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	n');.fprintf(1,'................
1320	20 20 20 20 20 20 20 20 20 65 73 74 69 6d 61 74 65 20 28 69 6e 20 70 61 72 74 69 63 75 6c 61 72	.........estimate.(in.particular
1340	20 77 68 65 6e 20 74 68 65 20 63 61 6d 65 72 61 20 66 69 65 6c 64 20 6f 66 20 76 69 65 77 20 69	.when.the.camera.field.of.view.i
1360	73 20 73 6d 61 6c 6c 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 38 2d 20 45 78 69	s.small).\n');.fprintf(1,'8-.Exi
1380	74 3a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 45 78 69 74 73 20 74 68 65 20 63 61 6c	t:.................Exits.the.cal
13a0	69 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 2e 5c 6e 5c 6e 5c 6e 27 29 3b 0a 0a 0a 66 70 72 69 6e 74	ibration.tool.\n\n\n');...fprint
13c0	66 28 31 2c 27 57 41 52 4e 49 4e 47 3a 20 44 6f 20 6e 6f 74 20 66 6f 72 67 65 74 20 74 6f 20 63	f(1,'WARNING:.Do.not.forget.to.c
13e0	68 61 6e 67 65 20 64 58 5f 64 65 66 61 75 6c 74 20 61 6e 64 20 64 58 5f 64 65 66 61 75 6c 74 20	hange.dX_default.and.dX_default.
1400	69 6e 20 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 20 28 45 78 74 72 61 63 74 20 67 72 69 64 20 63	in.click_calib.m.(Extract.grid.c
1420	6f 72 6e 65 72 73 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20	orners).\n');.fprintf(1,'.......
1440	20 20 54 68 65 73 65 20 61 72 65 20 74 68 65 20 64 65 66 61 75 6c 74 20 68 6f 72 2e 20 61 6e 64	..These.are.the.default.hor..and
1460	20 76 65 72 74 2e 20 73 69 7a 65 73 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 20 6f 66 20 74	.vert..sizes.of.each.square.of.t
1480	68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 70 61 74 74 65 72 6e 2e 5c 6e 27 29 3b 0a 66 70 72	he.calibration.pattern.\n');.fpr
14a0	69 6e 74 66 28 31 2c 27 4e 4f 54 45 3a 20 20 20 20 77 69 6e 74 78 20 61 6e 64 20 77 69 6e 74 79	intf(1,'NOTE:....wintx.and.winty
14c0	20 61 72 65 20 74 77 6f 20 70 61 72 61 6d 65 74 65 72 73 20 64 65 66 69 6e 69 6e 67 20 74 68 65	.are.two.parameters.defining.the
14e0	20 73 69 7a 65 20 6f 66 20 74 68 65 20 69 6d 61 67 65 20 6e 65 69 67 68 62 6f 72 68 6f 6f 64 20	.size.of.the.image.neighborhood.
1500	66 6f 72 20 73 75 62 70 69 78 65 6c 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20	for.subpixel.\n');.fprintf(1,'..
1520	20 20 20 20 20 20 20 63 6f 72 6e 65 72 20 64 65 74 65 63 74 69 6f 6e 2e 20 54 68 65 20 65 66 66	.......corner.detection..The.eff
1540	65 63 74 69 76 65 20 77 69 6e 64 6f 77 20 73 69 7a 65 20 69 73 20 28 32 2a 77 69 6e 74 78 2b 31	ective.window.size.is.(2*wintx+1
1560	29 78 28 32 2a 77 69 6e 74 79 2b 31 29 20 70 69 78 65 6c 73 2e 5c 6e 27 29 3b 0a 0a 0a 67 6c 6f	)x(2*winty+1).pixels.\n');...glo
1580	62 61 6c 20 58 5f 31 20 78 5f 31 20 58 5f 32 20 78 5f 32 20 58 5f 33 20 78 5f 33 20 58 5f 34 20	bal.X_1.x_1.X_2.x_2.X_3.x_3.X_4.
15a0	78 5f 34 20 58 5f 35 20 78 5f 35 20 58 5f 36 20 78 5f 36 20 58 5f 37 20 78 5f 37 20 58 5f 38 20	x_4.X_5.x_5.X_6.x_6.X_7.x_7.X_8.
15c0	78 5f 38 20 58 5f 39 20 78 5f 39 20 58 5f 31 30 20 78 5f 31 30 20 58 5f 31 31 20 78 5f 31 31 20	x_8.X_9.x_9.X_10.x_10.X_11.x_11.
15e0	58 5f 31 32 20 78 5f 31 32 20 58 5f 31 33 20 78 5f 31 33 20 58 5f 31 34 20 78 5f 31 34 20 58 5f	X_12.x_12.X_13.x_13.X_14.x_14.X_
1600	31 35 20 78 5f 31 35 20 58 5f 31 36 20 78 5f 31 36 20 58 5f 31 37 20 78 5f 31 37 20 58 5f 31 38	15.x_15.X_16.x_16.X_17.x_17.X_18
1620	20 78 5f 31 38 20 58 5f 31 39 20 78 5f 31 39 20 58 5f 32 30 20 78 5f 32 30 20 58 5f 32 31 20 78	.x_18.X_19.x_19.X_20.x_20.X_21.x
1640	5f 32 31 20 58 5f 32 32 20 78 5f 32 32 20 58 5f 32 33 20 78 5f 32 33 20 58 5f 32 34 20 78 5f 32	_21.X_22.x_22.X_23.x_23.X_24.x_2
1660	34 20 58 5f 32 35 20 78 5f 32 35 20 58 5f 32 36 20 78 5f 32 36 20 58 5f 32 37 20 78 5f 32 37 20	4.X_25.x_25.X_26.x_26.X_27.x_27.
1680	58 5f 32 38 20 78 5f 32 38 20 58 5f 32 39 20 78 5f 32 39 20 58 5f 33 30 20 78 5f 33 30 20 0a 0a	X_28.x_28.X_29.x_29.X_30.x_30...
16a0	66 69 67 75 72 65 28 31 29 3b 20 63 6c 66 3b 0a 0a 70 6f 73 20 3d 20 67 65 74 28 31 2c 27 50 6f	figure(1);.clf;..pos.=.get(1,'Po
16c0	73 69 74 69 6f 6e 27 29 3b 0a 0a 73 65 74 28 31 2c 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73	sition');..set(1,'Units','points
16e0	27 2c 20 2e 2e 2e 0a 09 27 42 61 63 6b 69 6e 67 53 74 6f 72 65 27 2c 27 6f 66 66 27 2c 20 2e 2e	',......'BackingStore','off',...
1700	2e 0a 09 27 43 6f 6c 6f 72 27 2c 5b 30 2e 38 20 30 2e 38 20 30 2e 38 5d 2c 20 2e 2e 2e 0a 09 27	...'Color',[0.8.0.8.0.8],......'
1720	4d 65 6e 75 42 61 72 27 2c 27 6e 6f 6e 65 27 2c 20 2e 2e 2e 0a 09 27 52 65 73 69 7a 65 27 2c 27	MenuBar','none',......'Resize','
1740	6f 66 66 27 2c 20 2e 2e 2e 0a 09 27 4e 61 6d 65 27 2c 27 43 61 6d 65 72 61 20 63 61 6c 69 62 72	off',......'Name','Camera.calibr
1760	61 74 69 6f 6e 20 74 6f 6f 6c 27 2c 20 2e 2e 2e 0a 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 70 6f 73	ation.tool',.....'Position',[pos
1780	28 31 29 20 70 6f 73 28 32 29 20 33 31 32 20 20 35 39 5d 2c 20 2e 2e 2e 0a 27 4e 75 6d 62 65 72	(1).pos(2).312..59],.....'Number
17a0	54 69 74 6c 65 27 2c 27 6f 66 66 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e	Title','off');..uicontrol('Paren
17c0	74 27 2c 31 2c 20 2e 2e 2e 0a 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27 2c 20 2e 2e 2e	t',1,......'Units','points',....
17e0	0a 09 27 43 61 6c 6c 62 61 63 6b 27 2c 27 64 61 74 61 5f 63 61 6c 69 62 3b 27 2c 20 2e 2e 2e 0a	..'Callback','data_calib;',.....
1800	09 27 4c 69 73 74 62 6f 78 54 6f 70 27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73 69 74 69 6f 6e 27	.'ListboxTop',0,......'Position'
1820	2c 5b 32 2e 32 35 20 33 30 2e 35 20 20 37 35 20 20 20 32 37 5d 2c 20 2e 2e 2e 0a 09 27 53 74 72	,[2.25.30.5..75...27],......'Str
1840	69 6e 67 27 2c 27 49 6d 61 67 65 20 6e 61 6d 65 73 27 2c 20 2e 2e 2e 0a 20 20 20 27 54 61 67 27	ing','Image.names',........'Tag'
1860	2c 27 50 75 73 68 62 75 74 74 6f 6e 31 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72	,'Pushbutton1');..uicontrol('Par
1880	65 6e 74 27 2c 31 2c 20 2e 2e 2e 0a 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27 2c 20 2e	ent',1,......'Units','points',..
18a0	2e 2e 0a 09 27 43 61 6c 6c 62 61 63 6b 27 2c 27 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 27	....'Callback','ima_read_calib;'
18c0	2c 20 2e 2e 2e 0a 09 27 4c 69 73 74 62 6f 78 54 6f 70 27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73	,......'ListboxTop',0,......'Pos
18e0	69 74 69 6f 6e 27 2c 5b 37 39 2e 35 20 33 30 2e 35 20 37 35 20 32 37 5d 2c 20 2e 2e 2e 0a 09 27	ition',[79.5.30.5.75.27],......'
1900	53 74 72 69 6e 67 27 2c 27 52 65 61 64 20 69 6d 61 67 65 73 27 2c 20 2e 2e 2e 0a 20 20 20 27 54	String','Read.images',........'T
1920	61 67 27 2c 27 50 75 73 68 62 75 74 74 6f 6e 31 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c 28 27	ag','Pushbutton1');..uicontrol('
1940	50 61 72 65 6e 74 27 2c 31 2c 20 2e 2e 2e 0a 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27	Parent',1,......'Units','points'
1960	2c 20 2e 2e 2e 0a 09 27 43 61 6c 6c 62 61 63 6b 27 2c 27 63 6c 69 63 6b 5f 63 61 6c 69 62 3b 27	,......'Callback','click_calib;'
1980	2c 20 2e 2e 2e 0a 09 27 4c 69 73 74 62 6f 78 54 6f 70 27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73	,......'ListboxTop',0,......'Pos
19a0	69 74 69 6f 6e 27 2c 5b 31 35 36 2e 37 35 20 33 30 2e 35 20 37 35 20 32 37 5d 2c 20 2e 2e 2e 0a	ition',[156.75.30.5.75.27],.....
19c0	09 27 53 74 72 69 6e 67 27 2c 27 45 78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 27	.'String','Extract.grid.corners'
19e0	2c 20 2e 2e 2e 0a 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74 74 6f 6e 31 27 29 3b 0a 0a	,........'Tag','Pushbutton1');..
1a00	75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e 74 27 2c 31 2c 20 2e 2e 2e 0a 09 27 55 6e 69 74	uicontrol('Parent',1,......'Unit
1a20	73 27 2c 27 70 6f 69 6e 74 73 27 2c 20 2e 2e 2e 0a 09 27 43 61 6c 6c 62 61 63 6b 27 2c 27 67 6f	s','points',......'Callback','go
1a40	5f 63 61 6c 69 62 5f 6f 70 74 69 6d 3b 27 2c 20 2e 2e 2e 0a 09 27 4c 69 73 74 62 6f 78 54 6f 70	_calib_optim;',......'ListboxTop
1a60	27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 32 33 34 20 33 30 2e 35 20 37	',0,......'Position',[234.30.5.7
1a80	35 20 32 37 5d 2c 20 2e 2e 2e 0a 09 27 53 74 72 69 6e 67 27 2c 27 52 75 6e 20 63 61 6c 69 62 72	5.27],......'String','Run.calibr
1aa0	61 74 69 6f 6e 27 2c 20 2e 2e 2e 0a 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74 74 6f 6e	ation',........'Tag','Pushbutton
1ac0	31 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e 74 27 2c 31 2c 20 2e 2e 2e 0a	1');..uicontrol('Parent',1,.....
1ae0	09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27 2c 20 2e 2e 2e 0a 09 27 43 61 6c 6c 62 61 63	.'Units','points',......'Callbac
1b00	6b 27 2c 27 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 3b 27 2c 20 2e 2e 2e 0a 09 27 4c 69 73 74	k','graphout_calib;',......'List
1b20	62 6f 78 54 6f 70 27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 32 2e 32 35	boxTop',0,......'Position',[2.25
1b40	20 31 2e 35 20 37 35 20 32 37 5d 2c 20 2e 2e 2e 0a 09 27 53 74 72 69 6e 67 27 2c 27 47 72 61 70	.1.5.75.27],......'String','Grap
1b60	68 69 63 20 6f 75 74 27 2c 20 2e 2e 2e 0a 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74 74	hic.out',........'Tag','Pushbutt
1b80	6f 6e 31 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e 74 27 2c 31 2c 20 2e 2e	on1');..uicontrol('Parent',1,...
1ba0	2e 0a 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27 2c 20 2e 2e 2e 0a 09 27 43 61 6c 6c 62	...'Units','points',......'Callb
1bc0	61 63 6b 27 2c 27 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 3b 27 2c 20	ack','select_sol_with_center;',.
1be0	2e 2e 2e 0a 09 27 4c 69 73 74 62 6f 78 54 6f 70 27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73 69 74	.....'ListboxTop',0,......'Posit
1c00	69 6f 6e 27 2c 5b 37 39 2e 35 20 31 2e 35 20 37 35 20 32 37 5d 2c 20 2e 2e 2e 0a 09 27 53 74 72	ion',[79.5.1.5.75.27],......'Str
1c20	69 6e 67 27 2c 27 73 6f 6c 2e 20 77 69 74 68 20 63 65 6e 74 65 72 27 2c 20 2e 2e 2e 0a 20 20 20	ing','sol..with.center',........
1c40	27 54 61 67 27 2c 27 50 75 73 68 62 75 74 74 6f 6e 31 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c	'Tag','Pushbutton1');..uicontrol
1c60	28 27 50 61 72 65 6e 74 27 2c 31 2c 20 2e 2e 2e 0a 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74	('Parent',1,......'Units','point
1c80	73 27 2c 20 2e 2e 2e 0a 09 27 43 61 6c 6c 62 61 63 6b 27 2c 27 73 65 6c 65 63 74 5f 73 6f 6c 5f	s',......'Callback','select_sol_
1ca0	6e 6f 5f 63 65 6e 74 65 72 3b 27 2c 20 2e 2e 2e 0a 09 27 4c 69 73 74 62 6f 78 54 6f 70 27 2c 30	no_center;',......'ListboxTop',0
1cc0	2c 20 2e 2e 2e 0a 09 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 31 35 36 2e 37 35 20 31 2e 35 20 37 35	,......'Position',[156.75.1.5.75
1ce0	20 32 37 5d 2c 20 2e 2e 2e 0a 09 27 53 74 72 69 6e 67 27 2c 27 73 6f 6c 2e 20 77 69 74 68 6f 75	.27],......'String','sol..withou
1d00	74 20 63 65 6e 74 65 72 27 2c 20 2e 2e 2e 0a 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74	t.center',........'Tag','Pushbut
1d20	74 6f 6e 31 27 29 3b 0a 0a 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e 74 27 2c 31 2c 20 2e	ton1');..uicontrol('Parent',1,..
1d40	2e 2e 0a 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27 2c 20 2e 2e 2e 0a 09 27 43 61 6c 6c	....'Units','points',......'Call
1d60	62 61 63 6b 27 2c 27 63 6c 6f 73 65 28 31 29 3b 27 2c 20 2e 2e 2e 0a 09 27 4c 69 73 74 62 6f 78	back','close(1);',......'Listbox
1d80	54 6f 70 27 2c 30 2c 20 2e 2e 2e 0a 09 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 32 33 34 20 31 2e 35	Top',0,......'Position',[234.1.5
1da0	20 37 35 20 32 37 5d 2c 20 2e 2e 2e 0a 09 27 53 74 72 69 6e 67 27 2c 27 45 78 69 74 27 2c 20 2e	.75.27],......'String','Exit',..
1dc0	2e 2e 0a 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74 74 6f 6e 31 27 29 3b 00 00 00 00 00	......'Tag','Pushbutton1');.....
1de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1e00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 00 00 00 00 00	TOOLBOX_calib/click_calib.m.....
1e20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1e40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1e60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
1e80	20 20 20 33 31 30 30 20 20 36 37 36 33 30 37 30 32 31 35 20 20 31 31 30 30 37 00 20 00 00 00 00	...3100..6763070215..11007......
1ea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1fa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1fc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1fe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2000	0a 69 66 20 7e 65 78 69 73 74 28 27 49 5f 31 27 29 2c 0a 20 20 20 69 6d 61 5f 72 65 61 64 5f 63	.if.~exist('I_1'),....ima_read_c
2020	61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 25 77 69 6e 74 78 20 3d 20 31 30 3b 20 25 20 6e 65 69 67 62	alib;.end;..%wintx.=.10;.%.neigb
2040	6f 72 68 6f 6f 64 20 6f 66 20 69 6e 74 65 67 72 61 74 69 6f 6e 20 66 6f 72 0a 25 77 69 6e 74 79	orhood.of.integration.for.%winty
2060	20 3d 20 31 30 3b 20 25 20 74 68 65 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 0a 0a 66 70 72 69	.=.10;.%.the.corner.finder..fpri
2080	6e 74 66 28 31 2c 27 5c 6e 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 67 72 69 64 20	ntf(1,'\nExtraction.of.the.grid.
20a0	63 6f 72 6e 65 72 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 5c 6e 27 29 3b 0a 0a 64 69 73 70	corners.on.the.images\n');..disp
20c0	28 27 57 69 6e 64 6f 77 20 73 69 7a 65 20 66 6f 72 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 20	('Window.size.for.corner.finder.
20e0	28 77 69 6e 74 78 20 61 6e 64 20 77 69 6e 74 79 29 3a 27 29 3b 0a 77 69 6e 74 78 20 3d 20 69 6e	(wintx.and.winty):');.wintx.=.in
2100	70 75 74 28 27 77 69 6e 74 78 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65	put('wintx.([].=.5).=.');.if.ise
2120	6d 70 74 79 28 77 69 6e 74 78 29 2c 20 77 69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e	mpty(wintx),.wintx.=.5;.end;.win
2140	74 78 20 3d 20 72 6f 75 6e 64 28 77 69 6e 74 78 29 3b 0a 77 69 6e 74 79 20 3d 20 69 6e 70 75 74	tx.=.round(wintx);.winty.=.input
2160	28 27 77 69 6e 74 79 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74	('winty.([].=.5).=.');.if.isempt
2180	79 28 77 69 6e 74 79 29 2c 20 77 69 6e 74 79 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 79 20	y(winty),.winty.=.5;.end;.winty.
21a0	3d 20 72 6f 75 6e 64 28 77 69 6e 74 79 29 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 57 69 6e	=.round(winty);...fprintf(1,'Win
21c0	64 6f 77 20 73 69 7a 65 20 3d 20 25 64 78 25 64 5c 6e 27 2c 32 2a 77 69 6e 74 78 2b 31 2c 32 2a	dow.size.=.%dx%d\n',2*wintx+1,2*
21e0	77 69 6e 74 79 2b 31 29 3b 0a 0a 0a 64 69 73 70 28 27 57 41 52 4e 4e 47 21 21 21 20 44 6f 20 6e	winty+1);...disp('WARNNG!!!.Do.n
2200	6f 74 20 66 6f 72 67 65 74 20 74 6f 20 63 68 61 6e 67 65 20 64 58 5f 64 65 66 61 75 6c 74 20 61	ot.forget.to.change.dX_default.a
2220	6e 64 20 64 59 5f 64 65 66 61 75 6c 74 20 69 6e 20 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 21 21	nd.dY_default.in.click_calib.m!!
2240	21 27 29 0a 0a 0a 25 20 44 65 66 61 75 6c 74 20 73 69 7a 65 20 6f 66 20 74 68 65 20 70 61 74 74	!')...%.Default.size.of.the.patt
2260	65 72 6e 20 73 71 75 61 72 65 73 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6f 6c 64	ern.squares;..%.Setup.of.JY.(old
2280	20 61 74 20 43 61 6c 74 65 63 68 29 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 32 31 2e 39 32 35	.at.Caltech).dX_default.=.21.925
22a0	30 2f 31 31 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 38 2e 31 32 35 30 2f 39 3b 0a 0a 25	0/11;.dY_default.=.18.1250/9;..%
22c0	20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6e 65 77 20 61 74 20 49 6e 74 65 6c 29 0a 64 58 5f 64	.Setup.of.JY.(new.at.Intel).dX_d
22e0	65 66 61 75 6c 74 20 3d 20 31 2e 39 37 35 30 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e	efault.=.1.9750;.dY_default.=.1.
2300	39 38 36 35 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 47 65 72 6d 61 6e 0a 64 58 5f 64 65 66 61	9865;..%.Setup.of.German.dX_defa
2320	75 6c 74 20 3d 20 31 30 2e 31 36 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 30 2e 31 36 3b	ult.=.10.16;.dY_default.=.10.16;
2340	0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6e 65 77 20 61 74 20 49 6e 74 65 6c 29 0a 64	..%.Setup.of.JY.(new.at.Intel).d
2360	58 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e 39 37 35 30 2a 32 2e 35 34 3b 0a 64 59 5f 64 65 66 61	X_default.=.1.9750*2.54;.dY_defa
2380	75 6c 74 20 3d 20 31 2e 39 38 36 35 2a 32 2e 35 34 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4c	ult.=.1.9865*2.54;..%.Setup.of.L
23a0	75 69 73 20 61 6e 64 20 45 6e 72 69 63 6f 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 36 37 2e 37	uis.and.Enrico.dX_default.=.67.7
23c0	2f 31 36 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 35 30 2e 36 35 2f 31 32 3b 0a 0a 0a 0a 0a	/16;.dY_default.=.50.65/12;.....
23e0	0a 25 20 55 73 65 66 75 6c 20 6f 70 74 69 6f 6e 20 74 6f 20 61 64 64 20 69 6d 61 67 65 73 3a 0a	.%.Useful.option.to.add.images:.
2400	6b 6b 5f 66 69 72 73 74 20 3d 20 69 6e 70 75 74 28 27 53 74 61 72 74 20 69 6d 61 67 65 20 6e 75	kk_first.=.input('Start.image.nu
2420	6d 62 65 72 20 28 5b 5d 3d 31 3d 66 69 72 73 74 29 3a 20 27 29 3b 0a 0a 69 66 20 69 73 65 6d 70	mber.([]=1=first):.');..if.isemp
2440	74 79 28 6b 6b 5f 66 69 72 73 74 29 2c 20 6b 6b 5f 66 69 72 73 74 20 3d 20 31 3b 20 65 6e 64 3b	ty(kk_first),.kk_first.=.1;.end;
2460	0a 0a 66 6f 72 20 6b 6b 20 3d 20 6b 6b 5f 66 69 72 73 74 3a 6e 5f 69 6d 61 2c 0a 20 20 20 63 6c	..for.kk.=.kk_first:n_ima,....cl
2480	69 63 6b 5f 69 6d 61 5f 63 61 6c 69 62 3b 20 25 53 69 6d 70 6c 65 20 76 65 72 73 69 6f 6e 0a 20	ick_ima_calib;.%Simple.version..
24a0	20 20 25 69 6e 69 74 5f 63 61 6c 69 62 3b 20 25 61 64 76 61 6e 63 65 64 20 76 65 73 69 6f 6e 20	..%init_calib;.%advanced.vesion.
24c0	28 6d 6f 72 65 20 6d 65 73 73 79 29 0a 65 6e 64 3b 0a 0a 0a 0a 73 74 72 69 6e 67 5f 73 61 76 65	(more.messy).end;....string_save
24e0	20 3d 20 27 73 61 76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 77 69 6e 74 78 20 77 69 6e 74 79 20	.=.'save.calib_data.wintx.winty.
2500	6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 66 69 72	n_ima.type_numbering.N_slots.fir
2520	73 74 5f 6e 75 6d 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f 69 6d 61 67	st_num.image_numbers.format_imag
2540	65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79 20 6d 61 70	e.calib_name.Hcal.Wcal.nx.ny.map
2560	20 64 58 5f 64 65 66 61 75 6c 74 20 64 59 5f 64 65 66 61 75 6c 74 20 64 58 20 64 59 27 3b 0a 0a	.dX_default.dY_default.dX.dY';..
2580	66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 73 74 72 69 6e 67 5f 73 61 76 65	for.kk.=.1:n_ima,....string_save
25a0	20 3d 20 5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	.=.[string_save.'.X_'.num2str(kk
25c0	29 20 27 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 5f 27 20 6e 75 6d 32 73 74	).'.x_'.num2str(kk).'.H_'.num2st
25e0	72 28 6b 6b 29 20 27 20 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e	r(kk).'.n_sq_x_'.num2str(kk).'.n
2600	5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 65 76 61 6c	_sq_y_'.num2str(kk)];.end;..eval
2620	28 73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 0a 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 3b 0a	(string_save);..go_calib_optim;.
2640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2660	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2680	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
26a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
26c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
26e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6c 69 63 6b 5f 69 6d 61 5f 63 61 6c 69 62 2e 6d 00	TOOLBOX_calib/click_ima_calib.m.
2820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2860	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
2880	20 20 31 34 35 33 34 20 20 36 37 36 33 30 37 30 32 31 36 20 20 31 31 36 37 33 00 20 00 00 00 00	..14534..6763070216..11673......
28a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a00	09 25 20 43 6c 65 61 6e 65 64 2d 75 70 20 76 65 72 73 69 6f 6e 20 6f 66 20 69 6e 69 74 5f 63 61	.%.Cleaned-up.version.of.init_ca
2a20	6c 69 62 2e 6d 0a 0a 09 65 76 61 6c 28 5b 27 49 20 3d 20 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b	lib.m...eval(['I.=.I_'.num2str(k
2a40	6b 29 20 27 3b 27 5d 29 3b 0a 09 0a 09 66 69 67 75 72 65 28 32 29 3b 0a 09 69 6d 61 67 65 28 49	k).';']);....figure(2);..image(I
2a60	29 3b 0a 20 20 20 63 6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 0a 20 20 20 0a 20 20 20 74 69 74 6c	);....colormap(map);........titl
2a80	65 28 5b 27 43 6c 69 63 6b 20 6f 6e 20 74 68 65 20 66 6f 75 72 20 65 78 74 72 65 6d 65 20 63 6f	e(['Click.on.the.four.extreme.co
2aa0	72 6e 65 72 73 20 6f 66 20 74 68 65 20 72 65 63 74 61 6e 67 75 6c 61 72 20 70 61 74 74 65 72 6e	rners.of.the.rectangular.pattern
2ac0	2e 2e 2e 20 49 6d 61 67 65 20 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 3b 0a 20 20 20 0a 20	....Image.'.num2str(kk)]);......
2ae0	20 20 64 69 73 70 28 27 43 6c 69 63 6b 20 6f 6e 20 74 68 65 20 66 6f 75 72 20 65 78 74 72 65 6d	..disp('Click.on.the.four.extrem
2b00	65 20 63 6f 72 6e 65 72 73 20 6f 66 20 74 68 65 20 72 65 63 74 61 6e 67 75 6c 61 72 20 63 6f 6d	e.corners.of.the.rectangular.com
2b20	70 6c 65 74 65 20 70 61 74 74 65 72 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 5b 78 2c 79 5d	plete.pattern...');........[x,y]
2b40	20 3d 20 67 69 6e 70 75 74 33 28 34 29 3b 0a 20 20 20 0a 20 20 20 5b 58 63 2c 67 6f 6f 64 2c 62	.=.ginput3(4);........[Xc,good,b
2b60	61 64 2c 74 79 70 65 5d 20 3d 20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 5b 78 27 3b 79 27 5d 2c	ad,type].=.cornerfinder([x';y'],
2b80	49 2c 77 69 6e 74 79 2c 77 69 6e 74 78 29 3b 20 25 20 74 68 65 20 66 6f 75 72 20 63 6f 72 6e 65	I,winty,wintx);.%.the.four.corne
2ba0	72 73 0a 20 20 20 0a 20 20 20 78 20 3d 20 58 63 28 31 2c 3a 29 27 3b 0a 20 20 20 79 20 3d 20 58	rs........x.=.Xc(1,:)';....y.=.X
2bc0	63 28 32 2c 3a 29 27 3b 0a 20 20 20 0a 20 20 20 5b 79 2c 69 6e 64 79 5d 20 3d 20 73 6f 72 74 28	c(2,:)';........[y,indy].=.sort(
2be0	79 29 3b 0a 20 20 20 78 20 3d 20 78 28 69 6e 64 79 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 28 78	y);....x.=.x(indy);........if.(x
2c00	28 32 29 20 3e 20 78 28 31 29 29 2c 0a 20 20 20 20 20 20 78 34 20 3d 20 78 28 31 29 3b 79 34 20	(2).>.x(1)),.......x4.=.x(1);y4.
2c20	3d 20 79 28 31 29 3b 20 78 33 20 3d 20 78 28 32 29 3b 20 79 33 20 3d 20 79 28 32 29 3b 0a 20 20	=.y(1);.x3.=.x(2);.y3.=.y(2);...
2c40	20 65 6c 73 65 0a 20 20 20 20 20 20 78 34 20 3d 20 78 28 32 29 3b 79 34 20 3d 20 79 28 32 29 3b	.else.......x4.=.x(2);y4.=.y(2);
2c60	20 78 33 20 3d 20 78 28 31 29 3b 20 79 33 20 3d 20 79 28 31 29 3b 0a 20 20 20 65 6e 64 3b 0a 20	.x3.=.x(1);.y3.=.y(1);....end;..
2c80	20 20 69 66 20 28 78 28 33 29 20 3e 20 78 28 34 29 29 2c 0a 20 20 20 20 20 20 78 32 20 3d 20 78	..if.(x(3).>.x(4)),.......x2.=.x
2ca0	28 33 29 3b 79 32 20 3d 20 79 28 33 29 3b 20 78 31 20 3d 20 78 28 34 29 3b 20 79 31 20 3d 20 79	(3);y2.=.y(3);.x1.=.x(4);.y1.=.y
2cc0	28 34 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 34 29 3b 79 32 20	(4);....else.......x2.=.x(4);y2.
2ce0	3d 20 79 28 34 29 3b 20 78 31 20 3d 20 78 28 33 29 3b 20 79 31 20 3d 20 79 28 33 29 3b 0a 20 20	=.y(4);.x1.=.x(3);.y1.=.y(3);...
2d00	20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 78 20 3d 20 5b 78 31 3b 78 32 3b 78 33 3b 78 34 5d 3b 0a	.end;........x.=.[x1;x2;x3;x4];.
2d20	20 20 20 79 20 3d 20 5b 79 31 3b 79 32 3b 79 33 3b 79 34 5d 3b 0a 20 20 20 0a 20 20 20 0a 20 20	...y.=.[y1;y2;y3;y4];...........
2d40	20 66 69 67 75 72 65 28 32 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 5b 78 3b	.figure(2);.hold.on;....plot([x;
2d60	78 28 31 29 5d 2c 5b 79 3b 79 28 31 29 5d 2c 27 67 2d 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 2c	x(1)],[y;y(1)],'g-');....plot(x,
2d80	79 2c 27 6f 67 27 29 3b 0a 20 20 20 68 78 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 33 29 29 2f	y,'og');....hx=text((x(4)+x(3))/
2da0	32 2c 28 79 28 34 29 2b 79 28 33 29 29 2f 32 20 2d 20 32 30 2c 27 58 27 29 3b 0a 20 20 20 73 65	2,(y(4)+y(3))/2.-.20,'X');....se
2dc0	74 28 68 78 2c 27 63 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b	t(hx,'color','g','Fontsize',14);
2de0	0a 20 20 20 68 79 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 31 29 29 2f 32 2d 32 30 2c 28 79 28	....hy=text((x(4)+x(1))/2-20,(y(
2e00	34 29 2b 79 28 31 29 29 2f 32 2c 27 59 27 29 3b 0a 20 20 20 73 65 74 28 68 79 2c 27 63 6f 6c 6f	4)+y(1))/2,'Y');....set(hy,'colo
2e20	72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 6f 6c 64 20 6f	r','g','Fontsize',14);....hold.o
2e40	66 66 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 54 72 79 20 74 6f 20 61 75 74 6f 6d 61 74 69	ff;............%.Try.to.automati
2e60	63 61 6c 6c 79 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65	cally.count.the.number.of.square
2e80	73 20 69 6e 20 74 68 65 20 67 72 69 64 0a 20 20 20 0a 20 20 20 6e 5f 73 71 5f 78 31 20 3d 20 63	s.in.the.grid........n_sq_x1.=.c
2ea0	6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 31 2c 79 31 2c 78 32 2c 79 32 2c 77 69 6e 74 78	ount_squares(I,x1,y1,x2,y2,wintx
2ec0	29 3b 0a 20 20 20 6e 5f 73 71 5f 78 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c	);....n_sq_x2.=.count_squares(I,
2ee0	78 33 2c 79 33 2c 78 34 2c 79 34 2c 77 69 6e 74 78 29 3b 0a 20 20 20 6e 5f 73 71 5f 79 31 20 3d	x3,y3,x4,y4,wintx);....n_sq_y1.=
2f00	20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 32 2c 79 32 2c 78 33 2c 79 33 2c 77 69 6e	.count_squares(I,x2,y2,x3,y3,win
2f20	74 78 29 3b 0a 20 20 20 6e 5f 73 71 5f 79 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28	tx);....n_sq_y2.=.count_squares(
2f40	49 2c 78 34 2c 79 34 2c 78 31 2c 79 31 2c 77 69 6e 74 78 29 3b 0a 20 20 20 0a 20 20 0a 20 20 20	I,x4,y4,x1,y1,wintx);...........
2f60	0a 20 20 20 25 20 49 66 20 63 6f 75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d	....%.If.could.not.count.the.num
2f80	62 65 72 20 6f 66 20 73 71 75 61 72 65 73 2c 20 65 6e 74 65 72 20 6d 61 6e 75 61 6c 6c 79 0a 20	ber.of.squares,.enter.manually..
2fa0	20 20 0a 20 20 20 69 66 20 28 6e 5f 73 71 5f 78 31 7e 3d 6e 5f 73 71 5f 78 32 29 7c 28 6e 5f 73	......if.(n_sq_x1~=n_sq_x2)|(n_s
2fc0	71 5f 79 31 7e 3d 6e 5f 73 71 5f 79 32 29 2c 0a 20 20 20 20 20 20 0a 0a 09 20 64 69 73 70 28 27	q_y1~=n_sq_y2),...........disp('
2fe0	43 6f 75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71	Could.not.count.the.number.of.sq
3000	75 61 72 65 73 20 69 6e 20 74 68 65 20 67 72 69 64 2e 20 45 6e 74 65 72 20 6d 61 6e 75 61 6c 6c	uares.in.the.grid..Enter.manuall
3020	79 2e 27 29 3b 0a 09 20 6e 5f 73 71 5f 78 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f	y.');...n_sq_x.=.input('Number.o
3040	66 20 73 71 75 61 72 65 73 20 61 6c 6f 6e 67 20 74 68 65 20 58 20 64 69 72 65 63 74 69 6f 6e 20	f.squares.along.the.X.direction.
3060	28 5b 5d 3d 31 30 29 20 3d 20 27 29 3b 20 25 36 0a 09 20 69 66 20 69 73 65 6d 70 74 79 28 6e 5f	([]=10).=.');.%6...if.isempty(n_
3080	73 71 5f 78 29 2c 20 6e 5f 73 71 5f 78 20 3d 20 31 30 3b 20 65 6e 64 3b 0a 09 20 6e 5f 73 71 5f	sq_x),.n_sq_x.=.10;.end;...n_sq_
30a0	79 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20 61 6c 6f	y.=.input('Number.of.squares.alo
30c0	6e 67 20 74 68 65 20 59 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 31 30 29 20 3d 20 27 29 3b	ng.the.Y.direction.([]=10).=.');
30e0	20 25 36 0a 09 20 69 66 20 69 73 65 6d 70 74 79 28 6e 5f 73 71 5f 79 29 2c 20 6e 5f 73 71 5f 79	.%6...if.isempty(n_sq_y),.n_sq_y
3100	20 3d 20 31 30 3b 20 65 6e 64 3b 20 0a 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20	.=.10;.end;.........else........
3120	20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 6e 5f 73 71 5f 78 20 3d 20 6e 5f 73 71 5f 78 31 3b	...............n_sq_x.=.n_sq_x1;
3140	0a 20 20 20 20 20 20 6e 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79 31 3b 0a 20 20 20 20 20 20 0a	.......n_sq_y.=.n_sq_y1;........
3160	20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 45 6e 74 65 72 20 74 68 65 20 73	...end;............%.Enter.the.s
3180	69 7a 65 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 0a 20 20 20 0a 20 20 20 64 58 20 3d 20 69	ize.of.each.square........dX.=.i
31a0	6e 70 75 74 28 5b 27 53 69 7a 65 20 64 58 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 20 61 6c	nput(['Size.dX.of.each.square.al
31c0	6f 6e 67 20 74 68 65 20 58 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 27 20 6e 75 6d 32 73 74	ong.the.X.direction.([]='.num2st
31e0	72 28 64 58 5f 64 65 66 61 75 6c 74 29 20 27 63 6d 29 20 3d 20 27 5d 29 3b 0a 20 20 09 64 59 20	r(dX_default).'cm).=.']);....dY.
3200	3d 20 69 6e 70 75 74 28 5b 27 53 69 7a 65 20 64 59 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65	=.input(['Size.dY.of.each.square
3220	20 61 6c 6f 6e 67 20 74 68 65 20 59 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 27 20 6e 75 6d	.along.the.Y.direction.([]='.num
3240	32 73 74 72 28 64 59 5f 64 65 66 61 75 6c 74 29 20 27 63 6d 29 20 3d 20 27 5d 29 3b 0a 09 69 66	2str(dY_default).'cm).=.']);..if
3260	20 69 73 65 6d 70 74 79 28 64 58 29 2c 20 64 58 20 3d 20 64 58 5f 64 65 66 61 75 6c 74 3b 20 65	.isempty(dX),.dX.=.dX_default;.e
3280	6e 64 3b 0a 09 69 66 20 69 73 65 6d 70 74 79 28 64 59 29 2c 20 64 59 20 3d 20 64 59 5f 64 65 66	nd;..if.isempty(dY),.dY.=.dY_def
32a0	61 75 6c 74 3b 20 65 6e 64 3b 0a 09 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 75 74	ault;.end;..............%.Comput
32c0	65 20 74 68 65 20 69 6e 73 69 64 65 20 70 6f 69 6e 74 73 20 74 68 72 6f 75 67 68 20 63 6f 6d 70	e.the.inside.points.through.comp
32e0	75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79	utation.of.the.planar.homography
3300	20 28 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 29 0a 20 20 20 0a 09 61 30 30 20 3d 20 5b 78 28 31 29	.(collineation)......a00.=.[x(1)
3320	3b 79 28 31 29 3b 31 5d 3b 0a 09 61 31 30 20 3d 20 5b 78 28 32 29 3b 79 28 32 29 3b 31 5d 3b 0a	;y(1);1];..a10.=.[x(2);y(2);1];.
3340	09 61 31 31 20 3d 20 5b 78 28 33 29 3b 79 28 33 29 3b 31 5d 3b 0a 09 61 30 31 20 3d 20 5b 78 28	.a11.=.[x(3);y(3);1];..a01.=.[x(
3360	34 29 3b 79 28 34 29 3b 31 5d 3b 0a 0a 0a 09 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 70 6c 61	4);y(4);1];....%.Compute.the.pla
3380	6e 61 72 74 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 20 28 72 65 74 75 72 6e 20 74 68 65 20 6e	nart.collineation:.(return.the.n
33a0	6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 20 61 73 20 77 65 6c 6c 29 0a 0a 09	ormalization.matrice.as.well)...
33c0	5b 48 6f 6d 6f 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e 6f 72 6d 5d 20 3d 20 63 6f 6d 70 75 74 65	[Homo,Hnorm,inv_Hnorm].=.compute
33e0	5f 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 20 28 61 30 30 2c 20 61 31 30 2c 20 61 31 31 2c 20 61 30	_collineation.(a00,.a10,.a11,.a0
3400	31 29 3b 0a 0a 0a 09 25 20 42 75 69 6c 64 20 74 68 65 20 67 72 69 64 20 75 73 69 6e 67 20 74 68	1);....%.Build.the.grid.using.th
3420	65 20 70 6c 61 6e 61 72 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 0a 0a 09 78 5f 6c 20 3d 20 28	e.planar.collineation:...x_l.=.(
3440	28 30 3a 6e 5f 73 71 5f 78 29 27 2a 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b 31 29 29 2f 6e 5f	(0:n_sq_x)'*ones(1,n_sq_y+1))/n_
3460	73 71 5f 78 3b 0a 20 20 20 79 5f 6c 20 3d 20 28 6f 6e 65 73 28 6e 5f 73 71 5f 78 2b 31 2c 31 29	sq_x;....y_l.=.(ones(n_sq_x+1,1)
3480	2a 28 30 3a 6e 5f 73 71 5f 79 29 29 2f 6e 5f 73 71 5f 79 3b 0a 20 20 20 70 74 73 20 3d 20 5b 78	*(0:n_sq_y))/n_sq_y;....pts.=.[x
34a0	5f 6c 28 3a 29 20 79 5f 6c 28 3a 29 20 6f 6e 65 73 28 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f	_l(:).y_l(:).ones((n_sq_x+1)*(n_
34c0	73 71 5f 79 2b 31 29 2c 31 29 5d 27 3b 0a 20 20 20 0a 20 20 20 58 58 20 3d 20 48 6f 6d 6f 2a 70	sq_y+1),1)]';........XX.=.Homo*p
34e0	74 73 3b 0a 09 58 58 20 3d 20 58 58 28 31 3a 32 2c 3a 29 20 2e 2f 20 28 6f 6e 65 73 28 32 2c 31	ts;..XX.=.XX(1:2,:)../.(ones(2,1
3500	29 2a 58 58 28 33 2c 3a 29 29 3b 0a 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 6c 65 74 65 20 73	)*XX(3,:));.........%.Complete.s
3520	69 7a 65 20 6f 66 20 74 68 65 20 72 65 63 74 61 6e 67 6c 65 0a 20 20 20 0a 20 20 20 57 20 3d 20	ize.of.the.rectangle........W.=.
3540	6e 5f 73 71 5f 78 2a 64 58 3b 0a 20 20 20 4c 20 3d 20 6e 5f 73 71 5f 79 2a 64 59 3b 0a 20 20 20	n_sq_x*dX;....L.=.n_sq_y*dY;....
3560	0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	................%%%%%%%%%%%%%%%%
3580	25 25 25 25 25 25 25 25 20 41 44 44 49 54 49 4f 4e 41 4c 20 53 54 55 46 46 20 49 4e 20 54 48 45	%%%%%%%%.ADDITIONAL.STUFF.IN.THE
35a0	20 43 41 53 45 20 4f 46 20 48 49 47 48 4c 59 20 44 49 53 54 4f 52 54 45 44 20 49 4d 41 47 45 53	.CASE.OF.HIGHLY.DISTORTED.IMAGES
35c0	20 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 20 20 20 66 69 67 75 72 65 28 32 29 3b 0a 20 20 20	.%%%%%%%%%%%%%....figure(2);....
35e0	68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 58 58 28 31 2c 3a 29 2c 58 58 28 32 2c 3a 29	hold.on;....plot(XX(1,:),XX(2,:)
3600	2c 27 72 2b 27 29 3b 0a 20 20 20 74 69 74 6c 65 28 27 54 68 65 20 72 65 64 20 63 72 6f 73 73 65	,'r+');....title('The.red.crosse
3620	73 20 73 68 6f 75 6c 64 20 62 65 20 63 6c 6f 73 65 20 74 6f 20 74 68 65 20 69 6d 61 67 65 20 63	s.should.be.close.to.the.image.c
3640	6f 72 6e 65 72 73 27 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 64 69	orners');....hold.off;........di
3660	73 70 28 27 49 66 20 74 68 65 20 67 75 65 73 73 65 64 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20	sp('If.the.guessed.grid.corners.
3680	28 72 65 64 20 63 72 6f 73 73 65 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 29 20 61 72 65 20 6e	(red.crosses.on.the.image).are.n
36a0	6f 74 20 63 6c 6f 73 65 20 74 6f 20 74 68 65 20 61 63 74 75 61 6c 20 63 6f 72 6e 65 72 73 2c 27	ot.close.to.the.actual.corners,'
36c0	29 3b 0a 20 20 20 64 69 73 70 28 27 69 74 20 69 73 20 6e 65 63 65 73 73 61 72 79 20 74 6f 20 65	);....disp('it.is.necessary.to.e
36e0	6e 74 65 72 20 61 6e 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 74 68 65 20 72 61	nter.an.initial.guess.for.the.ra
3700	64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 20 66 61 63 74 6f 72 20 6b 63 20 28 75 73 65 66 75	dial.distortion.factor.kc.(usefu
3720	6c 20 66 6f 72 20 73 75 62 70 69 78 65 6c 20 64 65 74 65 63 74 69 6f 6e 29 27 29 3b 0a 20 20 20	l.for.subpixel.detection)');....
3740	71 75 65 73 74 5f 64 69 73 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 4e 65 65 64 20 6f 66 20 61	quest_distort.=.input('Need.of.a
3760	6e 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20	n.initial.guess.for.distortion?.
3780	28 5b 5d 3d 6e 6f 2c 20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 20 20 0a 20 20 20 71 75 65	([]=no,.other=yes).');.......que
37a0	73 74 5f 64 69 73 74 6f 72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 71 75 65 73 74 5f 64 69 73 74	st_distort.=.~isempty(quest_dist
37c0	6f 72 74 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 71 75 65 73 74 5f 64 69 73 74 6f 72 74 2c 0a 20	ort);........if.quest_distort,..
37e0	20 20 20 20 20 25 20 45 73 74 69 6d 61 74 69 6f 6e 20 6f 66 20 66 6f 63 61 6c 20 6c 65 6e 67 74	.....%.Estimation.of.focal.lengt
3800	68 3a 0a 20 20 20 20 20 20 63 5f 67 20 3d 20 5b 73 69 7a 65 28 49 2c 32 29 3b 73 69 7a 65 28 49	h:.......c_g.=.[size(I,2);size(I
3820	2c 31 29 5d 2f 32 20 2b 20 2e 35 3b 0a 09 09 66 5f 67 20 3d 20 44 69 73 74 6f 72 32 43 61 6c 69	,1)]/2.+..5;...f_g.=.Distor2Cali
3840	62 28 30 2c 5b 5b 78 28 31 29 20 78 28 32 29 20 78 28 34 29 20 78 28 33 29 5d 20 2d 20 63 5f 67	b(0,[[x(1).x(2).x(4).x(3)].-.c_g
3860	28 31 29 3b 5b 79 28 31 29 20 79 28 32 29 20 79 28 34 29 20 79 28 33 29 5d 20 2d 20 63 5f 67 28	(1);[y(1).y(2).y(4).y(3)].-.c_g(
3880	32 29 5d 2c 31 2c 31 2c 34 2c 57 2c 4c 2c 5b 2d 57 2f 32 20 57 2f 32 20 57 2f 32 20 2d 57 2f 32	2)],1,1,4,W,L,[-W/2.W/2.W/2.-W/2
38a0	3b 4c 2f 32 20 4c 2f 32 20 2d 4c 2f 32 20 2d 4c 2f 32 3b 20 30 20 30 20 30 20 30 5d 2c 31 30 30	;L/2.L/2.-L/2.-L/2;.0.0.0.0],100
38c0	2c 31 2c 31 29 3b 0a 20 20 20 20 20 20 66 5f 67 20 3d 20 6d 65 61 6e 28 66 5f 67 29 3b 0a 20 20	,1,1);.......f_g.=.mean(f_g);...
38e0	20 20 20 20 73 63 72 69 70 74 5f 66 69 74 5f 64 69 73 74 6f 72 74 69 6f 6e 3b 0a 20 20 20 65 6e	....script_fit_distortion;....en
3900	64 3b 0a 20 20 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 45 4e 44 20	d;....%%%%%%%%%%%%%%%%%%%%%.END.
3920	41 44 44 49 54 49 4f 4e 41 4c 20 53 54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20	ADDITIONAL.STUFF.IN.THE.CASE.OF.
3940	48 49 47 48 4c 59 20 44 49 53 54 4f 52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25	HIGHLY.DISTORTED.IMAGES.%%%%%%%%
3960	25 25 25 25 25 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 4e 70 20	%%%%%........................Np.
3980	3d 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 3b 0a 0a 20 20 20 64 69 73	=.(n_sq_x+1)*(n_sq_y+1);.....dis
39a0	70 28 27 43 6f 72 6e 65 72 20 65 78 74 72 61 63 74 69 6f 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20	p('Corner.extraction...');......
39c0	20 20 67 72 69 64 5f 70 74 73 20 3d 20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 58 58 2c 49 2c 77	..grid_pts.=.cornerfinder(XX,I,w
39e0	69 6e 74 79 2c 77 69 6e 74 78 29 3b 20 25 25 25 20 46 69 6e 64 73 20 74 68 65 20 65 78 61 63 74	inty,wintx);.%%%.Finds.the.exact
3a00	20 63 6f 72 6e 65 72 73 20 61 74 20 65 76 65 72 79 20 70 6f 69 6e 74 73 21 0a 20 20 20 0a 20 20	.corners.at.every.points!.......
3a20	20 25 73 61 76 65 20 61 6c 6c 5f 63 6f 72 6e 65 72 73 20 78 20 79 20 67 72 69 64 5f 70 74 73 0a	.%save.all_corners.x.y.grid_pts.
3a40	20 20 20 0a 20 20 20 67 72 69 64 5f 70 74 73 20 3d 20 67 72 69 64 5f 70 74 73 20 2d 20 31 3b 20	.......grid_pts.=.grid_pts.-.1;.
3a60	25 20 73 75 62 74 72 61 63 74 20 31 20 74 6f 20 62 72 69 6e 67 20 74 68 65 20 6f 72 69 67 69 6e	%.subtract.1.to.bring.the.origin
3a80	20 74 6f 20 28 30 2c 30 29 20 69 6e 73 74 65 61 64 20 6f 66 20 28 31 2c 31 29 20 69 6e 20 6d 61	.to.(0,0).instead.of.(1,1).in.ma
3aa0	74 6c 61 62 20 28 6e 6f 74 20 6e 65 63 65 73 73 61 72 79 20 69 6e 20 43 29 0a 20 20 20 0a 20 20	tlab.(not.necessary.in.C).......
3ac0	20 0a 20 20 20 25 20 47 6c 6f 62 61 6c 20 48 6f 6d 6f 67 72 61 70 68 79 20 66 72 6f 6d 20 70 6c	.....%.Global.Homography.from.pl
3ae0	61 6e 65 20 74 6f 20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 3a 0a 20 20 20 0a 20 20	ane.to.pixel.coordinates:.......
3b00	20 48 5f 74 6f 74 61 6c 20 3d 20 5b 31 20 30 20 2d 31 20 3b 20 30 20 31 20 2d 31 20 3b 20 30 20	.H_total.=.[1.0.-1.;.0.1.-1.;.0.
3b20	30 20 31 5d 2a 48 6f 6d 6f 2a 5b 31 20 30 20 30 3b 30 20 2d 31 20 31 3b 30 20 30 20 31 5d 2a 5b	0.1]*Homo*[1.0.0;0.-1.1;0.0.1]*[
3b40	31 2f 57 20 30 20 30 20 3b 20 30 20 31 2f 4c 20 30 3b 20 30 20 30 20 31 5d 3b 0a 20 20 20 25 20	1/W.0.0.;.0.1/L.0;.0.0.1];....%.
3b60	57 41 52 4e 49 4e 47 21 21 21 20 74 68 65 20 66 69 72 73 74 20 6d 61 74 72 69 78 20 28 6f 6e 20	WARNING!!!.the.first.matrix.(on.
3b80	74 68 65 20 6c 65 66 74 20 73 69 64 65 29 20 74 61 6b 65 73 20 63 61 72 65 20 6f 66 20 74 68 65	the.left.side).takes.care.of.the
3ba0	20 74 72 61 6e 73 66 6f 72 6d 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 69 78 65 6c 20 63 6f 6f	.transformation.of.the.pixel.coo
3bc0	72 65 64 69 6e 61 74 65 73 20 62 79 20 2d 31 20 28 70 72 65 76 69 6f 75 73 20 6c 69 6e 65 29 0a	redinates.by.-1.(previous.line).
3be0	20 20 20 25 20 49 66 20 69 74 20 69 73 20 6e 6f 74 20 64 6f 6e 65 2c 20 74 68 65 6e 20 74 68 69	...%.If.it.is.not.done,.then.thi
3c00	73 20 6d 61 74 72 69 78 20 73 68 6f 75 6c 64 20 6e 6f 74 20 61 70 70 65 61 72 20 28 69 6e 20 43	s.matrix.should.not.appear.(in.C
3c20	29 0a 20 20 20 48 5f 74 6f 74 61 6c 20 3d 20 48 5f 74 6f 74 61 6c 20 2f 20 48 5f 74 6f 74 61 6c	)....H_total.=.H_total./.H_total
3c40	28 33 2c 33 29 3b 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 69 6e 64 5f 63 6f 72 6e 65 72 73	(3,3);...............ind_corners
3c60	20 3d 20 5b 31 20 6e 5f 73 71 5f 78 2b 31 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f 73 71 5f 79	.=.[1.n_sq_x+1.(n_sq_x+1)*n_sq_y
3c80	2b 31 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 5d 3b 20 25 20 69 6e 64	+1.(n_sq_x+1)*(n_sq_y+1)];.%.ind
3ca0	65 78 20 6f 66 20 74 68 65 20 34 20 63 6f 72 6e 65 72 73 0a 20 20 20 69 6e 64 5f 6f 72 69 67 20	ex.of.the.4.corners....ind_orig.
3cc0	3d 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f 73 71 5f 79 20 2b 20 31 3b 0a 20 20 20 78 6f 72 69	=.(n_sq_x+1)*n_sq_y.+.1;....xori
3ce0	67 20 3d 20 67 72 69 64 5f 70 74 73 28 31 2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 79 6f 72	g.=.grid_pts(1,ind_orig);....yor
3d00	69 67 20 3d 20 67 72 69 64 5f 70 74 73 28 32 2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 64 78	ig.=.grid_pts(2,ind_orig);....dx
3d20	70 6f 73 20 3d 20 6d 65 61 6e 28 5b 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29	pos.=.mean([grid_pts(:,ind_orig)
3d40	20 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 2b 31 29 5d 27 29 3b 0a 20 20 20 64	.grid_pts(:,ind_orig+1)]');....d
3d60	79 70 6f 73 20 3d 20 6d 65 61 6e 28 5b 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67	ypos.=.mean([grid_pts(:,ind_orig
3d80	29 20 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 2d 6e 5f 73 71 5f 78 2d 31 29 5d	).grid_pts(:,ind_orig-n_sq_x-1)]
3da0	27 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 78 5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67 72 69 64 5f	');............x_box_kk.=.[grid_
3dc0	70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a	pts(1,:)-(wintx+.5);grid_pts(1,:
3de0	29 2b 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 28 77 69 6e 74	)+(wintx+.5);grid_pts(1,:)+(wint
3e00	78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 3b 67	x+.5);grid_pts(1,:)-(wintx+.5);g
3e20	72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 5d 3b 0a 20 20 20 79 5f 62	rid_pts(1,:)-(wintx+.5)];....y_b
3e40	6f 78 5f 6b 6b 20 3d 20 5b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35	ox_kk.=.[grid_pts(2,:)-(winty+.5
3e60	29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f	);grid_pts(2,:)-(winty+.5);grid_
3e80	70 74 73 28 32 2c 3a 29 2b 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a	pts(2,:)+(winty+.5);grid_pts(2,:
3ea0	29 2b 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74	)+(winty+.5);grid_pts(2,:)-(wint
3ec0	79 2b 2e 35 29 5d 3b 0a 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 33 29 3b 0a 20 20 20 69 6d	y+.5)];.........figure(3);....im
3ee0	61 67 65 28 49 29 3b 20 63 6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a	age(I);.colormap(map);.hold.on;.
3f00	20 20 20 70 6c 6f 74 28 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 31 2c 67 72 69 64 5f 70 74 73	...plot(grid_pts(1,:)+1,grid_pts
3f20	28 32 2c 3a 29 2b 31 2c 27 72 2b 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 5f 62 6f 78 5f 6b 6b 2b	(2,:)+1,'r+');....plot(x_box_kk+
3f40	31 2c 79 5f 62 6f 78 5f 6b 6b 2b 31 2c 27 2d 62 27 29 3b 0a 20 20 20 70 6c 6f 74 28 67 72 69 64	1,y_box_kk+1,'-b');....plot(grid
3f60	5f 70 74 73 28 31 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32	_pts(1,ind_corners)+1,grid_pts(2
3f80	2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 27 6d 6f 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78	,ind_corners)+1,'mo');....plot(x
3fa0	6f 72 69 67 2b 31 2c 79 6f 72 69 67 2b 31 2c 27 2a 6d 27 29 3b 0a 20 20 20 68 20 3d 20 74 65 78	orig+1,yorig+1,'*m');....h.=.tex
3fc0	74 28 78 6f 72 69 67 2d 31 35 2c 79 6f 72 69 67 2d 31 35 2c 27 4f 27 29 3b 0a 20 20 20 73 65 74	t(xorig-15,yorig-15,'O');....set
3fe0	28 68 2c 27 43 6f 6c 6f 72 27 2c 27 6d 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20	(h,'Color','m','FontSize',14);..
4000	20 20 68 32 20 3d 20 74 65 78 74 28 64 78 70 6f 73 28 31 29 2d 31 30 2c 64 78 70 6f 73 28 32 29	..h2.=.text(dxpos(1)-10,dxpos(2)
4020	2d 31 30 2c 27 64 58 27 29 3b 0a 20 20 20 73 65 74 28 68 32 2c 27 43 6f 6c 6f 72 27 2c 27 67 27	-10,'dX');....set(h2,'Color','g'
4040	2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 33 20 3d 20 74 65 78 74 28 64 79	,'FontSize',14);....h3.=.text(dy
4060	70 6f 73 28 31 29 2d 32 35 2c 64 79 70 6f 73 28 32 29 2d 33 2c 27 64 59 27 29 3b 0a 20 20 20 73	pos(1)-25,dypos(2)-3,'dY');....s
4080	65 74 28 68 33 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29	et(h3,'Color','g','FontSize',14)
40a0	3b 0a 20 20 20 78 6c 61 62 65 6c 28 27 58 63 20 28 69 6e 20 63 61 6d 65 72 61 20 66 72 61 6d 65	;....xlabel('Xc.(in.camera.frame
40c0	29 27 29 3b 0a 20 20 20 79 6c 61 62 65 6c 28 27 59 63 20 28 69 6e 20 63 61 6d 65 72 61 20 66 72	)');....ylabel('Yc.(in.camera.fr
40e0	61 6d 65 29 27 29 3b 0a 20 20 20 74 69 74 6c 65 28 27 45 78 74 72 61 63 74 65 64 20 63 6f 72 6e	ame)');....title('Extracted.corn
4100	65 72 73 27 29 3b 0a 20 20 20 7a 6f 6f 6d 20 6f 6e 3b 0a 20 20 20 64 72 61 77 6e 6f 77 3b 0a 20	ers');....zoom.on;....drawnow;..
4120	20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 58 69 20 3d 20 72 65 73 68	..hold.off;............Xi.=.resh
4140	61 70 65 28 28 5b 30 3a 6e 5f 73 71 5f 78 5d 2a 64 58 29 27 2a 6f 6e 65 73 28 31 2c 6e 5f 73 71	ape(([0:n_sq_x]*dX)'*ones(1,n_sq
4160	5f 79 2b 31 29 2c 4e 70 2c 31 29 27 3b 0a 20 20 20 59 69 20 3d 20 72 65 73 68 61 70 65 28 6f 6e	_y+1),Np,1)';....Yi.=.reshape(on
4180	65 73 28 6e 5f 73 71 5f 78 2b 31 2c 31 29 2a 5b 6e 5f 73 71 5f 79 3a 2d 31 3a 30 5d 2a 64 59 2c	es(n_sq_x+1,1)*[n_sq_y:-1:0]*dY,
41a0	4e 70 2c 31 29 27 3b 0a 20 20 20 5a 69 20 3d 20 7a 65 72 6f 73 28 31 2c 4e 70 29 3b 0a 20 20 20	Np,1)';....Zi.=.zeros(1,Np);....
41c0	0a 20 20 20 58 67 72 69 64 20 3d 20 5b 58 69 3b 59 69 3b 5a 69 5d 3b 0a 20 20 20 0a 20 20 20 0a	....Xgrid.=.[Xi;Yi;Zi];.........
41e0	09 25 20 41 6c 6c 20 74 68 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28 6f 6e	.%.All.the.point.coordinates.(on
4200	20 74 68 65 20 69 6d 61 67 65 2c 20 61 6e 64 20 69 6e 20 33 44 29 20 2d 20 66 6f 72 20 67 6c 6f	.the.image,.and.in.3D).-.for.glo
4220	62 61 6c 20 6f 70 74 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 20 20 20 78 20 3d 20 67 72 69 64 5f 70	bal.optimization:.....x.=.grid_p
4240	74 73 3b 0a 20 20 20 58 20 3d 20 58 67 72 69 64 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27	ts;....X.=.Xgrid;........eval(['
4260	78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 3b 27 5d 29 3b 0a 20 20 20 65 76	x_'.num2str(kk).'.=.x;']);....ev
4280	61 6c 28 5b 27 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 58 3b 27 5d 29 3b 0a	al(['X_'.num2str(kk).'.=.X;']);.
42a0	20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	.......eval(['n_sq_x_'.num2str(k
42c0	6b 29 20 27 20 3d 20 6e 5f 73 71 5f 78 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 6e 5f 73	k).'.=.n_sq_x;']);....eval(['n_s
42e0	71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6e 5f 73 71 5f 79 3b 27 5d 29	q_y_'.num2str(kk).'.=.n_sq_y;'])
4300	3b 0a 20 20 20 0a 20 20 20 25 20 53 61 76 65 20 74 68 65 20 67 6c 6f 62 61 6c 20 70 6c 61 6e 61	;........%.Save.the.global.plana
4320	72 20 68 6f 6d 6f 67 72 61 70 68 79 3a 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 48 5f 27 20	r.homography:........eval(['H_'.
4340	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 48 5f 74 6f 74 61 6c 3b 27 5d 29 3b 28 5b 78 3b	num2str(kk).'.=.H_total;']);([x;
4360	78 28 31 29 5d 2c 5b 79 3b 79 28 31 29 5d 2c 27 67 2d 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 2c	x(1)],[y;y(1)],'g-');....plot(x,
4380	79 2c 27 6f 67 27 29 3b 0a 20 20 20 68 78 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 33 29 29 2f	y,'og');....hx=text((x(4)+x(3))/
43a0	32 2c 28 79 28 34 29 2b 79 28 33 29 29 2f 32 20 2d 20 32 30 2c 27 58 27 29 3b 0a 20 20 20 73 65	2,(y(4)+y(3))/2.-.20,'X');....se
43c0	74 28 68 78 2c 27 63 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b	t(hx,'color','g','Fontsize',14);
43e0	0a 20 20 20 68 79 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 31 29 29 2f 32 2d 32 30 2c 28 79 28	....hy=text((x(4)+x(1))/2-20,(y(
4400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 63 6f 6c 6c 69 6e 65 61 74 69	TOOLBOX_calib/compute_collineati
4420	6f 6e 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	on.m............................
4440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4460	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
4480	20 20 20 32 32 37 36 20 20 36 37 36 33 30 37 30 32 31 36 20 20 31 33 30 32 32 00 20 00 00 00 00	...2276..6763070216..13022......
44a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
44c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
44e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
45a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
45c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
45e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4600	66 75 6e 63 74 69 6f 6e 20 5b 48 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e 6f 72 6d 5d 20 3d 20 63	function.[H,Hnorm,inv_Hnorm].=.c
4620	6f 6d 70 75 74 65 5f 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 20 28 61 30 30 2c 20 61 31 30 2c 20 61	ompute_collineation.(a00,.a10,.a
4640	31 31 2c 20 61 30 31 29 3b 0a 0a 25 20 6e 65 77 20 66 6f 72 6d 61 6c 69 73 6d 20 75 73 69 6e 67	11,.a01);..%.new.formalism.using
4660	20 68 6f 6d 6f 67 72 61 70 68 69 65 73 0a 0a 61 30 30 20 3d 20 61 30 30 20 2f 20 61 30 30 28 33	.homographies..a00.=.a00./.a00(3
4680	29 3b 0a 61 31 30 20 3d 20 61 31 30 20 2f 20 61 31 30 28 33 29 3b 0a 61 31 31 20 3d 20 61 31 31	);.a10.=.a10./.a10(3);.a11.=.a11
46a0	20 2f 20 61 31 31 28 33 29 3b 0a 61 30 31 20 3d 20 61 30 31 20 2f 20 61 30 31 28 33 29 3b 0a 0a	./.a11(3);.a01.=.a01./.a01(3);..
46c0	0a 25 20 50 72 65 6e 6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 70 6f 69 6e 74 20 63 6f 6f	.%.Prenormalization.of.point.coo
46e0	72 64 69 6e 61 74 65 73 20 28 76 65 72 79 20 69 6d 70 6f 72 74 61 6e 74 29 3a 0a 25 20 28 41 66	rdinates.(very.important):.%.(Af
4700	66 69 6e 65 20 6e 6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 29 0a 0a 61 78 20 3d 20 5b 61 30 30 28 31	fine.normalization)..ax.=.[a00(1
4720	29 3b 61 31 30 28 31 29 3b 61 31 31 28 31 29 3b 61 30 31 28 31 29 5d 3b 0a 61 79 20 3d 20 5b 61	);a10(1);a11(1);a01(1)];.ay.=.[a
4740	30 30 28 32 29 3b 61 31 30 28 32 29 3b 61 31 31 28 32 29 3b 61 30 31 28 32 29 5d 3b 0a 0a 6d 78	00(2);a10(2);a11(2);a01(2)];..mx
4760	78 20 3d 20 6d 65 61 6e 28 61 78 29 3b 0a 6d 79 79 20 3d 20 6d 65 61 6e 28 61 79 29 3b 0a 61 78	x.=.mean(ax);.myy.=.mean(ay);.ax
4780	20 3d 20 61 78 20 2d 20 6d 78 78 3b 0a 61 79 20 3d 20 61 79 20 2d 20 6d 79 79 3b 0a 0a 73 63 78	.=.ax.-.mxx;.ay.=.ay.-.myy;..scx
47a0	78 20 3d 20 6d 65 61 6e 28 61 62 73 28 61 78 29 29 3b 0a 73 63 79 79 20 3d 20 6d 65 61 6e 28 61	x.=.mean(abs(ax));.scyy.=.mean(a
47c0	62 73 28 61 79 29 29 3b 0a 0a 0a 48 6e 6f 72 6d 20 3d 20 5b 31 2f 73 63 78 78 20 30 20 2d 6d 78	bs(ay));...Hnorm.=.[1/scxx.0.-mx
47e0	78 2f 73 63 78 78 3b 30 20 31 2f 73 63 79 79 20 2d 6d 79 79 2f 73 63 79 79 3b 30 20 30 20 31 5d	x/scxx;0.1/scyy.-myy/scyy;0.0.1]
4800	3b 0a 69 6e 76 5f 48 6e 6f 72 6d 20 3d 20 5b 73 63 78 78 20 30 20 6d 78 78 20 3b 20 30 20 73 63	;.inv_Hnorm.=.[scxx.0.mxx.;.0.sc
4820	79 79 20 6d 79 79 3b 20 30 20 30 20 31 5d 3b 0a 0a 0a 61 30 30 6e 20 3d 20 48 6e 6f 72 6d 2a 61	yy.myy;.0.0.1];...a00n.=.Hnorm*a
4840	30 30 3b 0a 61 31 30 6e 20 3d 20 48 6e 6f 72 6d 2a 61 31 30 3b 0a 61 31 31 6e 20 3d 20 48 6e 6f	00;.a10n.=.Hnorm*a10;.a11n.=.Hno
4860	72 6d 2a 61 31 31 3b 0a 61 30 31 6e 20 3d 20 48 6e 6f 72 6d 2a 61 30 31 3b 0a 0a 0a 25 20 43 6f	rm*a11;.a01n.=.Hnorm*a01;...%.Co
4880	6d 70 75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74	mputation.of.the.vanishing.point
48a0	73 3a 0a 0a 56 31 6e 20 3d 20 63 72 6f 73 73 28 63 72 6f 73 73 28 61 30 30 6e 2c 61 31 30 6e 29	s:..V1n.=.cross(cross(a00n,a10n)
48c0	2c 63 72 6f 73 73 28 61 30 31 6e 2c 61 31 31 6e 29 29 3b 0a 56 32 6e 20 3d 20 63 72 6f 73 73 28	,cross(a01n,a11n));.V2n.=.cross(
48e0	63 72 6f 73 73 28 61 30 30 6e 2c 61 30 31 6e 29 2c 63 72 6f 73 73 28 61 31 30 6e 2c 61 31 31 6e	cross(a00n,a01n),cross(a10n,a11n
4900	29 29 3b 0a 0a 56 31 20 3d 20 69 6e 76 5f 48 6e 6f 72 6d 2a 56 31 6e 3b 0a 56 32 20 3d 20 69 6e	));..V1.=.inv_Hnorm*V1n;.V2.=.in
4920	76 5f 48 6e 6f 72 6d 2a 56 32 6e 3b 0a 0a 0a 25 20 4e 6f 72 6d 61 6c 69 7a 61 69 6f 6e 20 6f 66	v_Hnorm*V2n;...%.Normalizaion.of
4940	20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 3a 0a 0a 56 31 6e 20 3d 20 56 31	.the.vanishing.points:..V1n.=.V1
4960	6e 2f 6e 6f 72 6d 28 56 31 6e 29 3b 0a 56 32 6e 20 3d 20 56 32 6e 2f 6e 6f 72 6d 28 56 32 6e 29	n/norm(V1n);.V2n.=.V2n/norm(V2n)
4980	3b 0a 0a 0a 25 20 43 6c 6f 73 65 64 2d 66 6f 72 6d 20 73 6f 6c 75 74 69 6f 6e 20 6f 66 20 74 68	;...%.Closed-form.solution.of.th
49a0	65 20 63 6f 65 66 66 69 63 69 65 6e 74 73 3a 0a 0a 61 6c 70 68 61 5f 78 20 3d 20 28 61 31 30 6e	e.coefficients:..alpha_x.=.(a10n
49c0	28 32 29 2a 61 30 30 6e 28 31 29 20 2d 20 61 31 30 6e 28 31 29 2a 61 30 30 6e 28 32 29 29 2f 28	(2)*a00n(1).-.a10n(1)*a00n(2))/(
49e0	56 31 6e 28 32 29 2a 61 31 30 6e 28 31 29 2d 56 31 6e 28 31 29 2a 61 31 30 6e 28 32 29 29 3b 0a	V1n(2)*a10n(1)-V1n(1)*a10n(2));.
4a00	0a 61 6c 70 68 61 5f 79 20 3d 20 28 61 30 31 6e 28 32 29 2a 61 30 30 6e 28 31 29 20 2d 20 61 30	.alpha_y.=.(a01n(2)*a00n(1).-.a0
4a20	31 6e 28 31 29 2a 61 30 30 6e 28 32 29 29 2f 28 56 32 6e 28 32 29 2a 61 30 31 6e 28 31 29 2d 56	1n(1)*a00n(2))/(V2n(2)*a01n(1)-V
4a40	32 6e 28 31 29 2a 61 30 31 6e 28 32 29 29 3b 0a 0a 0a 25 20 52 65 6d 61 69 6e 69 6e 67 20 48 6f	2n(1)*a01n(2));...%.Remaining.Ho
4a60	6d 6f 67 72 61 70 68 79 0a 0a 48 72 65 6d 20 3d 20 5b 61 6c 70 68 61 5f 78 2a 56 31 6e 20 20 61	mography..Hrem.=.[alpha_x*V1n..a
4a80	6c 70 68 61 5f 79 2a 56 32 6e 20 61 30 30 6e 5d 3b 0a 0a 0a 25 20 46 69 6e 61 6c 20 68 6f 6d 6f	lpha_y*V2n.a00n];...%.Final.homo
4aa0	67 72 61 70 68 79 3a 0a 0a 48 20 3d 20 69 6e 76 5f 48 6e 6f 72 6d 2a 48 72 65 6d 3b 0a 0a 00 00	graphy:..H.=.inv_Hnorm*Hrem;....
4ac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4ae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4b00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4b20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4b40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4b60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4b80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4ba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4bc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 2e 6d 00	TOOLBOX_calib/comp_distortion.m.
4c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4c60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
4c80	20 20 20 32 30 35 32 20 20 36 37 36 33 30 37 30 32 32 30 20 20 31 32 30 30 35 00 20 00 00 00 00	...2052..6763070220..12005......
4ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4e00	66 75 6e 63 74 69 6f 6e 20 5b 78 5f 63 6f 6d 70 5d 20 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72	function.[x_comp]..=.comp_distor
4e20	74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b 0a 0a 25 20 20 20 20 20 20 20 5b 78 5f 63 6f 6d	tion(x_dist,k2);..%.......[x_com
4e40	70 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b	p].=.comp_distortion(x_dist,k2);
4e60	0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 63 6f 6d 70 65 6e 73 61 74 65 73 20 74 68	.%........%.......compensates.th
4e80	65 20 72 61 64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6d 65 72	e.radial.distortion.of.the.camer
4ea0	61 0a 25 20 20 20 20 20 20 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 2e 0a 25 20	a.%.......on.the.image.plane..%.
4ec0	20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 78 5f 64 69 73 74 20 3a 20 74 68 65 20 69 6d 61 67	.......%.......x_dist.:.the.imag
4ee0	65 20 70 6f 69 6e 74 73 20 67 6f 74 20 77 69 74 68 6f 75 74 20 63 6f 6e 73 69 64 65 72 69 6e 67	e.points.got.without.considering
4f00	20 74 68 65 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 72 61 64 69 61 6c 20 64 69 73	.the.%................radial.dis
4f20	74 6f 72 74 69 6f 6e 2e 0a 25 20 20 20 20 20 20 20 78 20 3a 20 54 68 65 20 69 6d 61 67 65 20 70	tortion..%.......x.:.The.image.p
4f40	6c 61 6e 65 20 70 6f 69 6e 74 73 20 61 66 74 65 72 20 63 6f 72 72 65 63 74 69 6f 6e 20 66 6f 72	lane.points.after.correction.for
4f60	20 74 68 65 20 64 69 73 74 6f 72 74 69 6f 6e 0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20	.the.distortion.%........%......
4f80	20 78 20 61 6e 64 20 78 5f 64 69 73 74 20 61 72 65 20 32 78 4e 20 61 72 72 61 79 73 0a 25 0a 25	.x.and.x_dist.are.2xN.arrays.%.%
4fa0	20 20 20 20 20 20 20 4e 4f 54 45 20 3a 20 54 68 69 73 20 63 6f 6d 70 65 6e 73 61 74 69 6f 6e 20	.......NOTE.:.This.compensation.
4fc0	68 61 73 20 74 6f 20 62 65 20 64 6f 6e 65 20 61 66 74 65 72 20 74 68 65 20 73 75 62 73 74 72 61	has.to.be.done.after.the.substra
4fe0	63 74 69 6f 6e 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6f 66 20 74 68 65 20 63 65 6e 74	ction.%..............of.the.cent
5000	65 72 20 6f 66 20 70 72 6f 6a 65 63 74 69 6f 6e 2c 20 61 6e 64 20 64 69 76 69 73 69 6f 6e 20 62	er.of.projection,.and.division.b
5020	79 20 74 68 65 20 66 6f 63 61 6c 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6c 65 6e 67 74	y.the.focal.%..............lengt
5040	68 2e 0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 28 64 6f 20 69 74 20 75 70 20 74 6f	h..%........%.......(do.it.up.to
5060	20 61 20 73 65 63 6f 6e 64 20 6f 72 64 65 72 20 61 70 70 72 6f 78 69 6d 61 74 69 6f 6e 29 0a 0a	.a.second.order.approximation)..
5080	5b 74 77 6f 2c 4e 5d 20 3d 20 73 69 7a 65 28 78 5f 64 69 73 74 29 3b 0a 0a 69 66 20 28 74 77 6f	[two,N].=.size(x_dist);..if.(two
50a0	20 7e 3d 20 32 20 29 2c 20 0a 20 65 72 72 6f 72 28 27 45 52 52 4f 52 20 3a 20 54 68 65 20 64 69	.~=.2.),...error('ERROR.:.The.di
50c0	6d 65 6e 73 69 6f 6e 20 6f 66 20 74 68 65 20 70 6f 69 6e 74 73 20 73 68 6f 75 6c 64 20 62 65 20	mension.of.the.points.should.be.
50e0	32 78 4e 27 29 3b 0a 65 6e 64 3b 0a 0a 72 61 64 69 75 73 5f 32 3d 20 78 5f 64 69 73 74 28 31 2c	2xN');.end;..radius_2=.x_dist(1,
5100	3a 29 2e 5e 32 20 2b 20 78 5f 64 69 73 74 28 32 2c 3a 29 2e 5e 32 3b 0a 72 61 64 69 61 6c 5f 64	:).^2.+.x_dist(2,:).^2;.radial_d
5120	69 73 74 6f 72 74 69 6f 6e 20 3d 20 31 20 2b 20 6f 6e 65 73 28 32 2c 31 29 2a 28 6b 32 20 2a 20	istortion.=.1.+.ones(2,1)*(k2.*.
5140	72 61 64 69 75 73 5f 32 29 3b 0a 72 61 64 69 75 73 5f 32 5f 63 6f 6d 70 20 3d 20 28 78 5f 64 69	radius_2);.radius_2_comp.=.(x_di
5160	73 74 28 31 2c 3a 29 2e 5e 32 20 2b 20 78 5f 64 69 73 74 28 32 2c 3a 29 2e 5e 32 29 20 2e 2f 20	st(1,:).^2.+.x_dist(2,:).^2)../.
5180	72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 28 31 2c 3a 29 3b 0a 72 61 64 69 61 6c 5f 64	radial_distortion(1,:);.radial_d
51a0	69 73 74 6f 72 74 69 6f 6e 20 3d 20 31 20 2b 20 6f 6e 65 73 28 32 2c 31 29 2a 28 6b 32 20 2a 20	istortion.=.1.+.ones(2,1)*(k2.*.
51c0	72 61 64 69 75 73 5f 32 5f 63 6f 6d 70 29 3b 0a 78 5f 63 6f 6d 70 20 3d 20 78 5f 64 69 73 74 20	radius_2_comp);.x_comp.=.x_dist.
51e0	2e 2f 20 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 3b 0a 0a 0a 25 25 20 46 75 6e 63 74	./.radial_distortion;...%%.Funct
5200	69 6f 6e 20 63 6f 6d 70 6c 65 74 65 6c 79 20 63 68 65 63 6b 65 64 20 3a 20 49 74 20 77 6f 72 6b	ion.completely.checked.:.It.work
5220	73 20 66 69 6e 65 20 21 21 21 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	s.fine.!!!......................
5240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5260	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5280	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
52a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
52c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
52e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
53a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
53c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
53e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 32 2e 6d	TOOLBOX_calib/comp_distortion2.m
5420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5460	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
5480	20 20 20 32 37 31 34 20 20 36 37 36 33 30 37 30 32 32 31 20 20 31 32 30 37 35 00 20 00 00 00 00	...2714..6763070221..12075......
54a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
54c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
54e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
55a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
55c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
55e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5600	66 75 6e 63 74 69 6f 6e 20 5b 78 5f 63 6f 6d 70 5d 20 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72	function.[x_comp]..=.comp_distor
5620	74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b 0a 0a 25 20 20 20 20 20 20 20 5b 78 5f 63 6f 6d	tion(x_dist,k2);..%.......[x_com
5640	70 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b	p].=.comp_distortion(x_dist,k2);
5660	0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 63 6f 6d 70 65 6e 73 61 74 65 73 20 74 68	.%........%.......compensates.th
5680	65 20 72 61 64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6d 65 72	e.radial.distortion.of.the.camer
56a0	61 0a 25 20 20 20 20 20 20 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 2e 0a 25 20	a.%.......on.the.image.plane..%.
56c0	20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 78 5f 64 69 73 74 20 3a 20 74 68 65 20 69 6d 61 67	.......%.......x_dist.:.the.imag
56e0	65 20 70 6f 69 6e 74 73 20 67 6f 74 20 77 69 74 68 6f 75 74 20 63 6f 6e 73 69 64 65 72 69 6e 67	e.points.got.without.considering
5700	20 74 68 65 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 72 61 64 69 61 6c 20 64 69 73	.the.%................radial.dis
5720	74 6f 72 74 69 6f 6e 2e 0a 25 20 20 20 20 20 20 20 6b 32 3a 20 52 61 64 69 61 6c 20 64 69 73 74	tortion..%.......k2:.Radial.dist
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5760	69 6d 61 67 65 20 70 6c 61 6e 65 20 70 6f 69 6e 74 73 20 61 66 74 65 72 20 63 6f 72 72 65 63 74	image.plane.points.after.correct
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6680	41 64 64 20 61 20 7a 65 72 6f 20 7a 6f 6e 65 20 6f 66 20 73 69 7a 65 20 77 78 32 2c 77 79 32 0a	Add.a.zero.zone.of.size.wx2,wy2.
66a0	25 4a 75 6c 79 20 31 35 74 68 2c 20 31 39 39 39 20 2d 20 42 75 67 20 6f 6e 20 74 68 65 20 6d 61	%July.15th,.1999.-.Bug.on.the.ma
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79e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7a00	66 75 6e 63 74 69 6f 6e 20 6e 73 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 31	function.ns.=.count_squares(I,x1
7a20	2c 79 31 2c 78 32 2c 79 32 2c 77 69 6e 29 3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 5b 6e 79	,y1,x2,y2,win);..%keyboard;..[ny
7a40	2c 6e 78 5d 20 3d 20 73 69 7a 65 28 49 29 3b 0a 0a 6c 61 6d 62 64 61 20 3d 20 5b 79 31 20 2d 20	,nx].=.size(I);..lambda.=.[y1.-.
7a60	79 32 3b 78 32 20 2d 20 78 31 3b 78 31 2a 79 32 20 2d 20 78 32 2a 79 31 5d 3b 0a 0a 6c 61 6d 62	y2;x2.-.x1;x1*y2.-.x2*y1];..lamb
7a80	64 61 20 3d 20 31 2f 73 71 72 74 28 6c 61 6d 62 64 61 28 31 29 5e 32 20 2b 20 6c 61 6d 62 64 61	da.=.1/sqrt(lambda(1)^2.+.lambda
7aa0	28 32 29 5e 32 29 20 2a 20 6c 61 6d 62 64 61 3b 0a 0a 6c 31 20 3d 20 6c 61 6d 62 64 61 20 2b 20	(2)^2).*.lambda;..l1.=.lambda.+.
7ac0	5b 30 3b 30 3b 77 69 6e 5d 3b 0a 6c 32 20 3d 20 6c 61 6d 62 64 61 20 2d 20 5b 30 3b 30 3b 77 69	[0;0;win];.l2.=.lambda.-.[0;0;wi
7ae0	6e 5d 3b 0a 0a 0a 64 78 20 3d 20 78 32 2d 78 31 3b 0a 64 79 20 3d 20 79 32 20 2d 20 79 31 3b 0a	n];...dx.=.x2-x1;.dy.=.y2.-.y1;.
7b00	0a 0a 69 66 20 61 62 73 28 64 78 29 20 3e 20 61 62 73 28 64 79 29 2c 0a 20 20 20 0a 20 20 20 69	..if.abs(dx).>.abs(dy),........i
7b20	66 20 78 32 20 3e 20 78 31 2c 0a 20 20 20 20 20 20 78 73 20 3d 20 78 31 3a 78 32 3b 0a 20 20 20	f.x2.>.x1,.......xs.=.x1:x2;....
7b40	65 6c 73 65 0a 20 20 20 20 20 20 78 73 20 3d 20 78 31 3a 2d 31 3a 78 32 3b 0a 20 20 20 65 6e 64	else.......xs.=.x1:-1:x2;....end
7b60	3b 0a 20 20 20 0a 20 20 20 79 73 20 3d 20 2d 28 6c 61 6d 62 64 61 28 33 29 20 2b 20 6c 61 6d 62	;........ys.=.-(lambda(3).+.lamb
7b80	64 61 28 31 29 2a 78 73 29 2f 6c 61 6d 62 64 61 28 32 29 3b 0a 20 20 20 0a 65 6c 73 65 0a 20 20	da(1)*xs)/lambda(2);.....else...
7ba0	20 0a 20 20 20 69 66 20 79 32 20 3e 20 79 31 2c 0a 20 20 20 20 20 20 79 73 20 3d 20 79 31 3a 79	.....if.y2.>.y1,.......ys.=.y1:y
7bc0	32 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 79 73 20 3d 20 79 31 3a 2d 31 3a 79 32 3b 0a	2;....else.......ys.=.y1:-1:y2;.
7be0	20 20 20 65 6e 64 3b 0a 20 20 20 78 73 20 3d 20 2d 28 6c 61 6d 62 64 61 28 33 29 20 2b 20 6c 61	...end;....xs.=.-(lambda(3).+.la
7c00	6d 62 64 61 28 32 29 2a 79 73 29 2f 6c 61 6d 62 64 61 28 31 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a	mbda(2)*ys)/lambda(1);.....end;.
7c20	0a 0a 20 20 20 0a 09 4e 70 20 3d 20 6c 65 6e 67 74 68 28 78 73 29 3b 0a 0a 09 78 73 5f 6d 61 74	.......Np.=.length(xs);...xs_mat
7c40	20 3d 20 6f 6e 65 73 28 32 2a 77 69 6e 20 2b 20 31 2c 31 29 2a 78 73 3b 0a 09 79 73 5f 6d 61 74	.=.ones(2*win.+.1,1)*xs;..ys_mat
7c60	20 3d 20 6f 6e 65 73 28 32 2a 77 69 6e 20 2b 20 31 2c 31 29 2a 79 73 3b 0a 0a 09 77 69 6e 5f 6d	.=.ones(2*win.+.1,1)*ys;...win_m
7c80	61 74 20 3d 20 28 2d 77 69 6e 3a 77 69 6e 29 27 2a 6f 6e 65 73 28 31 2c 4e 70 29 3b 0a 0a 0a 09	at.=.(-win:win)'*ones(1,Np);....
7ca0	78 73 5f 6d 61 74 32 20 3d 20 72 6f 75 6e 64 28 78 73 5f 6d 61 74 20 2d 20 77 69 6e 5f 6d 61 74	xs_mat2.=.round(xs_mat.-.win_mat
7cc0	20 2a 20 6c 61 6d 62 64 61 28 31 29 29 3b 0a 09 79 73 5f 6d 61 74 32 20 3d 20 72 6f 75 6e 64 28	.*.lambda(1));..ys_mat2.=.round(
7ce0	79 73 5f 6d 61 74 20 2d 20 77 69 6e 5f 6d 61 74 20 2a 20 6c 61 6d 62 64 61 28 32 29 29 3b 0a 0a	ys_mat.-.win_mat.*.lambda(2));..
7d00	09 69 6e 64 5f 6d 61 74 20 3d 20 28 78 73 5f 6d 61 74 32 20 2d 20 31 29 20 2a 20 6e 79 20 2b 20	.ind_mat.=.(xs_mat2.-.1).*.ny.+.
7d20	79 73 5f 6d 61 74 32 3b 0a 0a 09 69 6d 61 5f 70 61 74 63 68 20 3d 20 7a 65 72 6f 73 28 32 2a 77	ys_mat2;...ima_patch.=.zeros(2*w
7d40	69 6e 20 2b 20 31 2c 4e 70 29 3b 0a 0a 09 69 6d 61 5f 70 61 74 63 68 28 3a 29 20 3d 20 49 28 69	in.+.1,Np);...ima_patch(:).=.I(i
7d60	6e 64 5f 6d 61 74 28 3a 29 29 3b 0a 0a 09 25 69 6d 61 32 20 3d 20 69 6d 61 5f 70 61 74 63 68 28	nd_mat(:));...%ima2.=.ima_patch(
7d80	3a 2c 77 69 6e 2b 31 3a 65 6e 64 2d 77 69 6e 29 3b 0a 0a 09 66 69 6c 74 6b 20 3d 20 5b 6f 6e 65	:,win+1:end-win);...filtk.=.[one
7da0	73 28 77 69 6e 2c 4e 70 29 3b 7a 65 72 6f 73 28 31 2c 4e 70 29 3b 2d 6f 6e 65 73 28 77 69 6e 2c	s(win,Np);zeros(1,Np);-ones(win,
7dc0	4e 70 29 5d 3b 0a 0a 09 6f 75 74 5f 66 20 3d 20 73 75 6d 28 66 69 6c 74 6b 2e 2a 69 6d 61 5f 70	Np)];...out_f.=.sum(filtk.*ima_p
7de0	61 74 63 68 29 3b 0a 0a 09 6f 75 74 5f 66 5f 66 20 3d 20 63 6f 6e 76 32 28 6f 75 74 5f 66 2c 5b	atch);...out_f_f.=.conv2(out_f,[
7e00	31 2f 34 20 31 2f 32 20 31 2f 34 5d 2c 27 73 61 6d 65 27 29 3b 0a 0a 09 6f 75 74 5f 66 5f 66 20	1/4.1/2.1/4],'same');...out_f_f.
7e20	3d 20 6f 75 74 5f 66 5f 66 28 77 69 6e 2b 31 3a 65 6e 64 2d 77 69 6e 29 3b 0a 0a 09 6e 73 20 3d	=.out_f_f(win+1:end-win);...ns.=
7e40	20 6c 65 6e 67 74 68 28 66 69 6e 64 28 28 28 6f 75 74 5f 66 5f 66 28 32 3a 65 6e 64 29 3e 3d 30	.length(find(((out_f_f(2:end)>=0
7e60	29 26 28 6f 75 74 5f 66 5f 66 28 31 3a 65 6e 64 2d 31 29 3c 30 29 29 20 7c 20 28 28 6f 75 74 5f	)&(out_f_f(1:end-1)<0)).|.((out_
7e80	66 5f 66 28 32 3a 65 6e 64 29 3c 3d 30 29 26 28 6f 75 74 5f 66 5f 66 28 31 3a 65 6e 64 2d 31 29	f_f(2:end)<=0)&(out_f_f(1:end-1)
7ea0	3e 30 29 29 29 29 2b 31 3b 0a 0a 20 20 20 0a 0a 0a 72 65 74 75 72 6e 3b 0a 00 00 00 00 00 00 00	>0))))+1;........return;........
7ec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7ee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7fa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7fc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7fe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 64 61 74 61 5f 63 61 6c 69 62 2e 6d 00 00 00 00 00 00	TOOLBOX_calib/data_calib.m......
8020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8060	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
8080	20 20 20 33 30 33 36 20 20 36 37 36 33 30 37 30 32 32 33 20 20 31 30 36 34 32 00 20 00 00 00 00	...3036..6763070223..10642......
80a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
80c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
80e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
81a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
81c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
81e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8200	25 25 25 20 54 68 69 73 20 73 63 72 69 70 74 20 61 6c 65 74 73 20 74 68 65 20 75 73 65 72 20 65	%%%.This.script.alets.the.user.e
8220	6e 74 65 72 20 74 68 65 20 6e 61 6d 65 20 6f 66 20 74 68 65 20 69 6d 61 67 65 73 20 28 62 61 73	nter.the.name.of.the.images.(bas
8240	65 20 6e 61 6d 65 2c 20 6e 75 6d 62 65 72 69 6e 67 20 73 63 68 65 6d 65 2c 2e 2e 2e 0a 0a 64 69	e.name,.numbering.scheme,.....di
8260	72 3b 0a 0a 64 69 73 70 28 27 43 61 6d 65 72 61 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 75 73 69	r;..disp('Camera.Calibration.usi
8280	6e 67 20 6d 75 6c 74 69 70 6c 65 20 69 6d 61 67 65 73 20 6f 66 20 70 6c 61 6e 61 72 20 70 61 74	ng.multiple.images.of.planar.pat
82a0	74 65 72 6e 27 29 3b 0a 64 69 73 70 28 27 4d 6f 64 65 6c 3a 20 32 20 66 6f 63 61 6c 73 2c 20 32	tern');.disp('Model:.2.focals,.2
82c0	20 72 61 64 69 61 6c 20 64 69 73 74 2e 20 63 6f 65 66 66 2e 2c 20 32 20 74 61 6e 67 65 6e 74 69	.radial.dist..coeff.,.2.tangenti
82e0	61 6c 20 64 69 73 74 2e 20 63 6f 65 66 66 2e 20 61 6e 64 20 70 72 69 6e 63 69 70 6c 65 20 70 6f	al.dist..coeff..and.principle.po
8300	69 6e 74 20 28 6f 70 74 29 27 29 3b 0a 64 69 73 70 28 27 57 41 52 4e 49 4e 47 3a 20 54 68 65 20	int.(opt)');.disp('WARNING:.The.
8320	72 65 66 65 72 65 6e 63 65 20 70 6c 61 6e 65 20 69 73 20 61 73 73 75 6d 65 64 20 74 6f 20 62 65	reference.plane.is.assumed.to.be
8340	20 75 73 65 64 20 69 6e 20 74 68 65 20 66 69 72 73 74 20 69 6d 61 67 65 21 27 29 3b 0a 66 70 72	.used.in.the.first.image!');.fpr
8360	69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 63 61 6c 69 62 5f 6e 61 6d 65 20 3d 20 69 6e 70 75 74	intf(1,'\n');.calib_name.=.input
8380	28 27 42 61 73 65 6e 61 6d 65 20 63 61 6d 65 72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d	('Basename.camera.calibration.im
83a0	61 67 65 73 20 28 77 69 74 68 6f 75 74 20 6e 75 6d 62 65 72 20 6e 6f 72 20 73 75 66 66 69 78 29	ages.(without.number.nor.suffix)
83c0	3a 20 27 2c 27 73 27 29 3b 0a 0a 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 20 69 6e 70 75 74	:.','s');..format_image.=..input
83e0	28 27 49 6d 61 67 65 20 66 6f 72 6d 61 74 3a 20 28 5b 5d 3d 27 27 72 27 27 3d 27 27 72 61 73 27	('Image.format:.([]=''r''=''ras'
8400	27 2c 20 27 27 62 27 27 3d 27 27 62 6d 70 27 27 2c 20 27 27 74 27 27 3d 27 27 74 69 66 27 27 29	',.''b''=''bmp'',.''t''=''tif'')
8420	20 27 2c 27 73 27 29 3b 0a 0a 69 66 20 69 73 65 6d 70 74 79 28 66 6f 72 6d 61 74 5f 69 6d 61 67	.','s');..if.isempty(format_imag
8440	65 29 2c 0a 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 72 61 73 27 3b 0a 65 6e 64	e),....format_image.=.'ras';.end
8460	3b 0a 0a 69 66 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 62 27 2c 0a 20 20	;..if.format_image(1).==.'b',...
8480	20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 62 6d 70 27 3b 0a 65 6c 73 65 0a 20 20 20 69	.format_image.=.'bmp';.else....i
84a0	66 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 74 27 2c 0a 20 20 20 20 20 20	f.format_image(1).==.'t',.......
84c0	66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 74 69 66 27 3b 0a 20 20 20 65 6c 73 65 0a 20 20	format_image.=.'tif';....else...
84e0	20 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 72 61 73 27 3b 0a 20 20 20 65 6e 64	....format_image.=.'ras';....end
8500	3b 0a 65 6e 64 3b 0a 0a 0a 6e 5f 69 6d 61 20 3d 20 31 30 30 30 3b 0a 77 68 69 6c 65 20 6e 5f 69	;.end;...n_ima.=.1000;.while.n_i
8520	6d 61 20 3e 20 33 30 2c 0a 20 20 20 6e 5f 69 6d 61 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65	ma.>.30,....n_ima.=.input('Numbe
8540	72 20 6f 66 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73 20 28 6d 61 78 3d 33 30 29	r.of.calibration.images.(max=30)
8560	3a 20 27 29 3b 0a 20 20 20 6e 5f 69 6d 61 20 3d 20 72 6f 75 6e 64 28 6e 5f 69 6d 61 29 3b 0a 65	:.');....n_ima.=.round(n_ima);.e
8580	6e 64 3b 0a 0a 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 3d 20 69 6e 70 75 74 28 27 54 79 70	nd;..type_numbering.=.input('Typ
85a0	65 20 6f 66 20 6e 75 6d 62 65 72 69 6e 67 20 28 65 78 3a 20 5b 5d 3d 34 2c 6f 74 68 65 72 3d 30	e.of.numbering.(ex:.[]=4,other=0
85c0	34 29 3a 20 27 29 3b 0a 0a 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 3d 20 7e 69 73 65 6d 70	4):.');..type_numbering.=.~isemp
85e0	74 79 28 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 29 3b 0a 0a 69 66 20 74 79 70 65 5f 6e 75 6d	ty(type_numbering);..if.type_num
8600	62 65 72 69 6e 67 2c 0a 20 20 20 0a 20 20 20 4e 5f 73 6c 6f 74 73 20 3d 20 69 6e 70 75 74 28 27	bering,........N_slots.=.input('
8620	4e 75 6d 62 65 72 20 6f 66 20 73 70 61 63 65 73 20 66 6f 72 20 6e 75 6d 62 65 72 73 3f 20 28 65	Number.of.spaces.for.numbers?.(e
8640	78 3a 20 32 20 2d 3e 20 30 34 2c 20 33 20 2d 3e 20 30 30 34 29 2c 20 28 5b 5d 3d 33 29 20 27 29	x:.2.->.04,.3.->.004),.([]=3).')
8660	3b 0a 0a 20 20 20 69 66 20 69 73 65 6d 70 74 79 28 4e 5f 73 6c 6f 74 73 29 2c 20 4e 5f 73 6c 6f	;.....if.isempty(N_slots),.N_slo
8680	74 73 20 3d 20 33 3b 20 65 6e 64 3b 0a 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 4e 5f 73 6c 6f 74	ts.=.3;.end;..else........N_slot
86a0	73 20 3d 20 31 3b 20 25 20 6e 6f 74 20 75 73 65 64 20 61 6e 79 77 61 79 2c 20 62 75 74 20 75 73	s.=.1;.%.not.used.anyway,.but.us
86c0	65 66 75 6c 20 66 6f 72 20 73 61 76 69 6e 67 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 66 69 72 73 74	eful.for.saving.....end;...first
86e0	5f 6e 75 6d 20 3d 20 69 6e 70 75 74 28 27 46 69 72 73 74 20 69 6d 61 67 65 20 6e 75 6d 62 65 72	_num.=.input('First.image.number
8700	3f 20 28 30 2c 31 2c 32 2e 2e 2e 29 20 28 5b 5d 3d 30 29 20 27 29 3b 0a 20 0a 69 66 20 69 73 65	?.(0,1,2...).([]=0).');...if.ise
8720	6d 70 74 79 28 66 69 72 73 74 5f 6e 75 6d 29 2c 20 66 69 72 73 74 5f 6e 75 6d 20 3d 20 30 3b 20	mpty(first_num),.first_num.=.0;.
8740	65 6e 64 3b 0a 0a 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 3d 20 66 69 72 73 74 5f 6e 75 6d 3a	end;..image_numbers.=.first_num:
8760	6e 5f 69 6d 61 2d 31 2b 66 69 72 73 74 5f 6e 75 6d 3b 0a 0a 0a 25 73 74 72 69 6e 67 5f 73 61 76	n_ima-1+first_num;...%string_sav
8780	65 20 3d 20 27 73 61 76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 6e 5f 69 6d 61 20 74 79 70 65 5f	e.=.'save.calib_data.n_ima.type_
87a0	6e 75 6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20	numbering.N_slots.image_numbers.
87c0	66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 66 69 72 73 74 5f 6e 75	format_image.calib_name.first_nu
87e0	6d 27 3b 0a 0a 25 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 0a 25 20 52 65 61 64	m';..%eval(string_save);..%.Read
8800	69 6e 67 20 69 6d 61 67 65 73 3a 0a 0a 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 0a 00 00	ing.images:..ima_read_calib;....
8820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8860	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8880	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
88a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
88c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
88e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
89a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
89c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
89e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8a00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 44 69 73 74 6f 72 32 43 61 6c 69 62 2e 6d 00 00 00 00	TOOLBOX_calib/Distor2Calib.m....
8a20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8a40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8a60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
8a80	20 20 32 30 34 32 32 20 20 36 37 36 33 30 37 30 32 32 34 20 20 31 31 30 37 37 00 20 00 00 00 00	..20422..6763070224..11077......
8aa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8ac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8ae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8b00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8b20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8b40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8b60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8b80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8ba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8bc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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9c00	75 72 61 74 65 6c 79 0a 20 20 20 0a 20 20 20 78 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c	urately........x_grid(:).=.x_all
9c20	5f 63 28 31 2c 3a 29 3b 0a 20 20 20 79 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c 5f 63 28	_c(1,:);....y_grid(:).=.x_all_c(
9c40	32 2c 3a 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f	2,:);..............for.k=1:n_sq_
9c60	78 2b 31 2c 0a 20 20 20 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64	x+1,.......[U,S,V].=.svd([x_grid
9c80	28 6b 2c 3a 29 3b 79 5f 67 72 69 64 28 6b 2c 3a 29 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b	(k,:);y_grid(k,:);ones(1,n_sq_y+
9ca0	31 29 5d 29 3b 0a 20 20 20 20 20 20 76 65 72 74 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a	1)]);.......vert(:,k).=.U(:,3);.
9cc0	20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f 79 2b 31 2c	...end;........for.k=1:n_sq_y+1,
9ce0	0a 20 20 20 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64 28 3a 2c 6b	.......[U,S,V].=.svd([x_grid(:,k
9d00	29 27 3b 79 5f 67 72 69 64 28 3a 2c 6b 29 27 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 78 2b 31 29	)';y_grid(:,k)';ones(1,n_sq_x+1)
9d20	5d 29 3b 0a 20 20 20 20 20 20 68 6f 72 69 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20	]);.......hori(:,k).=.U(:,3);...
9d40	20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 25 20 32 20 70 72 69 6e 63 69 70 6c 65 20 56 61 6e 69 73	.end;........%.2.principle.Vanis
9d60	68 69 6e 67 20 70 6f 69 6e 74 73 3a 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 76 65	hing.points:....[U,S,V].=.svd(ve
9d80	72 74 29 3b 0a 20 20 20 56 5f 76 65 72 74 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20 20 5b 55 2c 53	rt);....V_vert.=.U(:,3);....[U,S
9da0	2c 56 5d 20 3d 20 73 76 64 28 68 6f 72 69 29 3b 0a 20 20 20 56 5f 68 6f 72 69 20 3d 20 55 28 3a	,V].=.svd(hori);....V_hori.=.U(:
9dc0	2c 33 29 3b 0a 20 20 20 0a 20 20 20 0a 0a 20 20 20 25 20 53 71 75 61 72 65 20 77 61 72 70 69 6e	,3);.............%.Square.warpin
9de0	67 3a 0a 20 20 20 0a 20 20 20 0a 20 20 20 76 65 72 74 5f 66 69 72 73 74 20 3d 20 76 65 72 74 28	g:............vert_first.=.vert(
9e00	3a 2c 31 29 20 2d 20 64 6f 74 28 56 5f 76 65 72 74 2c 76 65 72 74 28 3a 2c 31 29 29 2f 64 6f 74	:,1).-.dot(V_vert,vert(:,1))/dot
9e20	28 56 5f 76 65 72 74 2c 56 5f 76 65 72 74 29 20 2a 20 56 5f 76 65 72 74 3b 0a 20 20 20 76 65 72	(V_vert,V_vert).*.V_vert;....ver
9e40	74 5f 6c 61 73 74 20 3d 20 76 65 72 74 28 3a 2c 6e 5f 73 71 5f 78 2b 31 29 20 2d 20 64 6f 74 28	t_last.=.vert(:,n_sq_x+1).-.dot(
9e60	56 5f 76 65 72 74 2c 76 65 72 74 28 3a 2c 6e 5f 73 71 5f 78 2b 31 29 29 2f 64 6f 74 28 56 5f 76	V_vert,vert(:,n_sq_x+1))/dot(V_v
9e80	65 72 74 2c 56 5f 76 65 72 74 29 20 2a 20 56 5f 76 65 72 74 3b 0a 20 20 20 0a 20 20 20 68 6f 72	ert,V_vert).*.V_vert;........hor
9ea0	69 5f 66 69 72 73 74 20 3d 20 68 6f 72 69 28 3a 2c 31 29 20 2d 20 64 6f 74 28 56 5f 68 6f 72 69	i_first.=.hori(:,1).-.dot(V_hori
9ec0	2c 68 6f 72 69 28 3a 2c 31 29 29 2f 64 6f 74 28 56 5f 68 6f 72 69 2c 56 5f 68 6f 72 69 29 20 2a	,hori(:,1))/dot(V_hori,V_hori).*
9ee0	20 56 5f 68 6f 72 69 3b 0a 20 20 20 68 6f 72 69 5f 6c 61 73 74 20 3d 20 68 6f 72 69 28 3a 2c 6e	.V_hori;....hori_last.=.hori(:,n
9f00	5f 73 71 5f 79 2b 31 29 20 2d 20 64 6f 74 28 56 5f 68 6f 72 69 2c 68 6f 72 69 28 3a 2c 6e 5f 73	_sq_y+1).-.dot(V_hori,hori(:,n_s
9f20	71 5f 79 2b 31 29 29 2f 64 6f 74 28 56 5f 68 6f 72 69 2c 56 5f 68 6f 72 69 29 20 2a 20 56 5f 68	q_y+1))/dot(V_hori,V_hori).*.V_h
9f40	6f 72 69 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 78 31 20 3d 20 63 72 6f 73 73 28 68 6f 72 69 5f	ori;............x1.=.cross(hori_
9f60	66 69 72 73 74 2c 76 65 72 74 5f 66 69 72 73 74 29 3b 0a 20 20 20 78 32 20 3d 20 63 72 6f 73 73	first,vert_first);....x2.=.cross
9f80	28 68 6f 72 69 5f 66 69 72 73 74 2c 76 65 72 74 5f 6c 61 73 74 29 3b 0a 20 20 20 78 33 20 3d 20	(hori_first,vert_last);....x3.=.
9fa0	63 72 6f 73 73 28 68 6f 72 69 5f 6c 61 73 74 2c 76 65 72 74 5f 6c 61 73 74 29 3b 0a 20 20 20 78	cross(hori_last,vert_last);....x
9fc0	34 20 3d 20 63 72 6f 73 73 28 68 6f 72 69 5f 6c 61 73 74 2c 76 65 72 74 5f 66 69 72 73 74 29 3b	4.=.cross(hori_last,vert_first);
9fe0	0a 20 20 20 0a 20 20 20 78 31 20 3d 20 78 31 2f 78 31 28 33 29 3b 0a 20 20 20 78 32 20 3d 20 78	........x1.=.x1/x1(3);....x2.=.x
a000	32 2f 78 32 28 33 29 3b 0a 20 20 20 78 33 20 3d 20 78 33 2f 78 33 28 33 29 3b 0a 20 20 20 78 34	2/x2(3);....x3.=.x3/x3(3);....x4
a020	20 3d 20 78 34 2f 78 34 28 33 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 5b 73 71 75	.=.x4/x4(3);................[squ
a040	61 72 65 5d 20 3d 20 52 65 63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 28 5b 78 31 20 78 32 20 78	are].=.Rectangle2Square([x1.x2.x
a060	33 20 78 34 5d 2c 57 2c 4c 29 3b 0a 0a 20 20 20 79 31 20 3d 20 73 71 75 61 72 65 28 3a 2c 31 29	3.x4],W,L);.....y1.=.square(:,1)
a080	3b 0a 20 20 20 79 32 20 3d 20 73 71 75 61 72 65 28 3a 2c 32 29 3b 0a 20 20 20 79 33 20 3d 20 73	;....y2.=.square(:,2);....y3.=.s
a0a0	71 75 61 72 65 28 3a 2c 33 29 3b 0a 20 20 20 79 34 20 3d 20 73 71 75 61 72 65 28 3a 2c 34 29 3b	quare(:,3);....y4.=.square(:,4);
a0c0	0a 0a 20 20 20 48 32 20 3d 20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72 69 29 3b 0a	.....H2.=.cross(V_vert,V_hori);.
a0e0	20 20 20 0a 20 20 20 56 5f 64 69 61 67 31 20 3d 20 63 72 6f 73 73 28 63 72 6f 73 73 28 79 31 2c	.......V_diag1.=.cross(cross(y1,
a100	79 33 29 2c 48 32 29 3b 0a 20 20 20 56 5f 64 69 61 67 32 20 3d 20 63 72 6f 73 73 28 63 72 6f 73	y3),H2);....V_diag2.=.cross(cros
a120	73 28 79 32 2c 79 34 29 2c 48 32 29 3b 0a 0a 20 20 20 56 5f 64 69 61 67 31 20 3d 20 56 5f 64 69	s(y2,y4),H2);.....V_diag1.=.V_di
a140	61 67 31 20 2f 20 6e 6f 72 6d 28 56 5f 64 69 61 67 31 29 3b 0a 20 20 20 56 5f 64 69 61 67 32 20	ag1./.norm(V_diag1);....V_diag2.
a160	3d 20 56 5f 64 69 61 67 32 20 2f 20 6e 6f 72 6d 28 56 5f 64 69 61 67 32 29 3b 0a 0a 20 20 20 0a	=.V_diag2./.norm(V_diag2);......
a180	20 20 20 0a 20 20 20 0a 20 20 20 25 20 45 73 74 69 6d 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 66	...........%.Estimation.of.the.f
a1a0	6f 63 61 6c 20 6c 65 6e 67 74 68 2c 20 61 6e 64 20 6e 6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 3a 0a	ocal.length,.and.normalization:.
a1c0	20 20 20 0a 20 20 20 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 65 6c 6c 69 70 73 69 73 20 6f 66	.......%.Compute.the.ellipsis.of
a1e0	20 28 31 2f 66 5e 32 29 20 70 6f 73 69 74 69 6f 6e 73 3a 0a 20 20 20 25 20 61 20 2a 20 28 31 2f	.(1/f^2).positions:....%.a.*.(1/
a200	66 78 29 5e 32 20 2b 20 62 20 2a 20 28 31 2f 66 78 29 5e 32 20 3d 20 2d 63 0a 20 20 20 0a 20 20	fx)^2.+.b.*.(1/fx)^2.=.-c.......
a220	20 0a 20 20 20 61 31 20 3d 20 56 5f 68 6f 72 69 28 31 29 3b 0a 20 20 20 62 31 20 3d 20 56 5f 68	.....a1.=.V_hori(1);....b1.=.V_h
a240	6f 72 69 28 32 29 3b 0a 20 20 20 63 31 20 3d 20 56 5f 68 6f 72 69 28 33 29 3b 0a 20 20 20 0a 20	ori(2);....c1.=.V_hori(3);......
a260	20 20 61 32 20 3d 20 56 5f 76 65 72 74 28 31 29 3b 0a 20 20 20 62 32 20 3d 20 56 5f 76 65 72 74	..a2.=.V_vert(1);....b2.=.V_vert
a280	28 32 29 3b 0a 20 20 20 63 32 20 3d 20 56 5f 76 65 72 74 28 33 29 3b 0a 20 20 20 0a 20 20 20 61	(2);....c2.=.V_vert(3);........a
a2a0	33 20 3d 20 56 5f 64 69 61 67 31 28 31 29 3b 0a 20 20 20 62 33 20 3d 20 56 5f 64 69 61 67 31 28	3.=.V_diag1(1);....b3.=.V_diag1(
a2c0	32 29 3b 0a 20 20 20 63 33 20 3d 20 56 5f 64 69 61 67 31 28 33 29 3b 0a 20 20 20 0a 20 20 20 61	2);....c3.=.V_diag1(3);........a
a2e0	34 20 3d 20 56 5f 64 69 61 67 32 28 31 29 3b 0a 20 20 20 62 34 20 3d 20 56 5f 64 69 61 67 32 28	4.=.V_diag2(1);....b4.=.V_diag2(
a300	32 29 3b 0a 20 20 20 63 34 20 3d 20 56 5f 64 69 61 67 32 28 33 29 3b 0a 20 20 20 0a 20 20 20 0a	2);....c4.=.V_diag2(3);.........
a320	20 20 20 69 66 20 74 77 6f 5f 66 6f 63 61 6c 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20	...if.two_focal,................
a340	20 20 20 20 20 41 20 3d 20 5b 61 31 2a 61 32 20 62 31 2a 62 32 3b 61 33 2a 61 34 20 62 33 2a 62	.....A.=.[a1*a2.b1*b2;a3*a4.b3*b
a360	34 5d 3b 0a 20 20 20 20 20 20 62 20 3d 20 2d 5b 63 31 2a 63 32 3b 63 33 2a 63 34 5d 3b 0a 20 20	4];.......b.=.-[c1*c2;c3*c4];...
a380	20 20 20 20 0a 20 20 20 20 20 20 66 20 3d 20 73 71 72 74 28 61 62 73 28 31 2e 2f 28 69 6e 76 28	...........f.=.sqrt(abs(1./(inv(
a3a0	41 29 2a 62 29 29 29 3b 0a 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 66	A)*b)));.....else..............f
a3c0	20 3d 20 73 71 72 74 28 61 62 73 28 2d 28 63 31 2a 63 32 2a 28 61 31 2a 61 32 20 2b 20 62 31 2a	.=.sqrt(abs(-(c1*c2*(a1*a2.+.b1*
a3e0	62 32 29 20 2b 20 63 33 2a 63 34 2a 28 61 33 2a 61 34 20 2b 20 62 33 2a 62 34 29 29 2f 28 63 31	b2).+.c3*c4*(a3*a4.+.b3*b4))/(c1
a400	5e 32 2a 63 32 5e 32 20 2b 20 63 33 5e 32 2a 63 34 5e 32 29 29 29 3b 0a 20 20 20 20 20 20 0a 20	^2*c2^2.+.c3^2*c4^2)));.........
a420	20 20 20 20 20 66 20 3d 20 5b 66 3b 66 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20	.....f.=.[f;f];...........end;..
a440	20 20 0a 0a 20 20 20 0a 20 20 20 25 20 52 45 4d 41 52 4b 3a 0a 20 20 20 25 20 69 66 20 62 6f 74	...........%.REMARK:....%.if.bot
a460	68 20 61 20 61 6e 64 20 62 20 61 72 65 20 73 6d 61 6c 6c 2c 20 74 68 65 20 63 61 6c 69 62 72 61	h.a.and.b.are.small,.the.calibra
a480	74 69 6f 6e 20 69 73 20 69 6d 70 6f 73 73 69 62 6c 65 2e 0a 20 20 20 25 20 69 66 20 6f 6e 65 20	tion.is.impossible.....%.if.one.
a4a0	6f 66 20 74 68 65 6d 20 69 73 20 73 6d 61 6c 6c 2c 20 6f 6e 6c 79 20 74 68 65 20 6f 74 68 65 72	of.them.is.small,.only.the.other
a4c0	20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 69 73 20 6f 62 73 65 72 76 61 62 6c 65 0a 20 20 20 25	.focal.length.is.observable....%
a4e0	20 69 66 20 6e 6f 6e 65 20 69 73 20 73 6d 61 6c 6c 2c 20 62 6f 74 68 20 66 6f 63 61 6c 73 20 61	.if.none.is.small,.both.focals.a
a500	72 65 20 6f 62 73 65 72 76 61 62 6c 65 0a 20 20 20 0a 20 20 20 0a 20 20 20 66 63 5f 32 20 3d 20	re.observable............fc_2.=.
a520	66 63 5f 32 20 2e 2a 20 66 3b 0a 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 25 20 44 45 42 55 47	fc_2..*.f;...............%.DEBUG
a540	20 50 41 52 54 3a 20 66 69 78 20 66 6f 63 61 6c 20 74 6f 20 35 30 30 2e 2e 2e 0a 20 20 20 25 66	.PART:.fix.focal.to.500.......%f
a560	63 5f 32 3d 20 5b 35 30 30 3b 35 30 30 5d 3b 20 64 69 73 70 28 27 4c 69 6e 65 20 32 39 33 20 74	c_2=.[500;500];.disp('Line.293.t
a580	6f 20 62 65 20 65 61 72 61 73 65 64 20 69 6e 20 44 69 73 74 6f 72 32 43 61 6c 69 62 2e 6d 27 29	o.be.earased.in.Distor2Calib.m')
a5a0	3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 65 6e 64 20 6f 66 20 66 6f 63 61 6c 20 63 6f 6d 70	;............%.end.of.focal.comp
a5c0	65 6e 73 61 74 69 6f 6e 0a 20 20 20 0a 20 20 20 25 20 6e 6f 72 6d 61 6c 69 7a 65 20 62 79 20 74	ensation........%.normalize.by.t
a5e0	68 65 20 63 75 72 72 65 6e 74 20 66 6f 63 61 6c 3a 0a 20 20 20 0a 20 20 20 78 5f 61 6c 6c 20 3d	he.current.focal:........x_all.=
a600	20 5b 67 72 69 64 5f 70 74 73 5f 63 65 6e 74 65 72 65 64 28 31 2c 3a 29 2f 66 63 5f 32 28 31 29	.[grid_pts_centered(1,:)/fc_2(1)
a620	3b 67 72 69 64 5f 70 74 73 5f 63 65 6e 74 65 72 65 64 28 32 2c 3a 29 2f 66 63 5f 32 28 32 29 5d	;grid_pts_centered(2,:)/fc_2(2)]
a640	3b 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 65 6e 73 61 74 65 20 62 79 20 74 68 65 20 64 69 73	;........%.Compensate.by.the.dis
a660	74 6f 72 74 69 6f 6e 20 66 61 63 74 6f 72 3a 0a 20 20 20 0a 20 20 20 78 5f 61 6c 6c 5f 63 20 3d	tortion.factor:........x_all_c.=
a680	20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 28 78 5f 61 6c 6c 2c 6b 5f 64 69 73 74 29 3b 0a	.comp_distortion(x_all,k_dist);.
a6a0	20 20 20 0a 65 6e 64 3b 0a 20 20 20 0a 25 20 41 74 20 74 68 61 74 20 70 6f 69 6e 74 2c 20 77 65	....end;.....%.At.that.point,.we
a6c0	20 68 6f 70 65 20 74 68 61 74 20 74 68 65 20 64 69 73 74 6f 72 74 69 6f 6e 20 69 73 20 67 6f 6e	.hope.that.the.distortion.is.gon
a6e0	65 2e 2e 2e 0a 0a 78 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c 5f 63 28 31 2c 3a 29 3b 0a	e.....x_grid(:).=.x_all_c(1,:);.
a700	79 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c 5f 63 28 32 2c 3a 29 3b 0a 0a 66 6f 72 20 6b	y_grid(:).=.x_all_c(2,:);..for.k
a720	3d 31 3a 6e 5f 73 71 5f 78 2b 31 2c 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78	=1:n_sq_x+1,....[U,S,V].=.svd([x
a740	5f 67 72 69 64 28 6b 2c 3a 29 3b 79 5f 67 72 69 64 28 6b 2c 3a 29 3b 6f 6e 65 73 28 31 2c 6e 5f	_grid(k,:);y_grid(k,:);ones(1,n_
a760	73 71 5f 79 2b 31 29 5d 29 3b 0a 20 20 20 76 65 72 74 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29	sq_y+1)]);....vert(:,k).=.U(:,3)
a780	3b 0a 65 6e 64 3b 0a 0a 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f 79 2b 31 2c 0a 20 20 20 5b 55 2c	;.end;..for.k=1:n_sq_y+1,....[U,
a7a0	53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64 28 3a 2c 6b 29 27 3b 79 5f 67 72 69 64 28	S,V].=.svd([x_grid(:,k)';y_grid(
a7c0	3a 2c 6b 29 27 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 78 2b 31 29 5d 29 3b 0a 20 20 20 68 6f 72	:,k)';ones(1,n_sq_x+1)]);....hor
a7e0	69 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a 65 6e 64 3b 0a 0a 25 20 56 61 6e 69 73 68 69	i(:,k).=.U(:,3);.end;..%.Vanishi
a800	6e 67 20 70 6f 69 6e 74 73 3a 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 76 65 72 74 29 3b 0a	ng.points:.[U,S,V].=.svd(vert);.
a820	56 5f 76 65 72 74 20 3d 20 55 28 3a 2c 33 29 3b 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 68	V_vert.=.U(:,3);.[U,S,V].=.svd(h
a840	6f 72 69 29 3b 0a 56 5f 68 6f 72 69 20 3d 20 55 28 3a 2c 33 29 3b 0a 0a 25 20 48 6f 72 69 7a 6f	ori);.V_hori.=.U(:,3);..%.Horizo
a860	6e 3a 0a 0a 48 5f 32 20 3d 20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72 69 29 3b 0a	n:..H_2.=.cross(V_vert,V_hori);.
a880	20 20 20 0a 25 20 20 20 48 5f 32 20 3d 20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72	....%...H_2.=.cross(V_vert,V_hor
a8a0	69 29 3b 0a 0a 25 20 70 69 63 6b 20 61 20 70 6c 61 6e 65 20 69 6e 20 66 72 6f 6e 74 20 6f 66 20	i);..%.pick.a.plane.in.front.of.
a8c0	74 68 65 20 63 61 6d 65 72 61 20 28 70 6f 73 69 74 69 76 65 20 64 65 70 74 68 29 0a 69 66 20 48	the.camera.(positive.depth).if.H
a8e0	5f 32 28 33 29 20 3c 20 30 2c 20 48 5f 32 20 3d 20 2d 48 5f 32 3b 20 65 6e 64 3b 0a 0a 0a 25 20	_2(3).<.0,.H_2.=.-H_2;.end;...%.
a900	52 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 3a 0a 0a 69 66 20 56 5f 68 6f 72 69 28 31 29 20 3c	Rotation.matrix:..if.V_hori(1).<
a920	20 30 2c 20 56 5f 68 6f 72 69 20 3d 20 2d 56 5f 68 6f 72 69 3b 20 65 6e 64 3b 0a 0a 56 5f 68 6f	.0,.V_hori.=.-V_hori;.end;..V_ho
a940	72 69 20 3d 20 56 5f 68 6f 72 69 2f 6e 6f 72 6d 28 56 5f 68 6f 72 69 29 3b 0a 48 5f 32 20 3d 20	ri.=.V_hori/norm(V_hori);.H_2.=.
a960	48 5f 32 2f 6e 6f 72 6d 28 48 5f 32 29 3b 0a 0a 56 5f 68 6f 72 69 20 3d 20 56 5f 68 6f 72 69 20	H_2/norm(H_2);..V_hori.=.V_hori.
a980	2d 20 64 6f 74 28 56 5f 68 6f 72 69 2c 48 5f 32 29 2a 48 5f 32 3b 0a 0a 52 63 5f 32 20 3d 20 5b	-.dot(V_hori,H_2)*H_2;..Rc_2.=.[
a9a0	56 5f 68 6f 72 69 20 63 72 6f 73 73 28 48 5f 32 2c 56 5f 68 6f 72 69 29 20 48 5f 32 5d 3b 0a 0a	V_hori.cross(H_2,V_hori).H_2];..
a9c0	52 63 5f 32 20 3d 20 52 63 5f 32 20 2f 20 64 65 74 28 52 63 5f 32 29 3b 0a 0a 25 6f 6d 63 5f 32	Rc_2.=.Rc_2./.det(Rc_2);..%omc_2
a9e0	20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 63 5f 32 29 3b 0a 0a 25 52 63 5f 32 20 3d 20 72 6f 64	.=.rodrigues(Rc_2);..%Rc_2.=.rod
aa00	72 69 67 75 65 73 28 6f 6d 63 5f 32 29 3b 0a 0a 25 20 46 69 6e 64 20 74 68 65 20 64 69 73 74 61	rigues(omc_2);..%.Find.the.dista
aa20	6e 63 65 20 6f 66 20 74 68 65 20 70 6c 61 6e 65 20 66 6f 72 20 74 72 61 6e 73 6c 61 74 69 6f 6e	nce.of.the.plane.for.translation
aa40	20 76 65 63 74 6f 72 3a 0a 0a 78 63 5f 32 20 3d 20 5b 78 5f 61 6c 6c 5f 63 3b 6f 6e 65 73 28 31	.vector:..xc_2.=.[x_all_c;ones(1
aa60	2c 4e 70 29 5d 3b 0a 0a 5a 63 5f 32 20 3d 20 31 2e 2f 73 75 6d 28 78 63 5f 32 20 2e 2a 20 28 52	,Np)];..Zc_2.=.1./sum(xc_2..*.(R
aa80	63 5f 32 28 3a 2c 33 29 2a 6f 6e 65 73 28 31 2c 4e 70 29 29 29 3b 0a 0a 58 6f 5f 32 20 3d 20 5b	c_2(:,3)*ones(1,Np)));..Xo_2.=.[
aaa0	73 75 6d 28 78 63 5f 32 20 2e 2a 20 28 52 63 5f 32 28 3a 2c 31 29 2a 6f 6e 65 73 28 31 2c 4e 70	sum(xc_2..*.(Rc_2(:,1)*ones(1,Np
aac0	29 29 29 2e 2a 5a 63 5f 32 20 3b 20 73 75 6d 28 78 63 5f 32 20 2e 2a 20 28 52 63 5f 32 28 3a 2c	))).*Zc_2.;.sum(xc_2..*.(Rc_2(:,
aae0	32 29 2a 6f 6e 65 73 28 31 2c 4e 70 29 29 29 2e 2a 5a 63 5f 32 5d 3b 0a 0a 58 58 6f 5f 32 20 3d	2)*ones(1,Np))).*Zc_2];..XXo_2.=
ab00	20 58 6f 5f 32 20 2d 20 6d 65 61 6e 28 58 6f 5f 32 27 29 27 2a 6f 6e 65 73 28 31 2c 4e 70 29 3b	.Xo_2.-.mean(Xo_2')'*ones(1,Np);
ab20	0a 0a 64 69 73 74 61 6e 63 65 5f 78 20 3d 20 6e 6f 72 6d 28 58 67 72 69 64 5f 32 28 31 2c 3a 29	..distance_x.=.norm(Xgrid_2(1,:)
ab40	29 2f 6e 6f 72 6d 28 58 58 6f 5f 32 28 31 2c 3a 29 29 3b 0a 64 69 73 74 61 6e 63 65 5f 79 20 3d	)/norm(XXo_2(1,:));.distance_y.=
ab60	20 6e 6f 72 6d 28 58 67 72 69 64 5f 32 28 32 2c 3a 29 29 2f 6e 6f 72 6d 28 58 58 6f 5f 32 28 32	.norm(Xgrid_2(2,:))/norm(XXo_2(2
ab80	2c 3a 29 29 3b 0a 0a 0a 64 69 73 74 61 6e 63 65 20 3d 20 73 75 6d 28 73 75 6d 28 58 58 6f 5f 32	,:));...distance.=.sum(sum(XXo_2
aba0	28 31 3a 32 2c 3a 29 2e 2a 58 67 72 69 64 5f 32 28 31 3a 32 2c 3a 29 29 29 2f 73 75 6d 28 73 75	(1:2,:).*Xgrid_2(1:2,:)))/sum(su
abc0	6d 28 58 58 6f 5f 32 28 31 3a 32 2c 3a 29 2e 5e 32 29 29 3b 0a 0a 61 6c 70 68 61 20 3d 20 61 62	m(XXo_2(1:2,:).^2));..alpha.=.ab
abe0	73 28 64 69 73 74 61 6e 63 65 5f 78 20 2d 20 64 69 73 74 61 6e 63 65 5f 79 29 2f 64 69 73 74 61	s(distance_x.-.distance_y)/dista
ac00	6e 63 65 3b 0a 0a 69 66 20 28 61 6c 70 68 61 3e 30 2e 31 29 26 7e 74 77 6f 5f 66 6f 63 61 6c 2c	nce;..if.(alpha>0.1)&~two_focal,
ac20	0a 20 20 20 64 69 73 70 28 27 53 68 6f 75 6c 64 20 75 73 65 20 74 77 6f 20 66 6f 63 61 6c 73 20	....disp('Should.use.two.focals.
ac40	69 6e 20 78 20 61 6e 64 20 79 2e 2e 2e 27 29 3b 0a 65 6e 64 3b 0a 0a 25 20 44 65 64 75 63 65 20	in.x.and.y...');.end;..%.Deduce.
ac60	74 68 65 20 74 72 61 6e 73 6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 3a 0a 0a 54 63 5f 32 20 3d 20	the.translation.vector:..Tc_2.=.
ac80	64 69 73 74 61 6e 63 65 20 2a 20 48 5f 32 3b 0a 0a 0a 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 20 20	distance.*.H_2;......return;....
aca0	20 56 5f 68 6f 72 69 5f 70 69 78 2f 56 5f 68 6f 72 69 5f 70 69 78 28 33 29 0a 20 20 20 56 5f 76	.V_hori_pix/V_hori_pix(3)....V_v
acc0	65 72 74 5f 70 69 78 2f 56 5f 76 65 72 74 5f 70 69 78 28 33 29 0a 20 20 20 56 5f 64 69 61 67 31	ert_pix/V_vert_pix(3)....V_diag1
ace0	5f 70 69 78 2f 56 5f 64 69 61 67 31 5f 70 69 78 28 33 29 0a 20 20 20 56 5f 64 69 61 67 32 5f 70	_pix/V_diag1_pix(3)....V_diag2_p
ad00	69 78 2f 56 5f 64 69 61 67 32 5f 70 69 78 28 33 29 0a 20 20 20 0a 20 20 20 69 66 20 4e 5f 6d 69	ix/V_diag2_pix(3)........if.N_mi
ad20	6e 20 3c 20 32 2c 0a 20 20 20 20 20 20 75 73 65 5f 64 69 61 67 20 3d 20 30 3b 0a 20 20 20 20 20	n.<.2,.......use_diag.=.0;......
ad40	20 74 77 6f 5f 66 6f 63 61 6c 20 3d 20 30 3b 0a 20 20 20 20 20 20 64 69 73 70 28 27 43 61 6e 6e	.two_focal.=.0;.......disp('Cann
ad60	6f 74 20 65 73 74 69 6d 61 74 65 20 74 77 6f 20 66 6f 63 61 6c 73 20 28 6e 6f 20 65 78 69 73 74	ot.estimate.two.focals.(no.exist
ad80	69 6e 67 20 64 69 61 67 6f 6e 61 6c 73 29 27 29 3b 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20	ing.diagonals)');.......else....
ada0	20 20 20 75 73 65 5f 64 69 61 67 20 3d 20 31 3b 0a 20 20 20 20 20 20 44 65 6c 74 61 5f 4e 20 3d	...use_diag.=.1;.......Delta_N.=
adc0	20 61 62 73 28 4e 5f 78 2d 4e 5f 79 29 3b 0a 20 20 20 20 20 20 4e 5f 65 78 74 72 61 20 3d 20 72	.abs(N_x-N_y);.......N_extra.=.r
ade0	6f 75 6e 64 28 28 4e 5f 6d 69 6e 20 2d 20 44 65 6c 74 61 5f 4e 20 2d 20 31 29 2f 32 29 3b 0a 20	ound((N_min.-.Delta_N.-.1)/2);..
ae00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73	TOOLBOX_calib/extract_parameters
ae20	2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	.m..............................
ae40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ae60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
ae80	20 20 20 31 32 34 30 20 20 36 37 36 33 30 37 30 32 32 34 20 20 31 32 34 37 30 00 20 00 00 00 00	...1240..6763070224..12470......
aea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
aec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
aee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
af00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
af20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
af40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
af60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
af80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
afa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
afc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
afe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b000	0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74	.%%%.Extraction.of.the.final.int
b020	72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a	rinsic.and.extrinsic.paramaters:
b040	0a 0a 0a 66 63 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 31 3a 32 29 3b 0a 6b 63 20 3d 20 73 6f 6c 75	...fc.=.solution(1:2);.kc.=.solu
b060	74 69 6f 6e 28 33 3a 36 29 3b 0a 63 63 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 36 2a 6e 5f 69 6d 61	tion(3:6);.cc.=.solution(6*n_ima
b080	20 2b 20 34 20 2b 33 3a 36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 33 29 3b 0a 0a 25 20 43 61 6c 69	.+.4.+3:6*n_ima.+.5.+3);..%.Cali
b0a0	62 72 61 74 69 6f 6e 20 6d 61 74 72 69 78 3a 0a 09 0a 4b 4b 20 3d 20 5b 66 63 28 31 29 20 30 20	bration.matrix:...KK.=.[fc(1).0.
b0c0	63 63 28 31 29 3b 30 20 66 63 28 32 29 20 63 63 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69 6e 76	cc(1);0.fc(2).cc(2);.0.0.1];.inv
b0e0	5f 4b 4b 20 3d 20 69 6e 76 28 4b 4b 29 3b 09 0a 0a 25 20 45 78 74 72 61 63 74 20 74 68 65 20 65	_KK.=.inv(KK);...%.Extract.the.e
b100	78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 74 65 72 73 2c 20 61 6e 64 20 72 65 63 6f 6d 70 75 74	xtrinsic.paramters,.and.recomput
b120	65 72 20 74 68 65 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 73 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31	er.the.collineations..for.kk.=.1
b140	3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 6f 6d 63 6b 6b 20 3d 20 73 6f 6c 75 74 69 6f 6e 28	:n_ima,........omckk.=.solution(
b160	34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20 20 20 0a 20 20	4+6*(kk-1).+.3:6*kk.+.3);.......
b180	20 54 63 6b 6b 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b	.Tckk.=.solution(6*kk+1.+.3:6*kk
b1a0	2b 33 20 2b 20 33 29 3b 0a 20 20 20 0a 20 20 20 52 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73	+3.+.3);........Rckk.=.rodrigues
b1c0	28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 48 6b 6b 20 3d 20 4b 4b 20 2a 20 5b 52 63 6b 6b	(omckk);........Hkk.=.KK.*.[Rckk
b1e0	28 3a 2c 31 29 20 52 63 6b 6b 28 3a 2c 32 29 20 54 63 6b 6b 5d 3b 0a 20 20 20 0a 20 20 20 48 6b	(:,1).Rckk(:,2).Tckk];........Hk
b200	6b 20 3d 20 48 6b 6b 20 2f 20 48 6b 6b 28 33 2c 33 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28	k.=.Hkk./.Hkk(3,3);........eval(
b220	5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63 6b 6b 3b 27 5d	['omc_'.num2str(kk).'.=.omckk;']
b240	29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20	);....eval(['Tc_'.num2str(kk).'.
b260	3d 20 54 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 48 5f 27 20 6e 75	=.Tckk;']);........eval(['H_'.nu
b280	6d 32 73 74 72 28 6b 6b 29 20 27 3d 48 6b 6b 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a	m2str(kk).'=Hkk;']);.....end;...
b2a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b2c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b2e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b3a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b3c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b3e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 69 6e 70 75 74 33 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/ginput3.m.........
b420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b460	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
b480	20 20 31 34 33 30 34 20 20 36 37 36 33 30 37 30 32 32 35 20 20 31 30 32 31 32 00 20 00 00 00 00	..14304..6763070225..10212......
b4a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b4c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b4e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b5a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b5c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b5e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b600	66 75 6e 63 74 69 6f 6e 20 5b 6f 75 74 31 2c 6f 75 74 32 2c 6f 75 74 33 5d 20 3d 20 67 69 6e 70	function.[out1,out2,out3].=.ginp
b620	75 74 32 28 61 72 67 31 29 0a 25 47 49 4e 50 55 54 20 47 72 61 70 68 69 63 61 6c 20 69 6e 70 75	ut2(arg1).%GINPUT.Graphical.inpu
b640	74 20 66 72 6f 6d 20 6d 6f 75 73 65 2e 0a 25 20 20 20 5b 58 2c 59 5d 20 3d 20 47 49 4e 50 55 54	t.from.mouse..%...[X,Y].=.GINPUT
b660	28 4e 29 20 67 65 74 73 20 4e 20 70 6f 69 6e 74 73 20 66 72 6f 6d 20 74 68 65 20 63 75 72 72 65	(N).gets.N.points.from.the.curre
b680	6e 74 20 61 78 65 73 20 61 6e 64 20 72 65 74 75 72 6e 73 20 0a 25 20 20 20 74 68 65 20 58 2d 20	nt.axes.and.returns..%...the.X-.
b6a0	61 6e 64 20 59 2d 63 6f 6f 72 64 69 6e 61 74 65 73 20 69 6e 20 6c 65 6e 67 74 68 20 4e 20 76 65	and.Y-coordinates.in.length.N.ve
b6c0	63 74 6f 72 73 20 58 20 61 6e 64 20 59 2e 20 20 54 68 65 20 63 75 72 73 6f 72 0a 25 20 20 20 63	ctors.X.and.Y...The.cursor.%...c
b6e0	61 6e 20 62 65 20 70 6f 73 69 74 69 6f 6e 65 64 20 75 73 69 6e 67 20 61 20 6d 6f 75 73 65 20 28	an.be.positioned.using.a.mouse.(
b700	6f 72 20 62 79 20 75 73 69 6e 67 20 74 68 65 20 41 72 72 6f 77 20 4b 65 79 73 20 6f 6e 20 73 6f	or.by.using.the.Arrow.Keys.on.so
b720	6d 65 20 0a 25 20 20 20 73 79 73 74 65 6d 73 29 2e 20 20 44 61 74 61 20 70 6f 69 6e 74 73 20 61	me..%...systems)...Data.points.a
b740	72 65 20 65 6e 74 65 72 65 64 20 62 79 20 70 72 65 73 73 69 6e 67 20 61 20 6d 6f 75 73 65 20 62	re.entered.by.pressing.a.mouse.b
b760	75 74 74 6f 6e 0a 25 20 20 20 6f 72 20 61 6e 79 20 6b 65 79 20 6f 6e 20 74 68 65 20 6b 65 79 62	utton.%...or.any.key.on.the.keyb
b780	6f 61 72 64 20 65 78 63 65 70 74 20 63 61 72 72 69 61 67 65 20 72 65 74 75 72 6e 2c 20 77 68 69	oard.except.carriage.return,.whi
b7a0	63 68 20 74 65 72 6d 69 6e 61 74 65 73 0a 25 20 20 20 74 68 65 20 69 6e 70 75 74 20 62 65 66 6f	ch.terminates.%...the.input.befo
b7c0	72 65 20 4e 20 70 6f 69 6e 74 73 20 61 72 65 20 65 6e 74 65 72 65 64 2e 0a 25 0a 25 20 20 20 5b	re.N.points.are.entered..%.%...[
b7e0	58 2c 59 5d 20 3d 20 47 49 4e 50 55 54 20 67 61 74 68 65 72 73 20 61 6e 20 75 6e 6c 69 6d 69 74	X,Y].=.GINPUT.gathers.an.unlimit
b800	65 64 20 6e 75 6d 62 65 72 20 6f 66 20 70 6f 69 6e 74 73 20 75 6e 74 69 6c 20 74 68 65 0a 25 20	ed.number.of.points.until.the.%.
b820	20 20 72 65 74 75 72 6e 20 6b 65 79 20 69 73 20 70 72 65 73 73 65 64 2e 0a 25 20 0a 25 20 20 20	..return.key.is.pressed..%..%...
b840	5b 58 2c 59 2c 42 55 54 54 4f 4e 5d 20 3d 20 47 49 4e 50 55 54 28 4e 29 20 72 65 74 75 72 6e 73	[X,Y,BUTTON].=.GINPUT(N).returns
b860	20 61 20 74 68 69 72 64 20 72 65 73 75 6c 74 2c 20 42 55 54 54 4f 4e 2c 20 74 68 61 74 20 0a 25	.a.third.result,.BUTTON,.that..%
b880	20 20 20 63 6f 6e 74 61 69 6e 73 20 61 20 76 65 63 74 6f 72 20 6f 66 20 69 6e 74 65 67 65 72 73	...contains.a.vector.of.integers
b8a0	20 73 70 65 63 69 66 79 69 6e 67 20 77 68 69 63 68 20 6d 6f 75 73 65 20 62 75 74 74 6f 6e 20 77	.specifying.which.mouse.button.w
b8c0	61 73 0a 25 20 20 20 75 73 65 64 20 28 31 2c 32 2c 33 20 66 72 6f 6d 20 6c 65 66 74 29 20 6f 72	as.%...used.(1,2,3.from.left).or
b8e0	20 41 53 43 49 49 20 6e 75 6d 62 65 72 73 20 69 66 20 61 20 6b 65 79 20 6f 6e 20 74 68 65 20 6b	.ASCII.numbers.if.a.key.on.the.k
b900	65 79 62 6f 61 72 64 0a 25 20 20 20 77 61 73 20 75 73 65 64 2e 0a 0a 25 20 20 20 43 6f 70 79 72	eyboard.%...was.used...%...Copyr
b920	69 67 68 74 20 28 63 29 20 31 39 38 34 2d 39 36 20 62 79 20 54 68 65 20 4d 61 74 68 57 6f 72 6b	ight.(c).1984-96.by.The.MathWork
b940	73 2c 20 49 6e 63 2e 0a 25 20 20 20 24 52 65 76 69 73 69 6f 6e 3a 20 35 2e 31 38 20 24 20 20 24	s,.Inc..%...$Revision:.5.18.$..$
b960	44 61 74 65 3a 20 31 39 39 36 2f 31 31 2f 31 30 20 31 37 3a 34 38 3a 30 38 20 24 0a 0a 25 20 46	Date:.1996/11/10.17:48:08.$..%.F
b980	69 78 65 64 20 76 65 72 73 69 6f 6e 20 62 79 20 4a 65 61 6e 2d 59 76 65 73 20 42 6f 75 67 75 65	ixed.version.by.Jean-Yves.Bougue
b9a0	74 20 74 6f 20 68 61 76 65 20 61 20 63 72 6f 73 73 20 69 6e 73 74 65 61 64 20 6f 66 20 32 20 6c	t.to.have.a.cross.instead.of.2.l
b9c0	69 6e 65 73 0a 25 20 4d 6f 72 65 20 76 69 73 69 62 6c 65 20 66 6f 72 20 69 6d 61 67 65 73 0a 0a	ines.%.More.visible.for.images..
b9e0	50 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 31 36 2c 31 36 29 3b 0a 50 28 31 3a 31 35 2c 31 3a 31 35	P.=.NaN*ones(16,16);.P(1:15,1:15
ba00	29 20 3d 20 32 2a 6f 6e 65 73 28 31 35 2c 31 35 29 3b 0a 50 28 32 3a 31 34 2c 32 3a 31 34 29 20	).=.2*ones(15,15);.P(2:14,2:14).
ba20	3d 20 6f 6e 65 73 28 31 33 2c 31 33 29 3b 0a 50 28 33 3a 31 33 2c 33 3a 31 33 29 20 3d 20 4e 61	=.ones(13,13);.P(3:13,3:13).=.Na
ba40	4e 2a 6f 6e 65 73 28 31 31 2c 31 31 29 3b 0a 50 28 36 3a 31 30 2c 36 3a 31 30 29 20 3d 20 32 2a	N*ones(11,11);.P(6:10,6:10).=.2*
ba60	6f 6e 65 73 28 35 2c 35 29 3b 0a 50 28 37 3a 39 2c 37 3a 39 29 20 3d 20 31 2a 6f 6e 65 73 28 33	ones(5,5);.P(7:9,7:9).=.1*ones(3
ba80	2c 33 29 3b 0a 0a 6f 75 74 31 20 3d 20 5b 5d 3b 20 6f 75 74 32 20 3d 20 5b 5d 3b 20 6f 75 74 33	,3);..out1.=.[];.out2.=.[];.out3
baa0	20 3d 20 5b 5d 3b 20 79 20 3d 20 5b 5d 3b 0a 63 20 3d 20 63 6f 6d 70 75 74 65 72 3b 0a 69 66 20	.=.[];.y.=.[];.c.=.computer;.if.
bac0	7e 73 74 72 63 6d 70 28 63 28 31 3a 32 29 2c 27 50 43 27 29 20 26 20 7e 73 74 72 63 6d 70 28 63	~strcmp(c(1:2),'PC').&.~strcmp(c
bae0	28 31 3a 32 29 2c 27 4d 41 27 29 0a 20 20 20 20 74 70 20 3d 20 67 65 74 28 30 2c 27 54 65 72 6d	(1:2),'MA').....tp.=.get(0,'Term
bb00	69 6e 61 6c 50 72 6f 74 6f 63 6f 6c 27 29 3b 0a 65 6c 73 65 0a 20 20 20 20 74 70 20 3d 20 27 6d	inalProtocol');.else.....tp.=.'m
bb20	69 63 72 6f 27 3b 0a 65 6e 64 0a 0a 69 66 20 7e 73 74 72 63 6d 70 28 74 70 2c 27 6e 6f 6e 65 27	icro';.end..if.~strcmp(tp,'none'
bb40	29 20 26 20 7e 73 74 72 63 6d 70 28 74 70 2c 27 78 27 29 20 26 20 7e 73 74 72 63 6d 70 28 74 70	).&.~strcmp(tp,'x').&.~strcmp(tp
bb60	2c 27 6d 69 63 72 6f 27 29 2c 0a 20 20 20 20 69 66 20 6e 61 72 67 6f 75 74 20 3d 3d 20 31 2c 0a	,'micro'),.....if.nargout.==.1,.
bb80	20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 31 2c 0a 20 20 20 20 20 20 20 20	........if.nargin.==.1,.........
bba0	20 20 20 20 65 76 61 6c 28 27 6f 75 74 31 20 3d 20 74 72 6d 67 69 6e 70 75 74 28 61 72 67 31 29	....eval('out1.=.trmginput(arg1)
bbc0	3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76	;');.........else.............ev
bbe0	61 6c 28 27 6f 75 74 31 20 3d 20 74 72 6d 67 69 6e 70 75 74 3b 27 29 3b 0a 20 20 20 20 20 20 20	al('out1.=.trmginput;');........
bc00	20 65 6e 64 0a 20 20 20 20 65 6c 73 65 69 66 20 6e 61 72 67 6f 75 74 20 3d 3d 20 32 20 7c 20 6e	.end.....elseif.nargout.==.2.|.n
bc20	61 72 67 6f 75 74 20 3d 3d 20 30 2c 0a 20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d	argout.==.0,.........if.nargin.=
bc40	3d 20 31 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75 74	=.1,.............eval('[out1,out
bc60	32 5d 20 3d 20 74 72 6d 67 69 6e 70 75 74 28 61 72 67 31 29 3b 27 29 3b 0a 20 20 20 20 20 20 20	2].=.trmginput(arg1);');........
bc80	20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75	.else.............eval('[out1,ou
bca0	74 32 5d 20 3d 20 74 72 6d 67 69 6e 70 75 74 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6e 64 0a	t2].=.trmginput;');.........end.
bcc0	20 20 20 20 20 20 20 20 69 66 20 20 6e 61 72 67 6f 75 74 20 3d 3d 20 30 0a 20 20 20 20 20 20 20	........if..nargout.==.0........
bce0	20 20 20 20 20 6f 75 74 31 20 3d 20 5b 20 6f 75 74 31 20 6f 75 74 32 20 5d 3b 0a 20 20 20 20 20	.....out1.=.[.out1.out2.];......
bd00	20 20 20 65 6e 64 0a 20 20 20 20 65 6c 73 65 69 66 20 6e 61 72 67 6f 75 74 20 3d 3d 20 33 2c 0a	...end.....elseif.nargout.==.3,.
bd20	20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 31 2c 0a 20 20 20 20 20 20 20 20	........if.nargin.==.1,.........
bd40	20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75 74 32 2c 6f 75 74 33 5d 20 3d 20 74 72 6d	....eval('[out1,out2,out3].=.trm
bd60	67 69 6e 70 75 74 28 61 72 67 31 29 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20	ginput(arg1);');.........else...
bd80	20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75 74 32 2c 6f 75 74 33 5d	..........eval('[out1,out2,out3]
bda0	20 3d 20 74 72 6d 67 69 6e 70 75 74 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20	.=.trmginput;');.........end....
bdc0	20 65 6e 64 0a 65 6c 73 65 0a 0a 20 20 20 20 66 69 67 20 3d 20 67 63 66 3b 0a 20 20 20 20 66 69	.end.else......fig.=.gcf;.....fi
bde0	67 75 72 65 28 67 63 66 29 3b 0a 0a 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 30 0a 20	gure(gcf);......if.nargin.==.0..
be00	20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20 3d 20 2d 31 3b 0a 20 20 20 20 20 20 20 20 62 20	.......how_many.=.-1;.........b.
be20	3d 20 5b 5d 3b 0a 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20	=.[];.....else.........how_many.
be40	3d 20 61 72 67 31 3b 0a 20 20 20 20 20 20 20 20 62 20 3d 20 5b 5d 3b 0a 20 20 20 20 20 20 20 20	=.arg1;.........b.=.[];.........
be60	69 66 20 20 69 73 73 74 72 28 68 6f 77 5f 6d 61 6e 79 29 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20	if..isstr(how_many).............
be80	20 20 20 20 7c 20 73 69 7a 65 28 68 6f 77 5f 6d 61 6e 79 2c 31 29 20 7e 3d 20 31 20 7c 20 73 69	....|.size(how_many,1).~=.1.|.si
bea0	7a 65 28 68 6f 77 5f 6d 61 6e 79 2c 32 29 20 7e 3d 20 31 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20	ze(how_many,2).~=.1.............
bec0	20 20 20 20 7c 20 7e 28 66 69 78 28 68 6f 77 5f 6d 61 6e 79 29 20 3d 3d 20 68 6f 77 5f 6d 61 6e	....|.~(fix(how_many).==.how_man
bee0	79 29 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20 20 20 20 20 7c 20 68 6f 77 5f 6d 61 6e 79 20 3c 20	y).................|.how_many.<.
bf00	30 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 52 65 71 75 69 72 65 73 20 61 20	0.............error('Requires.a.
bf20	70 6f 73 69 74 69 76 65 20 69 6e 74 65 67 65 72 2e 27 29 0a 20 20 20 20 20 20 20 20 65 6e 64 0a	positive.integer.').........end.
bf40	20 20 20 20 20 20 20 20 69 66 20 68 6f 77 5f 6d 61 6e 79 20 3d 3d 20 30 0a 20 20 20 20 20 20 20	........if.how_many.==.0........
bf60	20 20 20 20 20 70 74 72 5f 66 69 67 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 77 68	.....ptr_fig.=.0;.............wh
bf80	69 6c 65 28 70 74 72 5f 66 69 67 20 7e 3d 20 66 69 67 29 0a 20 20 20 20 20 20 20 20 20 20 20 20	ile(ptr_fig.~=.fig).............
bfa0	20 20 20 20 70 74 72 5f 66 69 67 20 3d 20 67 65 74 28 30 2c 27 50 6f 69 6e 74 65 72 57 69 6e 64	....ptr_fig.=.get(0,'PointerWind
bfc0	6f 77 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 20 20	ow');.............end...........
bfe0	20 20 73 63 72 6e 5f 70 74 20 3d 20 67 65 74 28 30 2c 27 50 6f 69 6e 74 65 72 4c 6f 63 61 74 69	..scrn_pt.=.get(0,'PointerLocati
c000	6f 6e 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 6c 6f 63 20 3d 20 67 65 74 28 66 69 67 2c	on');.............loc.=.get(fig,
c020	27 50 6f 73 69 74 69 6f 6e 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 70 74 20 3d 20 5b 73	'Position');.............pt.=.[s
c040	63 72 6e 5f 70 74 28 31 29 20 2d 20 6c 6f 63 28 31 29 2c 20 73 63 72 6e 5f 70 74 28 32 29 20 2d	crn_pt(1).-.loc(1),.scrn_pt(2).-
c060	20 6c 6f 63 28 32 29 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 75 74 31 20 3d 20 70 74 28	.loc(2)];.............out1.=.pt(
c080	31 29 3b 20 79 20 3d 20 70 74 28 32 29 3b 0a 20 20 20 20 20 20 20 20 65 6c 73 65 69 66 20 68 6f	1);.y.=.pt(2);.........elseif.ho
c0a0	77 5f 6d 61 6e 79 20 3c 20 30 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 41 72	w_many.<.0.............error('Ar
c0c0	67 75 6d 65 6e 74 20 6d 75 73 74 20 62 65 20 61 20 70 6f 73 69 74 69 76 65 20 69 6e 74 65 67 65	gument.must.be.a.positive.intege
c0e0	72 2e 27 29 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 65 6e 64 0a 0a 70 6f 69 6e 74 65	r.').........end.....end..pointe
c100	72 20 3d 20 67 65 74 28 67 63 66 2c 27 70 6f 69 6e 74 65 72 27 29 3b 0a 0a 73 65 74 28 67 63 66	r.=.get(gcf,'pointer');..set(gcf
c120	2c 27 50 6f 69 6e 74 65 72 27 2c 27 63 75 73 74 6f 6d 27 2c 27 50 6f 69 6e 74 65 72 53 68 61 70	,'Pointer','custom','PointerShap
c140	65 43 44 61 74 61 27 2c 50 2c 27 50 6f 69 6e 74 65 72 53 68 61 70 65 48 6f 74 53 70 6f 74 27 2c	eCData',P,'PointerShapeHotSpot',
c160	5b 38 2c 38 5d 29 3b 0a 25 73 65 74 28 67 63 66 2c 27 70 6f 69 6e 74 65 72 27 2c 27 63 72 6f 73	[8,8]);.%set(gcf,'pointer','cros
c180	73 68 61 69 72 27 29 3b 0a 20 20 20 20 66 69 67 5f 75 6e 69 74 73 20 3d 20 67 65 74 28 66 69 67	shair');.....fig_units.=.get(fig
c1a0	2c 27 75 6e 69 74 73 27 29 3b 0a 20 20 20 20 63 68 61 72 20 3d 20 30 3b 0a 0a 20 20 20 20 77 68	,'units');.....char.=.0;......wh
c1c0	69 6c 65 20 68 6f 77 5f 6d 61 6e 79 20 7e 3d 20 30 0a 20 20 20 20 20 20 20 20 25 20 55 73 65 20	ile.how_many.~=.0.........%.Use.
c1e0	6e 6f 2d 73 69 64 65 20 65 66 66 65 63 74 20 57 41 49 54 46 4f 52 42 55 54 54 4f 4e 50 52 45 53	no-side.effect.WAITFORBUTTONPRES
c200	53 0a 20 20 20 20 20 20 20 20 77 61 73 65 72 72 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 65 76	S.........waserr.=.0;.........ev
c220	61 6c 28 27 6b 65 79 64 6f 77 6e 20 3d 20 77 66 62 70 3b 27 2c 20 27 77 61 73 65 72 72 20 3d 20	al('keydown.=.wfbp;',.'waserr.=.
c240	31 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 69 66 28 77 61 73 65 72 72 20 3d 3d 20 31 29 0a 20 20	1;');.........if(waserr.==.1)...
c260	20 20 20 20 69 66 28 69 73 68 61 6e 64 6c 65 28 66 69 67 29 29 0a 20 20 20 20 20 20 20 20 73 65	....if(ishandle(fig)).........se
c280	74 28 66 69 67 2c 27 70 6f 69 6e 74 65 72 27 2c 70 6f 69 6e 74 65 72 2c 27 75 6e 69 74 73 27 2c	t(fig,'pointer',pointer,'units',
c2a0	66 69 67 5f 75 6e 69 74 73 29 3b 0a 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 49 6e 74 65 72	fig_units);.........error('Inter
c2c0	72 75 70 74 65 64 27 29 3b 0a 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 65 72 72	rupted');.......else.........err
c2e0	6f 72 28 27 49 6e 74 65 72 72 75 70 74 65 64 20 62 79 20 66 69 67 75 72 65 20 64 65 6c 65 74 69	or('Interrupted.by.figure.deleti
c300	6f 6e 27 29 3b 0a 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20	on');.......end.........end.....
c320	20 20 0a 20 20 20 20 20 20 20 20 70 74 72 5f 66 69 67 20 3d 20 67 65 74 28 30 2c 27 43 75 72 72	...........ptr_fig.=.get(0,'Curr
c340	65 6e 74 46 69 67 75 72 65 27 29 3b 0a 20 20 20 20 20 20 20 20 69 66 28 70 74 72 5f 66 69 67 20	entFigure');.........if(ptr_fig.
c360	3d 3d 20 66 69 67 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 69 66 20 6b 65 79 64 6f 77 6e 0a 20	==.fig).............if.keydown..
c380	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 63 68 61 72 20 3d 20 67 65 74 28 66 69 67 2c 20 27	...............char.=.get(fig,.'
c3a0	43 75 72 72 65 6e 74 43 68 61 72 61 63 74 65 72 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20	CurrentCharacter');.............
c3c0	20 20 20 20 62 75 74 74 6f 6e 20 3d 20 61 62 73 28 67 65 74 28 66 69 67 2c 20 27 43 75 72 72 65	....button.=.abs(get(fig,.'Curre
c3e0	6e 74 43 68 61 72 61 63 74 65 72 27 29 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	ntCharacter'));.................
c400	73 63 72 6e 5f 70 74 20 3d 20 67 65 74 28 30 2c 20 27 50 6f 69 6e 74 65 72 4c 6f 63 61 74 69 6f	scrn_pt.=.get(0,.'PointerLocatio
c420	6e 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 73 65 74 28 66 69 67 2c 27 75 6e	n');.................set(fig,'un
c440	69 74 73 27 2c 27 70 69 78 65 6c 73 27 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6c	its','pixels').................l
c460	6f 63 20 3d 20 67 65 74 28 66 69 67 2c 20 27 50 6f 73 69 74 69 6f 6e 27 29 3b 0a 20 20 20 20 20	oc.=.get(fig,.'Position');......
c480	20 20 20 20 20 20 20 20 20 20 20 70 74 20 3d 20 5b 73 63 72 6e 5f 70 74 28 31 29 20 2d 20 6c 6f	...........pt.=.[scrn_pt(1).-.lo
c4a0	63 28 31 29 2c 20 73 63 72 6e 5f 70 74 28 32 29 20 2d 20 6c 6f 63 28 32 29 5d 3b 0a 20 20 20 20	c(1),.scrn_pt(2).-.loc(2)];.....
c4c0	20 20 20 20 20 20 20 20 20 20 20 20 73 65 74 28 66 69 67 2c 27 43 75 72 72 65 6e 74 50 6f 69 6e	............set(fig,'CurrentPoin
c4e0	74 27 2c 70 74 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20	t',pt);.............else........
c500	20 20 20 20 20 20 20 20 20 62 75 74 74 6f 6e 20 3d 20 67 65 74 28 66 69 67 2c 20 27 53 65 6c 65	.........button.=.get(fig,.'Sele
c520	63 74 69 6f 6e 54 79 70 65 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 69 66 20	ctionType');.................if.
c540	73 74 72 63 6d 70 28 62 75 74 74 6f 6e 2c 27 6f 70 65 6e 27 29 0a 20 20 20 20 20 20 20 20 20 20	strcmp(button,'open')...........
c560	20 20 20 20 20 20 20 20 20 20 62 75 74 74 6f 6e 20 3d 20 62 28 6c 65 6e 67 74 68 28 62 29 29 3b	..........button.=.b(length(b));
c580	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 69 66 20 73 74 72 63 6d 70 28 62	.................elseif.strcmp(b
c5a0	75 74 74 6f 6e 2c 27 6e 6f 72 6d 61 6c 27 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	utton,'normal').................
c5c0	20 20 20 20 62 75 74 74 6f 6e 20 3d 20 31 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	....button.=.1;.................
c5e0	65 6c 73 65 69 66 20 73 74 72 63 6d 70 28 62 75 74 74 6f 6e 2c 27 65 78 74 65 6e 64 27 29 0a 20	elseif.strcmp(button,'extend')..
c600	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 62 75 74 74 6f 6e 20 3d 20 32 3b 0a 20	...................button.=.2;..
c620	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 69 66 20 73 74 72 63 6d 70 28 62 75 74	...............elseif.strcmp(but
c640	74 6f 6e 2c 27 61 6c 74 27 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 62	ton,'alt').....................b
c660	75 74 74 6f 6e 20 3d 20 33 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a	utton.=.3;.................else.
c680	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 49 6e 76 61 6c	....................error('Inval
c6a0	69 64 20 6d 6f 75 73 65 20 73 65 6c 65 63 74 69 6f 6e 2e 27 29 0a 20 20 20 20 20 20 20 20 20 20	id.mouse.selection.')...........
c6c0	20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20	......end.............end.......
c6e0	20 20 20 20 20 20 70 74 20 3d 20 67 65 74 28 67 63 61 2c 20 27 43 75 72 72 65 6e 74 50 6f 69 6e	......pt.=.get(gca,.'CurrentPoin
c700	74 27 29 3b 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20 3d 20 68 6f 77	t');..............how_many.=.how
c720	5f 6d 61 6e 79 20 2d 20 31 3b 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 69 66 28 63 68 61 72 20	_many.-.1;..............if(char.
c740	3d 3d 20 31 33 29 20 25 20 26 20 68 6f 77 5f 6d 61 6e 79 20 7e 3d 20 30 29 0a 20 20 20 20 20 20	==.13).%.&.how_many.~=.0).......
c760	20 20 20 20 20 20 20 20 20 20 25 20 69 66 20 74 68 65 20 72 65 74 75 72 6e 20 6b 65 79 20 77 61	..........%.if.the.return.key.wa
c780	73 20 70 72 65 73 73 65 64 2c 20 63 68 61 72 20 77 69 6c 6c 20 3d 3d 20 31 33 2c 0a 20 20 20 20	s.pressed,.char.will.==.13,.....
c7a0	20 20 20 20 20 20 20 20 20 20 20 20 25 20 61 6e 64 20 74 68 61 74 27 73 20 6f 75 72 20 73 69 67	............%.and.that's.our.sig
c7c0	6e 61 6c 20 74 6f 20 62 72 65 61 6b 20 6f 75 74 20 6f 66 20 68 65 72 65 20 77 68 65 74 68 65 72	nal.to.break.out.of.here.whether
c7e0	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 6f 72 20 6e 6f 74 20 77 65 20 68 61 76	.................%.or.not.we.hav
c800	65 20 63 6f 6c 6c 65 63 74 65 64 20 61 6c 6c 20 74 68 65 20 72 65 71 75 65 73 74 65 64 20 64 61	e.collected.all.the.requested.da
c820	74 61 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 70 6f 69 6e 74 73 2e 20 20 0a 20	ta.................%.points.....
c840	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 49 66 20 74 68 69 73 20 77 61 73 20 61 6e 20	...............%.If.this.was.an.
c860	65 61 72 6c 79 20 62 72 65 61 6b 6f 75 74 2c 20 64 6f 6e 27 74 20 69 6e 63 6c 75 64 65 0a 20 20	early.breakout,.don't.include...
c880	20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 74 68 65 20 3c 52 65 74 75 72 6e 3e 20 6b 65 79	..............%.the.<Return>.key
c8a0	20 69 6e 66 6f 20 69 6e 20 74 68 65 20 72 65 74 75 72 6e 20 61 72 72 61 79 73 2e 0a 20 20 20 20	.info.in.the.return.arrays......
c8c0	20 20 20 20 20 20 20 20 20 20 20 20 25 20 57 65 20 77 69 6c 6c 20 6e 6f 20 6c 6f 6e 67 65 72 20	............%.We.will.no.longer.
c8e0	63 6f 75 6e 74 20 69 74 20 69 66 20 69 74 27 73 20 74 68 65 20 6c 61 73 74 20 69 6e 70 75 74 2e	count.it.if.it's.the.last.input.
c900	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 62 72 65 61 6b 3b 0a 20 20 20 20 20 20 20 20	.................break;.........
c920	20 20 20 20 65 6e 64 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 75 74 31 20 3d 20 5b 6f 75 74	....end..............out1.=.[out
c940	31 3b 70 74 28 31 2c 31 29 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 79 20 3d 20 5b 79 3b 70	1;pt(1,1)];.............y.=.[y;p
c960	74 28 31 2c 32 29 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 62 20 3d 20 5b 62 3b 62 75 74 74	t(1,2)];.............b.=.[b;butt
c980	6f 6e 5d 3b 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 65 6e 64 0a 0a 20 20 20 20 73 65	on];.........end.....end......se
c9a0	74 28 66 69 67 2c 27 70 6f 69 6e 74 65 72 27 2c 70 6f 69 6e 74 65 72 2c 27 75 6e 69 74 73 27 2c	t(fig,'pointer',pointer,'units',
c9c0	66 69 67 5f 75 6e 69 74 73 29 3b 0a 0a 20 20 20 20 69 66 20 6e 61 72 67 6f 75 74 20 3e 20 31 0a	fig_units);......if.nargout.>.1.
c9e0	20 20 20 20 20 20 20 20 6f 75 74 32 20 3d 20 79 3b 0a 20 20 20 20 20 20 20 20 69 66 20 6e 61 72	........out2.=.y;.........if.nar
ca00	67 6f 75 74 20 3e 20 32 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 75 74 33 20 3d 20 62 3b 0a 20	gout.>.2.............out3.=.b;..
ca20	20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 6f 75 74 31	.......end.....else.........out1
ca40	20 3d 20 5b 6f 75 74 31 20 79 5d 3b 0a 20 20 20 20 65 6e 64 0a 0a 65 6e 64 0a 0a 25 25 25 25 25	.=.[out1.y];.....end..end..%%%%%
ca60	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
ca80	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 66 75 6e 63 74 69 6f 6e 20 6b 65 79 20	%%%%%%%%%%%%%%%%%%.function.key.
caa0	3d 20 77 66 62 70 0a 25 57 46 42 50 20 20 20 52 65 70 6c 61 63 65 6d 65 6e 74 20 66 6f 72 20 57	=.wfbp.%WFBP...Replacement.for.W
cac0	41 49 54 46 4f 52 42 55 54 54 4f 4e 50 52 45 53 53 20 74 68 61 74 20 68 61 73 20 6e 6f 20 73 69	AITFORBUTTONPRESS.that.has.no.si
cae0	64 65 20 65 66 66 65 63 74 73 2e 0a 0a 25 20 52 65 6d 6f 76 65 20 66 69 67 75 72 65 20 62 75 74	de.effects...%.Remove.figure.but
cb00	74 6f 6e 20 66 75 6e 63 74 69 6f 6e 73 0a 66 70 72 6f 70 73 20 3d 20 7b 27 77 69 6e 64 6f 77 62	ton.functions.fprops.=.{'windowb
cb20	75 74 74 6f 6e 75 70 66 63 6e 27 2c 27 62 75 74 74 6f 6e 64 6f 77 6e 66 63 6e 27 2c 20 2e 2e 2e	uttonupfcn','buttondownfcn',....
cb40	0a 20 20 20 20 20 20 20 20 20 20 27 77 69 6e 64 6f 77 62 75 74 74 6f 6e 64 6f 77 6e 66 63 6e 27	...........'windowbuttondownfcn'
cb60	2c 27 77 69 6e 64 6f 77 62 75 74 74 6f 6e 6d 6f 74 69 6f 6e 66 63 6e 27 7d 3b 0a 66 69 67 20 3d	,'windowbuttonmotionfcn'};.fig.=
cb80	20 67 63 66 3b 0a 66 76 61 6c 73 20 3d 20 67 65 74 28 66 69 67 2c 66 70 72 6f 70 73 29 3b 0a 73	.gcf;.fvals.=.get(fig,fprops);.s
cba0	65 74 28 66 69 67 2c 66 70 72 6f 70 73 2c 7b 27 27 2c 27 27 2c 27 27 2c 27 27 7d 29 0a 0a 25 20	et(fig,fprops,{'','','',''})..%.
cbc0	52 65 6d 6f 76 65 20 61 6c 6c 20 6f 74 68 65 72 20 62 75 74 74 6f 6e 64 6f 77 6e 20 66 75 6e 63	Remove.all.other.buttondown.func
cbe0	74 69 6f 6e 73 0a 61 78 20 3d 20 66 69 6e 64 6f 62 6a 28 66 69 67 2c 27 74 79 70 65 27 2c 27 61	tions.ax.=.findobj(fig,'type','a
cc00	78 65 73 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 61 78 29 0a 20 20 20 20 63 68 20 3d 20 7b	xes');.if.isempty(ax).....ch.=.{
cc20	7d 3b 0a 65 6c 73 65 0a 20 20 20 20 63 68 20 3d 20 67 65 74 28 61 78 2c 7b 27 43 68 69 6c 64 72	};.else.....ch.=.get(ax,{'Childr
cc40	65 6e 27 7d 29 3b 0a 65 6e 64 0a 66 6f 72 20 69 3d 31 3a 6c 65 6e 67 74 68 28 63 68 29 2c 0a 20	en'});.end.for.i=1:length(ch),..
cc60	20 20 20 63 68 7b 69 7d 20 3d 20 63 68 7b 69 7d 28 3a 29 27 3b 0a 65 6e 64 0a 68 20 3d 20 5b 61	...ch{i}.=.ch{i}(:)';.end.h.=.[a
cc80	78 28 3a 29 27 2c 63 68 7b 3a 7d 5d 3b 0a 76 61 6c 73 20 3d 20 67 65 74 28 68 2c 7b 27 62 75 74	x(:)',ch{:}];.vals.=.get(h,{'but
cca0	74 6f 6e 64 6f 77 6e 66 63 6e 27 7d 29 3b 0a 6d 74 20 3d 20 72 65 70 6d 61 74 28 7b 27 27 7d 2c	tondownfcn'});.mt.=.repmat({''},
ccc0	73 69 7a 65 28 76 61 6c 73 29 29 3b 0a 73 65 74 28 68 2c 7b 27 62 75 74 74 6f 6e 64 6f 77 6e 66	size(vals));.set(h,{'buttondownf
cce0	63 6e 27 7d 2c 6d 74 29 3b 0a 0a 25 20 4e 6f 77 20 77 61 69 74 20 66 6f 72 20 74 68 61 74 20 62	cn'},mt);..%.Now.wait.for.that.b
cd00	75 74 74 6f 6e 70 72 65 73 73 2c 20 61 6e 64 20 63 68 65 63 6b 20 66 6f 72 20 65 72 72 6f 72 20	uttonpress,.and.check.for.error.
cd20	63 6f 6e 64 69 74 69 6f 6e 73 0a 77 61 73 65 72 72 20 3d 20 30 3b 0a 65 76 61 6c 28 5b 27 69 66	conditions.waserr.=.0;.eval(['if
cd40	20 6e 61 72 67 6f 75 74 3d 3d 30 2c 27 2c 20 2e 2e 2e 0a 20 20 20 20 20 20 27 20 20 20 77 61 69	.nargout==0,',...........'...wai
cd60	74 66 6f 72 62 75 74 74 6f 6e 70 72 65 73 73 2c 27 2c 20 2e 2e 2e 0a 20 20 20 20 20 20 27 65 6c	tforbuttonpress,',...........'el
cd80	73 65 2c 27 2c 20 2e 2e 2e 0a 20 20 20 20 20 20 27 20 20 20 6b 65 79 64 6f 77 6e 20 3d 20 77 61	se,',...........'...keydown.=.wa
cda0	69 74 66 6f 72 62 75 74 74 6f 6e 70 72 65 73 73 3b 27 2c 2e 2e 2e 0a 20 20 20 20 20 20 27 65 6e	itforbuttonpress;',..........'en
cdc0	64 27 20 5d 2c 20 27 77 61 73 65 72 72 20 3d 20 31 3b 27 29 3b 0a 0a 25 20 50 75 74 20 65 76 65	d'.],.'waserr.=.1;');..%.Put.eve
cde0	72 79 74 68 69 6e 67 20 62 61 63 6b 0a 69 66 28 69 73 68 61 6e 64 6c 65 28 66 69 67 29 29 0a 20	rything.back.if(ishandle(fig))..
ce00	20 73 65 74 28 66 69 67 2c 66 70 72 6f 70 73 2c 66 76 61 6c 73 29 0a 20 20 73 65 74 28 68 2c 7b	.set(fig,fprops,fvals)...set(h,{
ce20	27 62 75 74 74 6f 6e 64 6f 77 6e 66 63 6e 27 7d 2c 76 61 6c 73 29 0a 65 6e 64 0a 0a 69 66 28 77	'buttondownfcn'},vals).end..if(w
ce40	61 73 65 72 72 20 3d 3d 20 31 29 0a 20 20 65 72 72 6f 72 28 27 49 6e 74 65 72 72 75 70 74 65 64	aserr.==.1)...error('Interrupted
ce60	27 29 3b 0a 65 6e 64 0a 0a 69 66 20 6e 61 72 67 6f 75 74 3e 30 2c 20 6b 65 79 20 3d 20 6b 65 79	');.end..if.nargout>0,.key.=.key
ce80	64 6f 77 6e 3b 20 65 6e 64 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	down;.end.%%%%%%%%%%%%%%%%%%%%%%
cea0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
cec0	25 25 25 0a 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	%%%.............................
cee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cf00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cf20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cf40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cf60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cf80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cfa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cfc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cfe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 2e 6d 00 00	TOOLBOX_calib/go_calib_optim.m..
d020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d060	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
d080	20 20 31 31 36 34 36 20 20 36 37 36 33 30 37 30 32 32 36 20 20 31 31 35 37 37 00 20 00 00 00 00	..11646..6763070226..11577......
d0a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d0c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d0e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d1a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d1c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d1e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
d200	25 20 53 69 6d 70 6c 69 66 69 65 64 20 76 65 72 73 69 6f 6e 20 6f 66 20 67 6f 5f 63 61 6c 69 62	%.Simplified.version.of.go_calib
d220	2e 6d 0a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 78 5f 31 27 29 2c 0a 20 20 20 63 6c 69 63 6b 5f	.m...if.~exist('x_1'),....click_
d240	63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 4d 61 69 6e 20	calib;.end;...fprintf(1,'\nMain.
d260	63 61 6c 69 62 72 61 74 69 6f 6e 20 70 72 6f 63 65 64 75 72 65 5c 6e 27 29 3b 0a 0a 25 20 69 6e	calibration.procedure\n');..%.in
d280	69 74 69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20	itial.guess.for.principal.point.
d2a0	61 6e 64 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 63 5f 69 6e 69 74 20 3d 20 5b 6e 78 3b 6e 79 5d	and.distortion:.c_init.=.[nx;ny]
d2c0	2f 32 20 2d 20 30 2e 35 3b 20 25 20 69 6e 69 74 69 61 6c 69 7a 65 20 61 74 20 74 68 65 20 63 65	/2.-.0.5;.%.initialize.at.the.ce
d2e0	6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 0a 6b 5f 69 6e 69 74 20 3d 20 5b 30 3b 30 3b	nter.of.the.image.k_init.=.[0;0;
d300	30 3b 30 5d 3b 20 25 20 69 6e 69 74 69 61 6c 69 7a 65 20 74 6f 20 7a 65 72 6f 20 28 6e 6f 20 64	0;0];.%.initialize.to.zero.(no.d
d320	69 73 74 6f 72 74 69 6f 6e 29 0a 0a 0a 25 20 43 6f 6d 70 75 74 65 20 65 78 70 6c 69 63 69 74 65	istortion)...%.Compute.explicite
d340	6c 79 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 74 67 68 20 75 73 69 6e 67 20 61 6c 6c 20 74 68	ly.the.focal.lentgh.using.all.th
d360	65 20 28 6d 75 74 75 61 6c 6c 79 20 6f 72 74 68 6f 67 6f 6e 61 6c 29 20 76 61 6e 69 73 68 69 6e	e.(mutually.orthogonal).vanishin
d380	67 20 70 6f 69 6e 74 73 0a 25 20 6e 6f 74 65 3a 20 54 68 65 20 76 61 6e 69 68 69 6e 67 20 70 6f	g.points.%.note:.The.vanihing.po
d3a0	69 6e 74 73 20 61 72 65 20 68 69 64 64 65 6e 20 69 6e 20 74 68 65 20 70 6c 61 6e 61 72 20 63 6f	ints.are.hidden.in.the.planar.co
d3c0	6c 6c 69 6e 65 61 74 69 6f 6e 73 20 48 5f 6b 6b 0a 0a 41 20 3d 20 5b 5d 3b 0a 62 20 3d 20 5b 5d	llineations.H_kk..A.=.[];.b.=.[]
d3e0	3b 0a 0a 25 20 6d 61 74 72 69 78 20 74 68 61 74 20 73 75 62 74 72 61 63 74 20 74 68 65 20 70 72	;..%.matrix.that.subtract.the.pr
d400	69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 0a 53 75 62 5f 63 63 20 3d 20 5b 31 20 30 20 2d 63 5f	incipal.point:.Sub_cc.=.[1.0.-c_
d420	69 6e 69 74 28 31 29 3b 30 20 31 20 2d 63 5f 69 6e 69 74 28 32 29 3b 30 20 30 20 31 5d 3b 0a 0a	init(1);0.1.-c_init(2);0.0.1];..
d440	48 5f 6c 69 73 74 20 3d 20 63 65 6c 6c 28 31 2c 6e 5f 69 6d 61 29 3b 0a 0a 66 6f 72 20 6b 6b 3d	H_list.=.cell(1,n_ima);..for.kk=
d460	31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 48 6b 6b 20 3d 20 48 5f 27	1:n_ima,........eval(['Hkk.=.H_'
d480	20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 48 6b 6b 20 3d	.num2str(kk).';']);........Hkk.=
d4a0	20 53 75 62 5f 63 63 20 2a 20 48 6b 6b 3b 0a 20 20 20 20 20 20 0a 20 20 20 48 5f 6c 69 73 74 7b	.Sub_cc.*.Hkk;...........H_list{
d4c0	6b 6b 7d 20 3d 20 48 6b 6b 3b 0a 20 20 20 0a 20 20 20 25 20 45 78 74 72 61 63 74 20 76 61 6e 69	kk}.=.Hkk;........%.Extract.vani
d4e0	73 68 69 6e 67 20 70 6f 69 6e 74 73 20 28 64 69 72 65 63 74 20 61 6e 64 20 64 69 61 67 6f 6e 61	shing.points.(direct.and.diagona
d500	6c 73 29 3a 0a 20 20 20 0a 20 20 20 56 5f 68 6f 72 69 5f 70 69 78 20 3d 20 48 6b 6b 28 3a 2c 31	ls):........V_hori_pix.=.Hkk(:,1
d520	29 3b 0a 20 20 20 56 5f 76 65 72 74 5f 70 69 78 20 3d 20 48 6b 6b 28 3a 2c 32 29 3b 0a 20 20 20	);....V_vert_pix.=.Hkk(:,2);....
d540	56 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 28 48 6b 6b 28 3a 2c 31 29 2b 48 6b 6b 28 3a 2c 32 29	V_diag1_pix.=.(Hkk(:,1)+Hkk(:,2)
d560	29 2f 32 3b 0a 20 20 20 56 5f 64 69 61 67 32 5f 70 69 78 20 3d 20 28 48 6b 6b 28 3a 2c 31 29 2d	)/2;....V_diag2_pix.=.(Hkk(:,1)-
d580	48 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 0a 20 20 20 56 5f 68 6f 72 69 5f 70 69 78 20 3d	Hkk(:,2))/2;........V_hori_pix.=
d5a0	20 56 5f 68 6f 72 69 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 68 6f 72 69 5f 70 69 78 29 3b 0a 20 20	.V_hori_pix/norm(V_hori_pix);...
d5c0	20 56 5f 76 65 72 74 5f 70 69 78 20 3d 20 56 5f 76 65 72 74 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f	.V_vert_pix.=.V_vert_pix/norm(V_
d5e0	76 65 72 74 5f 70 69 78 29 3b 0a 20 20 20 56 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 56 5f 64 69	vert_pix);....V_diag1_pix.=.V_di
d600	61 67 31 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 64 69 61 67 31 5f 70 69 78 29 3b 0a 20 20 20 56 5f	ag1_pix/norm(V_diag1_pix);....V_
d620	64 69 61 67 32 5f 70 69 78 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 64	diag2_pix.=.V_diag2_pix/norm(V_d
d640	69 61 67 32 5f 70 69 78 29 3b 0a 20 20 20 0a 20 20 20 61 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69	iag2_pix);........a1.=.V_hori_pi
d660	78 28 31 29 3b 0a 20 20 20 62 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 32 29 3b 0a 20 20 20	x(1);....b1.=.V_hori_pix(2);....
d680	63 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 61 32 20 3d 20	c1.=.V_hori_pix(3);........a2.=.
d6a0	56 5f 76 65 72 74 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 32 20 3d 20 56 5f 76 65 72 74 5f 70 69	V_vert_pix(1);....b2.=.V_vert_pi
d6c0	78 28 32 29 3b 0a 20 20 20 63 32 20 3d 20 56 5f 76 65 72 74 5f 70 69 78 28 33 29 3b 0a 20 20 20	x(2);....c2.=.V_vert_pix(3);....
d6e0	0a 20 20 20 61 33 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 33 20 3d	....a3.=.V_diag1_pix(1);....b3.=
d700	20 56 5f 64 69 61 67 31 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 33 20 3d 20 56 5f 64 69 61 67 31	.V_diag1_pix(2);....c3.=.V_diag1
d720	5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 61 34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78	_pix(3);........a4.=.V_diag2_pix
d740	28 31 29 3b 0a 20 20 20 62 34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 28 32 29 3b 0a 20 20 20	(1);....b4.=.V_diag2_pix(2);....
d760	63 34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 28 33 29 3b 0a 20 0a 20 0a 20 20 20 41 5f 6b 6b	c4.=.V_diag2_pix(3);........A_kk
d780	20 3d 20 5b 61 31 2a 61 32 20 20 62 31 2a 62 32 3b 0a 09 20 20 20 20 20 20 20 20 61 33 2a 61 34	.=.[a1*a2..b1*b2;..........a3*a4
d7a0	20 20 62 33 2a 62 34 5d 3b 0a 20 20 20 0a 20 20 20 62 5f 6b 6b 20 3d 20 2d 5b 63 31 2a 63 32 3b	..b3*b4];........b_kk.=.-[c1*c2;
d7c0	63 33 2a 63 34 5d 3b 0a 20 20 20 0a 0a 20 20 20 41 20 3d 20 5b 41 3b 41 5f 6b 6b 5d 3b 0a 20 20	c3*c4];.........A.=.[A;A_kk];...
d7e0	20 62 20 3d 20 5b 62 3b 62 5f 6b 6b 5d 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 25 20 75 73 65 20 61	.b.=.[b;b_kk];.....end;..%.use.a
d800	6c 6c 20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 74 6f 20 65 73 74 69 6d	ll.the.vanishing.points.to.estim
d820	61 74 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 0a 66 5f 69 6e 69 74 20 3d 20 73 71 72 74	ate.focal.length:..f_init.=.sqrt
d840	28 61 62 73 28 31 2e 2f 28 69 6e 76 28 41 27 2a 41 29 2a 41 27 2a 62 29 29 29 3b 20 25 20 69 66	(abs(1./(inv(A'*A)*A'*b)));.%.if
d860	20 75 73 69 6e 67 20 61 20 74 77 6f 2d 66 6f 63 61 6c 20 6d 6f 64 65 6c 20 66 6f 72 20 69 6e 69	.using.a.two-focal.model.for.ini
d880	74 69 61 6c 20 67 75 65 73 73 0a 0a 25 66 5f 69 6e 69 74 20 3d 20 73 71 72 74 28 62 27 2a 28 73	tial.guess..%f_init.=.sqrt(b'*(s
d8a0	75 6d 28 41 27 29 27 29 20 2f 20 28 62 27 2a 62 29 29 20 2a 20 6f 6e 65 73 28 32 2c 31 29 3b 20	um(A')')./.(b'*b)).*.ones(2,1);.
d8c0	25 20 69 66 20 73 69 6e 67 6c 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 6d 6f 64 65 6c 20 69	%.if.single.focal.length.model.i
d8e0	73 20 75 73 65 64 0a 0a 0a 25 20 47 6c 6f 62 61 6c 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 6d 61	s.used...%.Global.calibration.ma
d900	74 72 69 78 20 28 69 6e 69 74 69 61 6c 20 67 75 65 73 73 29 3a 0a 20 20 20 09 0a 4b 4b 20 3d 20	trix.(initial.guess):......KK.=.
d920	5b 66 5f 69 6e 69 74 28 31 29 20 30 20 63 5f 69 6e 69 74 28 31 29 3b 30 20 66 5f 69 6e 69 74 28	[f_init(1).0.c_init(1);0.f_init(
d940	32 29 20 63 5f 69 6e 69 74 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69 6e 76 5f 4b 4b 20 3d 20 69	2).c_init(2);.0.0.1];.inv_KK.=.i
d960	6e 76 28 4b 4b 29 3b 0a 0a 09 0a 25 20 43 6f 6d 70 75 74 69 6e 67 20 6f 66 20 74 68 65 20 65 78	nv(KK);....%.Computing.of.the.ex
d980	74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 66 72 6f 6d 20 74 68 65 20 63 6f 6c	trinsic.parameters.(from.the.col
d9a0	6c 69 6e 65 61 74 69 6f 6e 73 29 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20	lineations)..for.kk.=.1:n_ima,..
d9c0	20 20 0a 20 20 20 65 76 61 6c 28 5b 27 48 6b 6b 20 3d 20 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b	......eval(['Hkk.=.H_'.num2str(k
d9e0	6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 48 32 20 3d 20 69 6e 76 5f 4b 4b 2a 48 6b 6b	k).';']);........H2.=.inv_KK*Hkk
da00	3b 0a 20 20 20 20 20 20 0a 20 20 20 73 63 20 3d 20 6d 65 61 6e 28 5b 6e 6f 72 6d 28 48 32 28 3a	;...........sc.=.mean([norm(H2(:
da20	2c 31 29 29 3b 6e 6f 72 6d 28 48 32 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20 0a 20 09 48 32 20 3d	,1));norm(H2(:,2))]);.......H2.=
da40	20 48 32 2f 73 63 3b 0a 20 20 20 0a 20 20 09 6f 6d 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73	.H2/sc;........omckk.=.rodrigues
da60	28 5b 48 32 28 3a 2c 31 3a 32 29 20 63 72 6f 73 73 28 48 32 28 3a 2c 31 29 2c 48 32 28 3a 2c 32	([H2(:,1:2).cross(H2(:,1),H2(:,2
da80	29 29 5d 29 3b 0a 20 20 09 54 63 6b 6b 20 3d 20 48 32 28 3a 2c 33 29 3b 0a 20 20 20 0a 20 20 09	))]);....Tckk.=.H2(:,3);........
daa0	65 76 61 6c 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63	eval(['omc_'.num2str(kk).'.=.omc
dac0	6b 6b 3b 27 5d 29 3b 0a 20 20 09 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b	kk;']);....eval(['Tc_'.num2str(k
dae0	6b 29 20 27 20 3d 20 54 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 09 0a 65 6e 64 3b 0a 0a 0a 20 20 20	k).'.=.Tckk;']);......end;......
db00	20 20 20 0a 25 20 49 6e 69 74 69 61 6c 69 73 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 61 72 61	....%.Initialisation.of.the.para
db20	6d 65 74 65 72 73 20 66 6f 72 20 67 6c 6f 62 61 6c 20 6d 69 6e 69 6d 69 7a 61 74 69 6f 6e 3a 0a	meters.for.global.minimization:.
db40	0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 66 5f 69 6e 69 74 3b 6b 5f 69 6e 69 74 5d 3b 0a 0a	.init_param.=.[f_init;k_init];..
db60	66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 69	for.kk.=.1:n_ima,.......eval(['i
db80	6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69 6e 69 74 5f 70 61 72 61 6d 3b 20 6f 6d 63 5f 27 20 6e	nit_param.=.[init_param;.omc_'.n
dba0	75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	um2str(kk).';.Tc_'.num2str(kk).'
dbc0	5d 3b 27 5d 29 3b 0a 65 6e 64 3b 0a 0a 69 66 20 65 78 69 73 74 28 27 6c 65 61 73 74 73 71 27 29	];']);.end;..if.exist('leastsq')
dbe0	2c 0a 20 20 20 73 73 73 20 3d 20 5b 27 5b 70 61 72 61 6d 2c 6f 70 74 5d 20 3d 20 6c 65 61 73 74	,....sss.=.['[param,opt].=.least
dc00	73 71 28 27 27 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 27 27 2c 69 6e 69 74 5f 70 61 72	sq(''multi_error_oulu'',init_par
dc20	61 6d 2c 6f 70 74 69 6f 6e 73 2c 5b 5d 2c 6e 5f 69 6d 61 2c 63 5f 69 6e 69 74 29 3b 27 5d 3b 0a	am,options,[],n_ima,c_init);'];.
dc40	65 6c 73 65 0a 20 20 20 73 73 73 20 3d 20 5b 27 5b 70 61 72 61 6d 2c 6f 70 74 5d 20 3d 20 6c 65	else....sss.=.['[param,opt].=.le
dc60	61 73 74 73 71 32 28 27 27 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 27 27 2c 69 6e 69 74	astsq2(''multi_error_oulu'',init
dc80	5f 70 61 72 61 6d 2c 6f 70 74 69 6f 6e 73 2c 5b 5d 2c 6e 5f 69 6d 61 2c 63 5f 69 6e 69 74 29 3b	_param,options,[],n_ima,c_init);
dca0	27 5d 3b 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 4f 70 74 69 6d 69 7a 61	'];.end;...fprintf(1,'\nOptimiza
dcc0	74 69 6f 6e 20 6e 6f 74 20 69 6e 63 6c 75 64 69 6e 67 20 74 68 65 20 70 72 69 6e 63 69 70 61 6c	tion.not.including.the.principal
dce0	20 70 6f 69 6e 74 2e 2e 2e 5c 6e 27 29 0a 0a 6f 70 74 69 6f 6e 73 20 3d 20 5b 31 20 31 65 2d 34	.point...\n')..options.=.[1.1e-4
dd00	20 31 65 2d 34 20 31 65 2d 36 20 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 34 30	.1e-4.1e-6..0.0.0.0.0.0.0.0.0.40
dd20	30 30 20 30 20 31 65 2d 38 20 30 2e 31 20 30 5d 3b 0a 0a 65 76 61 6c 28 73 73 73 29 3b 0a 0a 68	00.0.1e-8.0.1.0];..eval(sss);..h
dd40	69 73 74 6f 72 79 20 20 3d 20 5b 5b 69 6e 69 74 5f 70 61 72 61 6d 3b 63 5f 69 6e 69 74 5d 20 5b	istory..=.[[init_param;c_init].[
dd60	70 61 72 61 6d 3b 63 5f 69 6e 69 74 5d 5d 3b 0a 0a 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 20 3d	param;c_init]];..sol_no_center.=
dd80	20 5b 70 61 72 61 6d 3b 63 5f 69 6e 69 74 5d 3b 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 73	.[param;c_init];..init_param.=.s
dda0	6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 4f 70 74 69	ol_no_center;..fprintf(1,'\nOpti
ddc0	6d 69 7a 61 74 69 6f 6e 20 69 6e 63 6c 75 64 69 6e 67 20 74 68 65 20 70 72 69 6e 63 69 70 61 6c	mization.including.the.principal
dde0	20 70 6f 69 6e 74 2e 2e 2e 5c 6e 27 29 0a 0a 65 76 61 6c 28 73 73 73 29 3b 0a 0a 68 69 73 74 6f	.point...\n')..eval(sss);..histo
de00	72 79 20 3d 20 5b 68 69 73 74 6f 72 79 20 70 61 72 61 6d 5d 3b 0a 0a 0a 73 6f 6c 5f 77 69 74 68	ry.=.[history.param];...sol_with
de20	5f 63 65 6e 74 65 72 20 3d 20 70 61 72 61 6d 3b 0a 0a 0a 0a 0a 25 25 25 20 45 78 74 72 61 63 74	_center.=.param;.....%%%.Extract
de40	69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65	ion.of.the.final.intrinsic.and.e
de60	78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 20 28 69 6e 20 74 68 65 20 6e 6f 2d 63	xtrinsic.paramaters.(in.the.no-c
de80	65 6e 74 65 72 20 63 61 73 65 29 3a 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 6e 6f 5f	enter.case):..solution.=.sol_no_
dea0	63 65 6e 74 65 72 3b 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 0a 66 70 72	center;.extract_parameters;..fpr
dec0	69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20	intf(1,'\n\nCalibration.results.
dee0	77 69 74 68 6f 75 74 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69	without.principal.point.estimati
df00	6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67	on:\n\n');.fprintf(1,'Focal.Leng
df20	74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27	th:.....fc.=.[.%3.5f...%3.5f]\n'
df40	2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74	,fc);.fprintf(1,'Principal.point
df60	3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b	:..cc.=.[.%3.5f...%3.5f]\n',cc);
df80	0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63	.fprintf(1,'Distortion:.......kc
dfa0	20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e	.=.[.%3.5f...%3.5f...%3.5f...%3.
dfc0	35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 5b 27 50 69 78 65 6c	5f]\n',kc);....fprintf(1,['Pixel
dfe0	20 65 72 72 6f 72 3a 20 20 20 20 20 20 5b 63 6c 69 63 6b 20 6f 6e 20 27 27 73 6f 6c 2e 20 77 69	.error:......[click.on.''sol..wi
e000	74 68 6f 75 74 20 63 65 6e 74 65 72 27 27 5d 5c 6e 27 5d 29 3b 20 0a 0a 0a 0a 0a 25 20 50 69 63	thout.center'']\n']);......%.Pic
e020	6b 20 74 68 65 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 70 72 69 6e 63 69 70 61 6c 20 70 6f	k.the.solution.with.principal.po
e040	69 6e 74 0a 25 25 25 20 4e 4f 54 45 3a 20 41 74 20 74 68 61 74 20 70 6f 69 6e 74 2c 20 74 68 65	int.%%%.NOTE:.At.that.point,.the
e060	20 75 73 65 72 20 63 61 6e 20 63 68 6f 6f 73 65 20 77 68 69 63 68 20 73 6f 6c 75 74 69 6f 6e 20	.user.can.choose.which.solution.
e080	74 6f 20 70 69 63 6b 3a 20 77 69 74 68 20 6f 72 20 77 69 74 68 6f 75 74 0a 25 25 25 20 70 72 69	to.pick:.with.or.without.%%%.pri
e0a0	6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 2e 20 42 79 20 64 65 66 61	ncipal.point.estimation..By.defa
e0c0	75 6c 74 2c 20 77 65 20 70 69 63 6b 20 74 68 65 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 70	ult,.we.pick.the.solution.with.p
e0e0	72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 2e 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f	rincipal.point...solution.=.sol_
e100	77 69 74 68 5f 63 65 6e 74 65 72 3b 0a 0a 0a 0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f	with_center;....%%%.Extraction.o
e120	66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e	f.the.final.intrinsic.and.extrin
e140	73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74	sic.paramaters:..extract_paramet
e160	65 72 73 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f	ers;...fprintf(1,'\n\nCalibratio
e180	6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65	n.results.with.principal.point.e
e1a0	73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63	stimation:\n\n');.fprintf(1,'Foc
e1c0	61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33	al.Length:.....fc.=.[.%3.5f...%3
e1e0	2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61	.5f]\n',fc);.fprintf(1,'Principa
e200	6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c	l.point:..cc.=.[.%3.5f...%3.5f]\
e220	6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20	n',cc);.fprintf(1,'Distortion:..
e240	20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35	.....kc.=.[.%3.5f...%3.5f...%3.5
e260	66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 0a 0a 25 25 25 25 25 25 25 25	f...%3.5f]\n',kc);......%%%%%%%%
e280	25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c 20 4f 55 54 50 55 54 20 25 25	%%%%%%%%%%%%.GRAPHICAL.OUTPUT.%%
e2a0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 0a 67 72 61 70 68 6f 75 74	%%%%%%%%%%%%%%%%%%%%%%..graphout
e2c0	5f 63 61 6c 69 62 3b 0a 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 4e 6f 74 65 3a 20 49 66 20 74	_calib;....fprintf(1,'Note:.If.t
e2e0	68 65 20 73 6f 6c 75 74 69 6f 6e 20 69 73 20 6e 6f 74 20 73 61 74 69 73 66 61 63 74 6f 72 79 2c	he.solution.is.not.satisfactory,
e300	20 73 65 6c 65 63 74 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 6f 75 74 20 63 65 6e 74 65 72 20	.select.solution.without.center.
e320	65 73 74 69 6d 61 74 69 6f 6e 2e 5c 6e 5c 6e 27 29 3b 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25	estimation.\n\n');...%%%%%%%%%%%
e340	25 25 25 20 53 61 76 65 20 61 6c 6c 20 74 68 65 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73	%%%.Save.all.the.Calibration.res
e360	75 6c 74 73 3a 0a 0a 64 69 73 70 28 27 53 61 76 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 65	ults:..disp('Save.calibration.re
e380	73 75 6c 74 73 20 75 6e 64 65 72 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 27 29 3b	sults.under.Calib_Results.mat');
e3a0	0a 0a 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 27 73 61 76 65 20 43 61 6c 69 62 5f 52 65 73 75	..string_save.=.'save.Calib_Resu
e3c0	6c 74 73 20 66 63 20 6b 63 20 63 63 20 65 78 20 78 20 79 20 73 6f 6c 75 74 69 6f 6e 20 73 6f 6c	lts.fc.kc.cc.ex.x.y.solution.sol
e3e0	5f 77 69 74 68 5f 63 65 6e 74 65 72 20 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 20 68 69 73 74 6f	_with_center.sol_no_center.histo
e400	72 79 20 77 69 6e 74 78 20 77 69 6e 74 79 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75 6d 62 65 72	ry.wintx.winty.n_ima.type_number
e420	69 6e 67 20 4e 5f 73 6c 6f 74 73 20 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 20 66 69	ing.N_slots.small_calib_image.fi
e440	72 73 74 5f 6e 75 6d 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f 69 6d 61	rst_num.image_numbers.format_ima
e460	67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79 20 6d 61	ge.calib_name.Hcal.Wcal.nx.ny.ma
e480	70 20 64 58 5f 64 65 66 61 75 6c 74 20 64 59 5f 64 65 66 61 75 6c 74 20 4b 4b 20 69 6e 76 5f 4b	p.dX_default.dY_default.KK.inv_K
e4a0	4b 20 64 58 20 64 59 27 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20	K.dX.dY';..for.kk.=.1:n_ima,....
e4c0	73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27 20 58 5f 27	string_save.=.[string_save.'.X_'
e4e0	20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	.num2str(kk).'.x_'.num2str(kk).'
e500	20 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 65 78 5f 27 20 6e 75 6d 32 73 74 72 28	.y_'.num2str(kk).'.ex_'.num2str(
e520	6b 6b 29 20 27 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 54 63 5f 27 20 6e	kk).'.omc_'.num2str(kk).'.Tc_'.n
e540	75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e	um2str(kk).'.H_'.num2str(kk).'.n
e560	5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e 5f 73 71 5f 79 5f 27 20 6e	_sq_x_'.num2str(kk).'.n_sq_y_'.n
e580	75 6d 32 73 74 72 28 6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 65 76 61 6c 28 73 74 72 69 6e 67 5f 73	um2str(kk)];.end;..eval(string_s
e5a0	61 76 65 29 3b 0a 34 5d 3b 0a 20 20 20 0a 20 20 20 62 5f 6b 6b 20 3d 20 2d 5b 63 31 2a 63 32 3b	ave);.4];........b_kk.=.-[c1*c2;
e5c0	63 33 2a 63 34 5d 3b 0a 20 20 20 0a 0a 20 20 20 41 20 3d 20 5b 41 3b 41 5f 6b 6b 5d 3b 0a 20 20	c3*c4];.........A.=.[A;A_kk];...
e5e0	20 62 20 3d 20 5b 62 3b 62 5f 6b 6b 5d 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 25 20 75 73 65 20 61	.b.=.[b;b_kk];.....end;..%.use.a
e600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 2e 6d 00 00	TOOLBOX_calib/graphout_calib.m..
e620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e660	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
e680	20 20 20 35 37 31 31 20 20 36 37 36 33 30 37 30 32 32 37 20 20 31 31 35 37 30 00 20 00 00 00 00	...5711..6763070227..11570......
e6a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e6e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e7a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e7c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e800	0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c	..%%%%%%%%%%%%%%%%%%%%.GRAPHICAL
e820	20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	.OUTPUT.%%%%%%%%%%%%%%%%%%%%%%%%
e840	0a 0a 0a 25 20 43 6f 6c 6f 72 20 63 6f 64 65 20 66 6f 72 20 65 61 63 68 20 69 6d 61 67 65 3a 0a	...%.Color.code.for.each.image:.
e860	0a 63 6f 6c 6f 72 73 20 3d 20 27 62 72 67 6b 63 6d 27 3b 0a 0a 0a 25 25 25 20 53 68 6f 77 20 74	.colors.=.'brgkcm';...%%%.Show.t
e880	68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 0a 0a 49 50 20 3d 20 38 2a	he.extrinsic.parameters..IP.=.8*
e8a0	64 58 2a 28 5b 30 20 6e 78 2d 31 20 6e 78 2d 31 20 30 20 30 20 3b 20 30 20 30 20 6e 79 2d 31 20	dX*([0.nx-1.nx-1.0.0.;.0.0.ny-1.
e8c0	6e 79 2d 31 20 30 3b 31 20 31 20 31 20 31 20 31 5d 20 2d 20 5b 63 63 3b 30 5d 2a 6f 6e 65 73 28	ny-1.0;1.1.1.1.1].-.[cc;0]*ones(
e8e0	31 2c 35 29 29 20 2e 2f 20 28 5b 66 63 3b 31 5d 2a 6f 6e 65 73 28 31 2c 35 29 29 3b 0a 0a 0a 66	1,5))../.([fc;1]*ones(1,5));...f
e900	69 67 75 72 65 28 34 29 3b 0a 5b 61 2c 62 5d 20 3d 20 76 69 65 77 3b 0a 0a 66 69 67 75 72 65 28	igure(4);.[a,b].=.view;..figure(
e920	34 29 3b 0a 70 6c 6f 74 33 28 35 2a 5b 30 20 64 58 20 30 20 30 20 30 20 30 20 5d 2c 35 2a 5b 30	4);.plot3(5*[0.dX.0.0.0.0.],5*[0
e940	20 30 20 30 20 30 20 30 20 64 58 5d 2c 2d 35 2a 5b 30 20 30 20 30 20 64 58 20 30 20 30 20 5d 2c	.0.0.0.0.dX],-5*[0.0.0.dX.0.0.],
e960	27 62 2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 27 29 3b 0a 68 6f 6c 64 20 6f 6e 3b 0a 70	'b-','linewidth',2');.hold.on;.p
e980	6c 6f 74 33 28 49 50 28 31 2c 3a 29 2c 49 50 28 33 2c 3a 29 2c 2d 49 50 28 32 2c 3a 29 2c 27 72	lot3(IP(1,:),IP(3,:),-IP(2,:),'r
e9a0	2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 29 3b 0a 74 65 78 74 28 36 2a 64 58 2c 30 2c 30	-','linewidth',2);.text(6*dX,0,0
e9c0	2c 27 58 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58 2c 35 2a 64 58 2c 30 2c 27 5a 5f 63 27 29 3b	,'X_c');.text(-dX,5*dX,0,'Z_c');
e9e0	0a 74 65 78 74 28 30 2c 30 2c 2d 36 2a 64 58 2c 27 59 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58	.text(0,0,-6*dX,'Y_c');.text(-dX
ea00	2c 2d 64 58 2c 64 58 2c 27 4f 5f 63 27 29 3b 0a 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69	,-dX,dX,'O_c');...for.kk.=.1:n_i
ea20	6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 58 58 5f 6b 6b 20 3d 20 58 5f 27 20 6e 75	ma,........eval(['XX_kk.=.X_'.nu
ea40	6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 5f 6b	m2str(kk).';']);....eval(['omc_k
ea60	6b 20 3d 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20	k.=.omc_'.num2str(kk).';']);....
ea80	65 76 61 6c 28 5b 27 54 63 5f 6b 6b 20 3d 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	eval(['Tc_kk.=.Tc_'.num2str(kk).
eaa0	27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 78 20 3d 20 6e 5f	';']);........eval(['n_sq_x.=.n_
eac0	73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61	sq_x_'.num2str(kk).';']);....eva
eae0	6c 28 5b 27 6e 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	l(['n_sq_y.=.n_sq_y_'.num2str(kk
eb00	29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 52 5f 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73	).';']);........R_kk.=.rodrigues
eb20	28 6f 6d 63 5f 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 59 59 5f 6b 6b 20 3d 20 52 5f 6b 6b 20 2a 20	(omc_kk);........YY_kk.=.R_kk.*.
eb40	58 58 5f 6b 6b 20 2b 20 54 63 5f 6b 6b 20 2a 20 6f 6e 65 73 28 31 2c 6c 65 6e 67 74 68 28 58 58	XX_kk.+.Tc_kk.*.ones(1,length(XX
eb60	5f 6b 6b 29 29 3b 0a 20 20 20 0a 20 20 20 75 75 20 3d 20 5b 2d 64 58 3b 2d 64 59 3b 30 5d 2f 32	_kk));........uu.=.[-dX;-dY;0]/2
eb80	3b 0a 20 20 20 75 75 20 3d 20 52 5f 6b 6b 20 2a 20 75 75 20 2b 20 54 63 5f 6b 6b 3b 20 0a 20 20	;....uu.=.R_kk.*.uu.+.Tc_kk;....
eba0	20 0a 20 20 20 59 59 78 20 3d 20 7a 65 72 6f 73 28 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73 71 5f 79	.....YYx.=.zeros(n_sq_x+1,n_sq_y
ebc0	2b 31 29 3b 0a 20 20 20 59 59 79 20 3d 20 7a 65 72 6f 73 28 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73	+1);....YYy.=.zeros(n_sq_x+1,n_s
ebe0	71 5f 79 2b 31 29 3b 0a 20 20 20 59 59 7a 20 3d 20 7a 65 72 6f 73 28 6e 5f 73 71 5f 78 2b 31 2c	q_y+1);....YYz.=.zeros(n_sq_x+1,
ec00	6e 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 0a 20 20 20 59 59 78 28 3a 29 20 3d 20 59 59 5f 6b 6b	n_sq_y+1);........YYx(:).=.YY_kk
ec20	28 31 2c 3a 29 3b 0a 20 20 20 59 59 79 28 3a 29 20 3d 20 59 59 5f 6b 6b 28 32 2c 3a 29 3b 0a 20	(1,:);....YYy(:).=.YY_kk(2,:);..
ec40	20 20 59 59 7a 28 3a 29 20 3d 20 59 59 5f 6b 6b 28 33 2c 3a 29 3b 0a 20 20 20 0a 20 20 20 0a 20	..YYz(:).=.YY_kk(3,:);..........
ec60	20 20 25 6b 65 79 62 6f 61 72 64 3b 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 34 29 3b 0a 20	..%keyboard;........figure(4);..
ec80	20 20 68 68 68 3d 20 6d 65 73 68 28 59 59 78 2c 59 59 7a 2c 2d 59 59 79 29 3b 0a 20 20 20 73 65	..hhh=.mesh(YYx,YYz,-YYy);....se
eca0	74 28 68 68 68 2c 27 65 64 67 65 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d	t(hhh,'edgecolor',colors(rem(kk-
ecc0	31 2c 36 29 2b 31 29 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 31 29 3b 20 25 2c 27 66 61 63 65 63	1,6)+1),'linewidth',1);.%,'facec
ece0	6f 6c 6f 72 27 2c 27 6e 6f 6e 65 27 29 3b 0a 20 20 20 25 70 6c 6f 74 33 28 59 59 5f 6b 6b 28 31	olor','none');....%plot3(YY_kk(1
ed00	2c 3a 29 2c 59 59 5f 6b 6b 28 33 2c 3a 29 2c 2d 59 59 5f 6b 6b 28 32 2c 3a 29 2c 5b 27 6f 27 20	,:),YY_kk(3,:),-YY_kk(2,:),['o'.
ed20	63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 5d 29 3b 0a 20 20 20 74 65 78 74	colors(rem(kk-1,6)+1)]);....text
ed40	28 75 75 28 31 29 2c 75 75 28 33 29 2c 2d 75 75 28 32 29 2c 6e 75 6d 32 73 74 72 28 6b 6b 29 2c	(uu(1),uu(3),-uu(2),num2str(kk),
ed60	27 66 6f 6e 74 73 69 7a 65 27 2c 31 34 2c 27 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72 65 6d	'fontsize',14,'color',colors(rem
ed80	28 6b 6b 2d 31 2c 36 29 2b 31 29 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 69 67 75 72 65 28 34	(kk-1,6)+1));.....end;..figure(4
eda0	29 3b 72 6f 74 61 74 65 33 64 20 6f 6e 3b 0a 61 78 69 73 28 27 65 71 75 61 6c 27 29 3b 0a 74 69	);rotate3d.on;.axis('equal');.ti
edc0	74 6c 65 28 27 45 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 27 29 3b 0a 25 76 69	tle('Extrinsic.parameters');.%vi
ede0	65 77 28 36 30 2c 33 30 29 3b 0a 76 69 65 77 28 61 2c 62 29 3b 0a 68 6f 6c 64 20 6f 66 66 3b 0a	ew(60,30);.view(a,b);.hold.off;.
ee00	0a 0a 0a 25 20 52 65 70 72 6f 6a 65 63 74 20 74 68 65 20 70 61 74 74 65 72 6e 73 20 6f 6e 20 74	...%.Reproject.the.patterns.on.t
ee20	68 65 20 69 6d 61 67 65 73 2c 20 61 6e 64 20 63 6f 6d 70 75 74 65 20 74 68 65 20 70 69 78 65 6c	he.images,.and.compute.the.pixel
ee40	20 65 72 72 6f 72 73 3a 0a 0a 25 20 52 65 6c 6f 61 64 20 74 68 65 20 69 6d 61 67 65 73 20 69 66	.errors:..%.Reload.the.images.if
ee60	20 6e 65 63 65 73 73 61 72 79 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 49 5f 31 27 29 2c 0a 20 20	.necessary..if.~exist('I_1'),...
ee80	20 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 0a 65 78 20 3d 20 5b 5d 3b	.ima_read_calib;.end;...ex.=.[];
eea0	20 25 20 47 6c 6f 62 61 6c 20 65 72 72 6f 72 20 76 65 63 74 6f 72 0a 78 20 3d 20 5b 5d 3b 20 25	.%.Global.error.vector.x.=.[];.%
eec0	20 44 65 74 65 63 74 65 64 20 63 6f 72 6e 65 72 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70	.Detected.corners.on.the.image.p
eee0	6c 61 6e 65 0a 79 20 3d 20 5b 5d 3b 20 25 20 52 65 70 72 6f 6a 65 63 74 65 64 20 70 6f 69 6e 74	lane.y.=.[];.%.Reprojected.point
ef00	73 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c	s..for.kk.=.1:n_ima,........eval
ef20	28 5b 27 6f 6d 63 6b 6b 20 3d 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27	(['omckk.=.omc_'.num2str(kk).';'
ef40	5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 54 63 6b 6b 20 3d 20 54 63 5f 27 20 6e 75 6d 32 73 74	]);....eval(['Tckk.=.Tc_'.num2st
ef60	72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 52 6b 6b 20 3d 20 72 6f 64 72 69 67	r(kk).';']);........Rkk.=.rodrig
ef80	75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 79 5f 27 20 6e 75	ues(omckk);........eval(['y_'.nu
efa0	6d 32 73 74 72 28 6b 6b 29 20 27 20 20 3d 20 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 28 58 5f 27	m2str(kk).'..=.project2_oulu(X_'
efc0	20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 2c 52 6b 6b 2c 54 63 6b 6b 2c 66 63 2c 63 63 2c 6b 63	.num2str(kk).',Rkk,Tckk,fc,cc,kc
efe0	29 3b 27 5d 29 3b 0a 0a 20 20 20 65 76 61 6c 28 5b 27 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	);']);.....eval(['ex_'.num2str(k
f000	6b 29 20 27 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 2d 79 5f 27 20 6e 75	k).'.=.x_'.num2str(kk).'.-y_'.nu
f020	6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 78	m2str(kk).';']);........eval(['x
f040	5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20	_kk.=.x_'.num2str(kk).';']);....
f060	0a 20 20 20 66 69 67 75 72 65 28 34 2b 6b 6b 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 49 20 3d 20	....figure(4+kk);....eval(['I.=.
f080	49 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 69 6d 61 67 65 28	I_'.num2str(kk).';']);....image(
f0a0	49 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 63 6f 6c 6f 72 6d 61 70 28 67 72 61 79 28 32 35	I);.hold.on;....colormap(gray(25
f0c0	36 29 29 3b 0a 20 20 20 74 69 74 6c 65 28 5b 27 49 6d 61 67 65 20 27 20 6e 75 6d 32 73 74 72 28	6));....title(['Image.'.num2str(
f0e0	6b 6b 29 20 27 20 2d 20 49 6d 61 67 65 20 70 6f 69 6e 74 73 20 28 2b 29 20 61 6e 64 20 72 65 70	kk).'.-.Image.points.(+).and.rep
f100	72 6f 6a 65 63 74 65 64 20 67 72 69 64 20 70 6f 69 6e 74 73 20 28 6f 29 27 5d 29 3b 0a 20 20 20	rojected.grid.points.(o)']);....
f120	65 76 61 6c 28 5b 27 70 6c 6f 74 28 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c	eval(['plot(x_'.num2str(kk).'(1,
f140	3a 29 2b 31 2c 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 32 2c 3a 29 2b 31 2c 27 27	:)+1,x_'.num2str(kk).'(2,:)+1,''
f160	72 2b 27 27 29 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 70 6c 6f 74 28 79 5f 27 20 6e 75	r+'');']);....eval(['plot(y_'.nu
f180	6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2b 31 2c 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b	m2str(kk).'(1,:)+1,y_'.num2str(k
f1a0	6b 29 20 27 28 32 2c 3a 29 2b 31 2c 27 27 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c	k).'(2,:)+1,'''.colors(rem(kk-1,
f1c0	36 29 2b 31 29 20 27 6f 27 27 29 3b 27 5d 29 3b 0a 20 20 20 7a 6f 6f 6d 20 6f 6e 3b 0a 20 20 20	6)+1).'o'');']);....zoom.on;....
f1e0	68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 65 78 20 3d	hold.off;............eval(['ex.=
f200	20 5b 65 78 20 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20	.[ex.ex_'.num2str(kk).'];']);...
f220	20 65 76 61 6c 28 5b 27 78 20 3d 20 5b 78 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	.eval(['x.=.[x.x_'.num2str(kk).'
f240	5d 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 79 20 3d 20 5b 79 20 79 5f 27 20 6e 75 6d 32	];']);....eval(['y.=.[y.y_'.num2
f260	73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 66 69 67 75 72	str(kk).'];']);.....end;...figur
f280	65 28 35 2b 6e 5f 69 6d 61 29 3b 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20	e(5+n_ima);.for.kk.=.1:n_ima,...
f2a0	20 65 76 61 6c 28 5b 27 70 6c 6f 74 28 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28	.eval(['plot(ex_'.num2str(kk).'(
f2c0	31 2c 3a 29 2c 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 32 2c 3a 29 2c 27 27 27	1,:),ex_'.num2str(kk).'(2,:),'''
f2e0	20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 20 27 2b 27 27 29 3b 27 5d 29	.colors(rem(kk-1,6)+1).'+'');'])
f300	3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 65 6e 64 3b 0a 68 6f 6c 64 20 6f 66 66 3b 0a 61 78 69	;....hold.on;.end;.hold.off;.axi
f320	73 28 27 65 71 75 61 6c 27 29 3b 0a 74 69 74 6c 65 28 27 52 65 70 72 6f 6a 65 63 74 69 6f 6e 20	s('equal');.title('Reprojection.
f340	65 72 72 6f 72 20 28 69 6e 20 70 69 78 65 6c 29 27 29 3b 0a 78 6c 61 62 65 6c 28 27 78 27 29 3b	error.(in.pixel)');.xlabel('x');
f360	0a 79 6c 61 62 65 6c 28 27 79 27 29 3b 0a 0a 65 72 72 5f 73 74 64 20 3d 20 73 74 64 28 65 78 27	.ylabel('y');..err_std.=.std(ex'
f380	29 27 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20	)';..fprintf(1,'Pixel.error:....
f3a0	20 20 65 72 72 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72	..err.=.[.%3.5f...%3.5f]\n\n',er
f3c0	72 5f 73 74 64 29 3b 20 0a 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	r_std);.........................
f3e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 2e 6d 00 00	TOOLBOX_calib/ima_read_calib.m..
f420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f460	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
f480	20 20 20 31 37 35 34 20 20 36 37 36 33 30 37 30 32 32 37 20 20 31 31 35 30 33 00 20 00 00 00 00	...1754..6763070227..11503......
f4a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f4c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f4e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f5a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f5c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f5e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f600	0a 69 66 20 7e 65 78 69 73 74 28 27 63 61 6c 69 62 5f 6e 61 6d 65 27 29 2c 0a 20 20 20 64 61 74	.if.~exist('calib_name'),....dat
f620	61 5f 63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 3d 20 66	a_calib;.end;..image_numbers.=.f
f640	69 72 73 74 5f 6e 75 6d 3a 6e 5f 69 6d 61 2d 31 2b 66 69 72 73 74 5f 6e 75 6d 3b 0a 0a 66 6f 72	irst_num:n_ima-1+first_num;..for
f660	20 69 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 4c 6f 61	.i.=.1:n_ima,.....fprintf(1,'Loa
f680	64 69 6e 67 20 69 6d 61 67 65 20 25 64 2e 2e 2e 5c 6e 27 2c 69 29 3b 0a 20 20 20 0a 20 20 20 69	ding.image.%d...\n',i);........i
f6a0	66 20 7e 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 2c 20 20 20 0a 20 20 20 20 20 20 6e 75 6d 62	f.~type_numbering,..........numb
f6c0	65 72 5f 65 78 74 20 3d 20 20 6e 75 6d 32 73 74 72 28 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 28	er_ext.=..num2str(image_numbers(
f6e0	69 29 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 6e 75 6d 62 65 72 5f 65 78 74 20 3d 20	i));....else.......number_ext.=.
f700	73 70 72 69 6e 74 66 28 5b 27 25 2e 27 20 6e 75 6d 32 73 74 72 28 4e 5f 73 6c 6f 74 73 29 20 27	sprintf(['%.'.num2str(N_slots).'
f720	64 27 5d 2c 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 28 69 29 29 3b 0a 20 20 20 65 6e 64 3b 0a 0a	d'],image_numbers(i));....end;..
f740	20 20 20 69 66 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 72 27 2c 20 20 20	...if.format_image(1).==.'r',...
f760	0a 20 20 20 20 20 20 49 69 20 3d 20 72 65 61 64 72 61 73 28 5b 63 61 6c 69 62 5f 6e 61 6d 65 20	.......Ii.=.readras([calib_name.
f780	20 6e 75 6d 62 65 72 5f 65 78 74 20 27 2e 72 61 73 27 5d 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20	.number_ext.'.ras']);....else...
f7a0	20 20 20 20 49 69 20 3d 20 64 6f 75 62 6c 65 28 69 6d 72 65 61 64 28 5b 63 61 6c 69 62 5f 6e 61	....Ii.=.double(imread([calib_na
f7c0	6d 65 20 20 6e 75 6d 62 65 72 5f 65 78 74 20 27 2e 27 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 5d	me..number_ext.'.'.format_image]
f7e0	29 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 69 66 20 73 69 7a 65 28 49	));....end;............if.size(I
f800	69 2c 33 29 3e 31 2c 0a 20 20 20 20 20 20 49 69 20 3d 20 49 69 28 3a 2c 3a 2c 32 29 3b 0a 20 20	i,3)>1,.......Ii.=.Ii(:,:,2);...
f820	20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 49 5f 27 20 6e 75 6d 32	.end;............eval(['I_'.num2
f840	73 74 72 28 69 29 20 27 20 3d 20 49 69 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 69 66	str(i).'.=.Ii;']);.....end;...if
f860	20 73 69 7a 65 28 49 5f 31 2c 31 29 7e 3d 34 38 30 2c 0a 20 20 20 73 6d 61 6c 6c 5f 63 61 6c 69	.size(I_1,1)~=480,....small_cali
f880	62 5f 69 6d 61 67 65 20 3d 20 31 3b 0a 65 6c 73 65 0a 20 20 20 73 6d 61 6c 6c 5f 63 61 6c 69 62	b_image.=.1;.else....small_calib
f8a0	5f 69 6d 61 67 65 20 3d 20 30 3b 0a 65 6e 64 3b 0a 20 20 20 0a 0a 5b 48 63 61 6c 2c 57 63 61 6c	_image.=.0;.end;......[Hcal,Wcal
f8c0	5d 20 3d 20 73 69 7a 65 28 49 5f 31 29 3b 20 09 25 20 73 69 7a 65 20 6f 66 20 74 68 65 20 63 61	].=.size(I_1);..%.size.of.the.ca
f8e0	6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 0a 20 20 20 0a 63 6c 69 63 6b 6e 61 6d 65 20 3d 20	libration.image.....clickname.=.
f900	5b 5d 3b 0a 0a 6d 61 70 20 3d 20 67 72 61 79 28 32 35 36 29 3b 0a 0a 5b 6e 79 2c 6e 78 5d 20 3d	[];..map.=.gray(256);..[ny,nx].=
f920	20 73 69 7a 65 28 49 5f 31 29 3b 0a 0a 0a 25 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 27 73 61	.size(I_1);...%string_save.=.'sa
f940	76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75 6d 62 65 72 69	ve.calib_data.n_ima.type_numberi
f960	6e 67 20 4e 5f 73 6c 6f 74 73 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f	ng.N_slots.image_numbers.format_
f980	69 6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79	image.calib_name.Hcal.Wcal.nx.ny
f9a0	20 6d 61 70 20 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 27 3b 0a 0a 25 65 76 61 6c 28	.map.small_calib_image';..%eval(
f9c0	73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 0a 25 64 69 73 70 28 27 64 6f 6e 65 27 29 3b 0a 63 6c	string_save);..%disp('done');.cl
f9e0	69 63 6b 5f 63 61 6c 69 62 3b 0a 0a 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	ick_calib;......................
fa00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 4d 75 6c 74 69 5f 43 61 6c 69 62 5f 6f 75 6c 75 2e 6d	TOOLBOX_calib/Multi_Calib_oulu.m
fa20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fa40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fa60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
fa80	20 20 20 20 32 33 32 20 20 36 37 36 33 30 37 30 32 33 30 20 20 31 32 30 30 30 00 20 00 00 00 00	....232..6763070230..12000......
faa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fbc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fbe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fc00	0a 25 20 65 6e 74 65 72 20 69 6d 61 67 65 20 6e 61 6d 65 73 2c 20 6e 75 6d 62 65 72 73 2c 20 2e	.%.enter.image.names,.numbers,..
fc20	2e 2e 0a 64 61 74 61 5f 63 61 6c 69 62 3b 0a 0a 25 72 65 61 64 20 69 6d 61 67 65 73 20 66 72 6f	...data_calib;..%read.images.fro
fc40	6d 20 66 69 6c 65 73 0a 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 0a 63 6c 69 63 6b 5f 63	m.files.ima_read_calib;..click_c
fc60	61 6c 69 62 3b 0a 0a 25 67 6f 5f 63 61 6c 69 62 3b 20 25 20 74 68 65 20 6f 72 69 67 69 6e 61 6c	alib;..%go_calib;.%.the.original
fc80	20 76 65 72 73 69 6f 6e 0a 0a 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 3b 0a 00 00 00 00 00 00	.version..go_calib_optim;.......
fca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fcc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fd00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fd20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fd40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fd60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fd80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fdc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fde0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fe00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 2e 6d	TOOLBOX_calib/multi_error_oulu.m
fe20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fe40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fe60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
fe80	20 20 20 31 37 33 37 20 20 36 37 36 33 30 37 30 32 33 30 20 20 31 32 32 31 32 00 20 00 00 00 00	...1737..6763070230..12212......
fea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ff00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ff20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ff40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ff60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ff80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ffa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ffc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ffe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10000	66 75 6e 63 74 69 6f 6e 20 65 78 20 3d 20 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 28 70	function.ex.=.multi_error_oulu(p
10020	61 72 61 6d 2c 6e 5f 69 6d 61 2c 63 63 29 3b 0a 0a 67 6c 6f 62 61 6c 20 58 5f 31 20 78 5f 31 20	aram,n_ima,cc);..global.X_1.x_1.
10040	58 5f 32 20 78 5f 32 20 58 5f 33 20 78 5f 33 20 58 5f 34 20 78 5f 34 20 58 5f 35 20 78 5f 35 20	X_2.x_2.X_3.x_3.X_4.x_4.X_5.x_5.
10060	58 5f 36 20 78 5f 36 20 58 5f 37 20 78 5f 37 20 58 5f 38 20 78 5f 38 20 58 5f 39 20 78 5f 39 20	X_6.x_6.X_7.x_7.X_8.x_8.X_9.x_9.
10080	58 5f 31 30 20 78 5f 31 30 20 58 5f 31 31 20 78 5f 31 31 20 58 5f 31 32 20 78 5f 31 32 20 58 5f	X_10.x_10.X_11.x_11.X_12.x_12.X_
100a0	31 33 20 78 5f 31 33 20 58 5f 31 34 20 78 5f 31 34 20 58 5f 31 35 20 78 5f 31 35 20 58 5f 31 36	13.x_13.X_14.x_14.X_15.x_15.X_16
100c0	20 78 5f 31 36 20 58 5f 31 37 20 78 5f 31 37 20 58 5f 31 38 20 78 5f 31 38 20 58 5f 31 39 20 78	.x_16.X_17.x_17.X_18.x_18.X_19.x
100e0	5f 31 39 20 58 5f 32 30 20 78 5f 32 30 20 58 5f 32 31 20 78 5f 32 31 20 58 5f 32 32 20 78 5f 32	_19.X_20.x_20.X_21.x_21.X_22.x_2
10100	32 20 58 5f 32 33 20 78 5f 32 33 20 58 5f 32 34 20 78 5f 32 34 20 58 5f 32 35 20 78 5f 32 35 20	2.X_23.x_23.X_24.x_24.X_25.x_25.
10120	58 5f 32 36 20 78 5f 32 36 20 58 5f 32 37 20 78 5f 32 37 20 58 5f 32 38 20 78 5f 32 38 20 58 5f	X_26.x_26.X_27.x_27.X_28.x_28.X_
10140	32 39 20 78 5f 32 39 20 58 5f 33 30 20 78 5f 33 30 0a 0a 66 63 20 3d 20 70 61 72 61 6d 28 31 3a	29.x_29.X_30.x_30..fc.=.param(1:
10160	32 29 3b 0a 6b 63 20 3d 20 70 61 72 61 6d 28 33 3a 36 29 3b 0a 25 70 70 63 20 3d 20 70 61 72 61	2);.kc.=.param(3:6);.%ppc.=.para
10180	6d 28 35 3a 36 29 3b 0a 0a 69 66 20 6c 65 6e 67 74 68 28 70 61 72 61 6d 29 20 3e 20 36 2a 6e 5f	m(5:6);..if.length(param).>.6*n_
101a0	69 6d 61 20 2b 20 33 20 2b 20 33 2c 0a 20 20 20 0a 20 20 20 63 63 20 3d 20 70 61 72 61 6d 28 36	ima.+.3.+.3,........cc.=.param(6
101c0	2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a 36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 20 33 29 3b	*n_ima.+.4.+.3:6*n_ima.+.5.+.3);
101e0	0a 20 20 20 0a 20 20 20 69 66 20 6c 65 6e 67 74 68 28 70 61 72 61 6d 29 20 3e 20 36 2a 6e 5f 69	........if.length(param).>.6*n_i
10200	6d 61 20 2b 20 35 20 2b 20 33 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 63 5f 64 20 3d 20 70	ma.+.5.+.3,..............c_d.=.p
10220	61 72 61 6d 28 36 2a 6e 5f 69 6d 61 20 2b 20 36 20 2b 20 33 20 3a 36 2a 6e 5f 69 6d 61 20 2b 20	aram(6*n_ima.+.6.+.3.:6*n_ima.+.
10240	37 20 2b 20 33 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20	7.+.3);...........else..........
10260	20 20 20 20 63 5f 64 20 3d 20 5b 30 3b 30 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a	....c_d.=.[0;0];...........end;.
10280	20 20 20 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 63 5f 64 20 3d 20 5b 30 3b 30 5d 3b 0a 0a 65 6e	....else........c_d.=.[0;0];..en
102a0	64 3b 0a 0a 0a 0a 65 78 20 3d 20 5b 5d 3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 66 6f 72 20	d;....ex.=.[];..%keyboard;..for.
102c0	6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 6f 6d 63 6b 6b 20 3d 20 70 61 72	kk.=.1:n_ima,........omckk.=.par
102e0	61 6d 28 34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20 20 20	am(4+6*(kk-1).+.3:6*kk.+.3);....
10300	0a 20 20 20 54 63 6b 6b 20 3d 20 70 61 72 61 6d 28 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b	....Tckk.=.param(6*kk+1.+.3:6*kk
10320	2b 33 20 2b 20 33 29 3b 0a 0a 20 20 20 52 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63	+3.+.3);.....Rkk.=.rodrigues(omc
10340	6b 6b 29 3b 0a 0a 20 20 20 65 76 61 6c 28 5b 27 79 6b 6b 20 3d 20 70 72 6f 6a 65 63 74 32 5f 6f	kk);.....eval(['ykk.=.project2_o
10360	75 6c 75 28 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 2c 52 6b 6b 2c 54 63 6b 6b 2c 66	ulu(X_'.num2str(kk).',Rkk,Tckk,f
10380	63 2c 63 63 2c 6b 63 29 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 65 78 6b 6b	c,cc,kc);']);........eval(['exkk
103a0	20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 2d 79 6b 6b 3b 27 5d 29 3b 0a 0a	.=.x_'.num2str(kk).'.-ykk;']);..
103c0	20 20 20 65 78 20 3d 20 5b 65 78 3b 65 78 6b 6b 28 3a 29 5d 3b 0a 20 20 20 0a 65 6e 64 3b 0a 00	...ex.=.[ex;exkk(:)];.....end;..
103e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 2e 6d 00 00 00	TOOLBOX_calib/project2_oulu.m...
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10460	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
10480	20 20 20 32 30 32 33 20 20 36 37 36 33 30 37 30 32 33 31 20 20 31 31 33 36 35 00 20 00 00 00 00	...2023..6763070231..11365......
104a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
104c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
104e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
105a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
105c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
105e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10600	66 75 6e 63 74 69 6f 6e 20 5b 78 5d 20 3d 20 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 28 58 2c 52	function.[x].=.project2_oulu(X,R
10620	2c 54 2c 66 2c 74 2c 6b 29 0a 25 50 52 4f 4a 45 43 54 20 20 20 20 20 53 75 62 73 69 64 69 61 72	,T,f,t,k).%PROJECT.....Subsidiar
10640	79 20 74 6f 20 63 61 6c 69 62 0a 0a 25 20 20 20 20 20 20 20 20 20 28 63 29 20 50 69 65 74 72 6f	y.to.calib..%.........(c).Pietro
10660	20 50 65 72 6f 6e 61 20 2d 2d 20 4d 61 72 63 68 20 32 34 2c 20 31 39 39 34 0a 25 20 20 20 20 20	.Perona.--.March.24,.1994.%.....
10680	20 20 20 20 43 61 6c 69 66 6f 72 6e 69 61 20 49 6e 73 74 69 74 75 74 65 20 6f 66 20 54 65 63 68	....California.Institute.of.Tech
106a0	6e 6f 6c 6f 67 79 0a 25 20 20 20 20 20 20 20 20 20 50 61 73 61 64 65 6e 61 2c 20 43 41 0a 25 20	nology.%.........Pasadena,.CA.%.
106c0	20 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 20 20 52 65 6e 61 6d 65 64 20 62 65 63 61 75	.........%.........Renamed.becau
106e0	73 65 20 70 72 6f 6a 65 63 74 20 65 78 69 73 74 73 20 69 6e 20 6d 61 74 6c 61 62 20 35 2e 32 21	se.project.exists.in.matlab.5.2!
10700	21 21 0a 25 20 20 20 20 20 20 20 20 20 4e 6f 77 20 75 73 65 73 20 74 68 65 20 6d 6f 72 65 20 65	!!.%.........Now.uses.the.more.e
10720	6c 61 62 6f 72 61 74 65 20 69 6e 74 72 69 6e 73 69 63 20 6d 6f 64 65 6c 20 66 72 6f 6d 20 4f 75	laborate.intrinsic.model.from.Ou
10740	6c 75 0a 0a 0a 0a 5b 6d 2c 6e 5d 20 3d 20 73 69 7a 65 28 58 29 3b 0a 0a 59 20 3d 20 52 2a 58 20	lu....[m,n].=.size(X);..Y.=.R*X.
10760	2b 20 54 2a 6f 6e 65 73 28 31 2c 6e 29 3b 0a 5a 20 3d 20 59 28 33 2c 3a 29 3b 0a 0a 66 20 3d 20	+.T*ones(1,n);.Z.=.Y(3,:);..f.=.
10780	66 28 3a 29 3b 20 25 25 20 6d 61 6b 65 20 61 20 63 6f 6c 75 6d 6e 20 76 65 63 74 6f 72 0a 69 66	f(:);.%%.make.a.column.vector.if
107a0	20 6c 65 6e 67 74 68 28 66 29 3d 3d 31 2c 0a 20 20 20 66 20 3d 20 5b 66 20 66 5d 27 3b 0a 65 6e	.length(f)==1,....f.=.[f.f]';.en
107c0	64 3b 0a 0a 78 20 3d 20 28 59 28 31 3a 32 2c 3a 29 20 2e 2f 20 28 6f 6e 65 73 28 32 2c 31 29 20	d;..x.=.(Y(1:2,:)../.(ones(2,1).
107e0	2a 20 5a 29 29 20 3b 0a 0a 0a 72 61 64 69 75 73 5f 32 20 3d 20 78 28 31 2c 3a 29 2e 5e 32 20 2b	*.Z)).;...radius_2.=.x(1,:).^2.+
10800	20 78 28 32 2c 3a 29 2e 5e 32 3b 0a 0a 69 66 20 6c 65 6e 67 74 68 28 6b 29 20 3e 20 31 2c 0a 0a	.x(2,:).^2;..if.length(k).>.1,..
10820	20 20 20 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 20 3d 20 31 20 2b 20 6f 6e 65 73 28	...radial_distortion.=.1.+.ones(
10840	32 2c 31 29 20 2a 20 28 28 6b 28 31 29 20 2a 20 72 61 64 69 75 73 5f 32 29 20 2b 20 28 6b 28 32	2,1).*.((k(1).*.radius_2).+.(k(2
10860	29 20 2a 20 72 61 64 69 75 73 5f 32 2e 5e 32 29 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 6c 65 6e	).*.radius_2.^2));........if.len
10880	67 74 68 28 6b 29 20 3c 20 34 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 64 65 6c 74 61 5f 78	gth(k).<.4,..............delta_x
108a0	20 3d 20 7a 65 72 6f 73 28 32 2c 6e 29 3b 20 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20	.=.zeros(2,n);............else..
108c0	20 20 0a 20 20 20 20 20 20 64 65 6c 74 61 5f 78 20 3d 20 5b 32 2a 6b 28 33 29 2a 78 28 31 2c 3a	.........delta_x.=.[2*k(3)*x(1,:
108e0	29 2e 2a 78 28 32 2c 3a 29 20 2b 20 6b 28 34 29 2a 28 72 61 64 69 75 73 5f 32 20 2b 20 32 2a 78	).*x(2,:).+.k(4)*(radius_2.+.2*x
10900	28 31 2c 3a 29 2e 5e 32 29 20 3b 0a 09 20 20 20 20 6b 28 33 29 20 2a 20 28 72 61 64 69 75 73 5f	(1,:).^2).;......k(3).*.(radius_
10920	32 20 2b 20 32 2a 78 28 32 2c 3a 29 2e 5e 32 29 2b 32 2a 6b 28 34 29 2a 78 28 31 2c 3a 29 2e 2a	2.+.2*x(2,:).^2)+2*k(4)*x(1,:).*
10940	78 28 32 2c 3a 29 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 0a	x(2,:)];...........end;.........
10960	65 6c 73 65 0a 20 20 20 0a 20 20 20 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 20 3d 20	else........radial_distortion.=.
10980	31 20 2b 20 6f 6e 65 73 28 32 2c 31 29 20 2a 20 28 28 6b 28 31 29 20 2a 20 72 61 64 69 75 73 5f	1.+.ones(2,1).*.((k(1).*.radius_
109a0	32 29 29 3b 0a 0a 20 20 20 64 65 6c 74 61 5f 78 20 3d 20 7a 65 72 6f 73 28 32 2c 6e 29 3b 0a 20	2));.....delta_x.=.zeros(2,n);..
109c0	20 20 0a 65 6e 64 3b 0a 0a 0a 78 20 3d 20 28 78 20 2e 2a 20 72 61 64 69 61 6c 5f 64 69 73 74 6f	...end;...x.=.(x..*.radial_disto
109e0	72 74 69 6f 6e 20 2b 20 64 65 6c 74 61 5f 78 29 2e 2a 20 28 66 20 2a 20 6f 6e 65 73 28 31 2c 6e	rtion.+.delta_x).*.(f.*.ones(1,n
10a00	29 29 20 20 2b 20 74 2a 6f 6e 65 73 28 31 2c 6e 29 3b 0a 00 00 00 00 00 00 00 00 00 00 00 00 00	))..+.t*ones(1,n);..............
10a20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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10a80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10aa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10ac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10ae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10b00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10b20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10b40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10b60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10b80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10ba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10bc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 70 72 6f 6a 65 63 74 65 64 47 72 69 64 2e 6d 00 00 00	TOOLBOX_calib/projectedGrid.m...
10c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10c60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
10c80	20 20 20 20 37 31 34 20 20 36 37 36 33 30 37 30 32 33 31 20 20 31 31 33 34 33 00 20 00 00 00 00	....714..6763070231..11343......
10ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
10dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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10e00	66 75 6e 63 74 69 6f 6e 20 5b 58 58 2c 48 5d 20 3d 20 70 72 6f 6a 65 63 74 65 64 47 72 69 64 20	function.[XX,H].=.projectedGrid.
10e20	28 20 50 31 2c 20 50 32 2c 20 50 33 2c 20 50 34 20 2c 20 6e 78 2c 20 6e 79 29 3b 0a 0a 25 20 6e	(.P1,.P2,.P3,.P4.,.nx,.ny);..%.n
10e40	65 77 20 66 6f 72 6d 61 6c 69 73 6d 20 75 73 69 6e 67 20 68 6f 6d 6f 67 72 61 70 68 69 65 73 0a	ew.formalism.using.homographies.
10e60	0a 61 30 30 20 3d 20 5b 50 31 3b 31 5d 3b 0a 61 31 30 20 3d 20 5b 50 32 3b 31 5d 3b 0a 61 31 31	.a00.=.[P1;1];.a10.=.[P2;1];.a11
10e80	20 3d 20 5b 50 33 3b 31 5d 3b 0a 61 30 31 20 3d 20 5b 50 34 3b 31 5d 3b 0a 0a 25 20 43 6f 6d 70	.=.[P3;1];.a01.=.[P4;1];..%.Comp
10ea0	75 74 65 20 74 68 65 20 70 6c 61 6e 61 72 74 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 0a 0a 5b	ute.the.planart.collineation:..[
10ec0	48 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 20 28 61 30 30 2c 20	H].=.compute_collineation.(a00,.
10ee0	61 31 30 2c 20 61 31 31 2c 20 61 30 31 29 3b 0a 0a 0a 25 20 42 75 69 6c 64 20 74 68 65 20 67 72	a10,.a11,.a01);...%.Build.the.gr
10f00	69 64 20 75 73 69 6e 67 20 74 68 65 20 70 6c 61 6e 61 72 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e	id.using.the.planar.collineation
10f20	3a 0a 0a 78 5f 6c 20 3d 20 28 28 30 3a 28 6e 78 2d 31 29 29 27 2a 6f 6e 65 73 28 31 2c 6e 79 29	:..x_l.=.((0:(nx-1))'*ones(1,ny)
10f40	29 2f 28 6e 78 2d 31 29 3b 0a 79 5f 6c 20 3d 20 28 6f 6e 65 73 28 6e 78 2c 31 29 2a 28 30 3a 28	)/(nx-1);.y_l.=.(ones(nx,1)*(0:(
10f60	6e 79 2d 31 29 29 29 2f 28 6e 79 2d 31 29 3b 0a 0a 70 74 73 20 3d 20 5b 78 5f 6c 28 3a 29 20 79	ny-1)))/(ny-1);..pts.=.[x_l(:).y
10f80	5f 6c 28 3a 29 20 6f 6e 65 73 28 6e 78 2a 6e 79 2c 31 29 5d 27 3b 0a 0a 58 58 20 3d 20 48 2a 70	_l(:).ones(nx*ny,1)]';..XX.=.H*p
10fa0	74 73 3b 0a 0a 58 58 20 3d 20 58 58 28 31 3a 32 2c 3a 29 20 2e 2f 20 28 6f 6e 65 73 28 32 2c 31	ts;..XX.=.XX(1:2,:)../.(ones(2,1
10fc0	29 2a 58 58 28 33 2c 3a 29 29 3b 0a 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	)*XX(3,:));.....................
10fe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 65 61 64 72 61 73 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/readras.m.........
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11060	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
11080	20 20 20 35 33 36 34 20 20 36 37 36 33 30 37 30 32 33 32 20 20 31 30 32 32 36 00 20 00 00 00 00	...5364..6763070232..10226......
110a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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110e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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11200	66 75 6e 63 74 69 6f 6e 20 5b 58 2c 20 6d 61 70 5d 20 3d 20 72 65 61 64 72 61 73 28 66 69 6c 65	function.[X,.map].=.readras(file
11220	6e 61 6d 65 2c 20 79 73 2c 20 79 65 2c 20 78 73 2c 20 78 65 29 3b 0a 25 52 45 41 44 52 41 53 20	name,.ys,.ye,.xs,.xe);.%READRAS.
11240	52 65 61 64 20 61 6e 20 69 6d 61 67 65 20 66 69 6c 65 20 69 6e 20 73 75 6e 20 72 61 73 74 65 72	Read.an.image.file.in.sun.raster
11260	20 66 6f 72 6d 61 74 2e 0a 25 20 09 20 52 45 41 44 52 41 53 28 27 69 6d 61 67 65 66 69 6c 65 2e	.format..%...READRAS('imagefile.
11280	72 61 73 27 29 20 72 65 61 64 73 20 61 20 22 73 75 6e 2e 72 61 73 74 65 72 22 20 69 6d 61 67 65	ras').reads.a."sun.raster".image
112a0	20 66 69 6c 65 2e 0a 25 09 20 5b 58 2c 20 6d 61 70 5d 20 3d 20 52 45 41 44 52 41 53 28 27 69 6d	.file..%..[X,.map].=.READRAS('im
112c0	61 67 65 66 69 6c 65 2e 72 61 73 27 29 20 72 65 74 75 72 6e 73 20 62 6f 74 68 20 74 68 65 20 69	agefile.ras').returns.both.the.i
112e0	6d 61 67 65 20 61 6e 64 20 61 20 0a 25 09 20 63 6f 6c 6f 72 20 6d 61 70 2c 20 73 6f 20 74 68 61	mage.and.a..%..color.map,.so.tha
11300	74 0a 25 09 09 5b 58 2c 20 6d 61 70 5d 20 3d 20 72 65 61 64 72 61 73 28 27 69 6d 61 67 65 66 69	t.%..[X,.map].=.readras('imagefi
11320	6c 65 2e 72 61 73 27 29 3b 0a 25 09 09 69 6d 61 67 65 28 58 29 20 0a 25 09 09 63 6f 6c 6f 72 6d	le.ras');.%..image(X)..%..colorm
11340	61 70 28 6d 61 70 29 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 61 78 69 73 28 27 65 71	ap(map).%...............axis('eq
11360	75 61 6c 27 29 0a 25 09 20 77 69 6c 6c 20 64 69 73 70 6c 61 79 20 74 68 65 20 72 65 73 75 6c 74	ual').%..will.display.the.result
11380	20 77 69 74 68 20 74 68 65 20 70 72 6f 70 65 72 20 63 6f 6c 6f 72 73 2e 0a 25 09 20 4e 4f 54 45	.with.the.proper.colors..%..NOTE
113a0	3a 20 72 65 61 64 72 61 73 20 63 61 6e 6e 6f 74 20 64 65 61 6c 20 77 69 74 68 20 63 6f 6d 70 6c	:.readras.cannot.deal.with.compl
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113e0	20 66 61 63 74 2c 20 4d 61 74 6c 61 62 20 64 6f 65 73 6e 27 74 20 71 75 69 74 65 20 61 6c 6c 6f	.fact,.Matlab.doesn't.quite.allo
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12000	66 75 6e 63 74 69 6f 6e 20 5b 73 71 75 61 72 65 5d 20 3d 20 52 65 63 74 61 6e 67 6c 65 32 53 71	function.[square].=.Rectangle2Sq
12020	75 61 72 65 28 72 65 63 74 61 6e 67 6c 65 2c 4c 2c 57 29 3b 0a 0a 25 20 47 65 6e 65 72 61 74 65	uare(rectangle,L,W);..%.Generate
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120a0	57 0a 0a 5b 75 5f 68 6f 72 69 2c 75 5f 76 65 72 74 5d 20 3d 20 55 6e 57 61 72 70 50 6c 61 6e 65	W..[u_hori,u_vert].=.UnWarpPlane
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12200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 6f 64 72 69 67 75 65 73 2e 6d 00 00 00 00 00 00 00	TOOLBOX_calib/rodrigues.m.......
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12600	45 53 54 20 41 54 20 54 48 45 20 45 4e 44 20 21 21 0a 0a 25 25 20 42 55 47 20 77 68 65 6e 20 6e	EST.AT.THE.END.!!..%%.BUG.when.n
12620	6f 72 6d 28 6f 6d 29 3d 70 69 20 66 69 78 65 64 20 2d 2d 20 41 70 72 69 6c 20 36 74 68 2c 20 31	orm(om)=pi.fixed.--.April.6th,.1
12640	39 39 37 3b 0a 25 25 20 4a 65 61 6e 2d 59 76 65 73 20 42 6f 75 67 75 65 74 0a 0a 0a 5b 6d 2c 6e	997;.%%.Jean-Yves.Bouguet...[m,n
12660	5d 20 3d 20 73 69 7a 65 28 69 6e 29 3b 0a 25 62 69 67 65 70 73 20 3d 20 31 30 65 2b 34 2a 65 70	].=.size(in);.%bigeps.=.10e+4*ep
12680	73 3b 0a 62 69 67 65 70 73 20 3d 20 31 30 65 2b 32 30 2a 65 70 73 3b 0a 0a 69 66 20 28 28 6d 3d	s;.bigeps.=.10e+20*eps;..if.((m=
126a0	3d 31 29 20 26 20 28 6e 3d 3d 33 29 29 20 7c 20 28 28 6d 3d 3d 33 29 20 26 20 28 6e 3d 3d 31 29	=1).&.(n==3)).|.((m==3).&.(n==1)
126c0	29 20 25 25 20 69 74 20 69 73 20 61 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 0a 20 20 20	).%%.it.is.a.rotation.vector....
126e0	74 68 65 74 61 20 3d 20 6e 6f 72 6d 28 69 6e 29 3b 0a 20 20 20 69 66 20 74 68 65 74 61 20 3c 20	theta.=.norm(in);....if.theta.<.
12700	65 70 73 0a 20 20 20 20 20 20 52 20 3d 20 65 79 65 28 33 29 3b 0a 20 20 20 20 20 20 0a 20 20 20	eps.......R.=.eye(3);...........
12720	20 20 20 64 52 64 69 6e 20 3d 20 5b 30 20 30 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 31	...dRdin.=.[0.0.0;.........0.0.1
12740	3b 0a 09 20 20 20 20 20 20 20 30 20 2d 31 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 2d 31	;.........0.-1.0;.........0.0.-1
12760	3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 30 3b 0a 09 20 20 20 20 20 20 20 31 20 30 20 30 3b 0a	;.........0.0.0;.........1.0.0;.
12780	09 20 20 20 20 20 20 20 30 20 31 20 30 3b 0a 09 20 20 20 20 20 20 20 2d 31 20 30 20 30 3b 0a 09	........0.1.0;.........-1.0.0;..
127a0	20 20 20 20 20 20 20 30 20 30 20 30 5d 3b 0a 09 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20	.......0.0.0];.......else.......
127c0	69 66 20 6e 3d 3d 6c 65 6e 67 74 68 28 69 6e 29 20 20 69 6e 3d 69 6e 27 3b 20 65 6e 64 3b 20 09	if.n==length(in)..in=in';.end;..
127e0	25 25 20 6d 61 6b 65 20 69 74 20 61 20 63 6f 6c 75 6d 6e 20 76 65 63 2e 20 69 66 20 6e 65 63 65	%%.make.it.a.column.vec..if.nece
12800	73 73 2e 0a 09 20 0a 09 20 25 6d 33 20 3d 20 5b 69 6e 2c 74 68 65 74 61 5d 0a 0a 09 20 64 6d 33	ss.......%m3.=.[in,theta]....dm3
12820	64 69 6e 20 3d 20 5b 65 79 65 28 33 29 3b 69 6e 27 2f 74 68 65 74 61 5d 3b 0a 0a 09 20 6f 6d 65	din.=.[eye(3);in'/theta];....ome
12840	67 61 20 3d 20 69 6e 2f 74 68 65 74 61 3b 0a 09 20 0a 09 20 25 6d 32 20 3d 20 5b 6f 6d 65 67 61	ga.=.in/theta;......%m2.=.[omega
12860	3b 74 68 65 74 61 5d 0a 09 20 0a 09 20 64 6d 32 64 6d 33 20 3d 20 5b 65 79 65 28 33 29 2f 74 68	;theta]......dm2dm3.=.[eye(3)/th
12880	65 74 61 20 2d 69 6e 2f 74 68 65 74 61 5e 32 3b 20 7a 65 72 6f 73 28 31 2c 33 29 20 31 5d 3b 0a	eta.-in/theta^2;.zeros(1,3).1];.
128a0	09 20 0a 09 20 61 6c 70 68 61 20 3d 20 63 6f 73 28 74 68 65 74 61 29 3b 0a 09 20 62 65 74 61 20	.....alpha.=.cos(theta);...beta.
128c0	3d 20 73 69 6e 28 74 68 65 74 61 29 3b 0a 09 20 67 61 6d 6d 61 20 3d 20 31 2d 63 6f 73 28 74 68	=.sin(theta);...gamma.=.1-cos(th
128e0	65 74 61 29 3b 0a 09 20 6f 6d 65 67 61 76 3d 5b 5b 30 20 2d 6f 6d 65 67 61 28 33 29 20 6f 6d 65	eta);...omegav=[[0.-omega(3).ome
12900	67 61 28 32 29 5d 3b 5b 6f 6d 65 67 61 28 33 29 20 30 20 2d 6f 6d 65 67 61 28 31 29 5d 3b 5b 2d	ga(2)];[omega(3).0.-omega(1)];[-
12920	6f 6d 65 67 61 28 32 29 20 6f 6d 65 67 61 28 31 29 20 30 20 5d 5d 3b 0a 09 20 41 20 3d 20 6f 6d	omega(2).omega(1).0.]];...A.=.om
12940	65 67 61 2a 6f 6d 65 67 61 27 3b 0a 09 20 0a 09 20 25 6d 31 20 3d 20 5b 61 6c 70 68 61 3b 62 65	ega*omega';......%m1.=.[alpha;be
12960	74 61 3b 67 61 6d 6d 61 3b 6f 6d 65 67 61 76 3b 41 5d 3b 0a 09 20 0a 09 20 64 6d 31 64 6d 32 20	ta;gamma;omegav;A];......dm1dm2.
12980	3d 20 7a 65 72 6f 73 28 32 31 2c 34 29 3b 0a 09 20 64 6d 31 64 6d 32 28 31 2c 34 29 20 3d 20 2d	=.zeros(21,4);...dm1dm2(1,4).=.-
129a0	73 69 6e 28 74 68 65 74 61 29 3b 0a 09 20 64 6d 31 64 6d 32 28 32 2c 34 29 20 3d 20 63 6f 73 28	sin(theta);...dm1dm2(2,4).=.cos(
129c0	74 68 65 74 61 29 3b 0a 09 20 64 6d 31 64 6d 32 28 33 2c 34 29 20 3d 20 73 69 6e 28 74 68 65 74	theta);...dm1dm2(3,4).=.sin(thet
129e0	61 29 3b 0a 09 20 64 6d 31 64 6d 32 28 34 3a 31 32 2c 31 3a 33 29 20 3d 20 5b 30 20 30 20 30 20	a);...dm1dm2(4:12,1:3).=.[0.0.0.
12a00	30 20 30 20 31 20 30 20 2d 31 20 30 3b 0a 09 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	0.0.1.0.-1.0;...................
12a20	20 20 20 20 30 20 30 20 2d 31 20 30 20 30 20 30 20 31 20 30 20 30 3b 0a 09 09 09 20 20 20 20 20	....0.0.-1.0.0.0.1.0.0;.........
12a40	30 20 31 20 30 20 2d 31 20 30 20 30 20 30 20 30 20 30 5d 27 3b 0a 09 09 20 20 20 20 20 20 20 0a	0.1.0.-1.0.0.0.0.0]';...........
12a60	20 20 20 20 20 20 20 20 20 77 31 20 3d 20 6f 6d 65 67 61 28 31 29 3b 0a 09 20 77 32 20 3d 20 6f	.........w1.=.omega(1);...w2.=.o
12a80	6d 65 67 61 28 32 29 3b 0a 09 20 77 33 20 3d 20 6f 6d 65 67 61 28 33 29 3b 0a 09 20 0a 09 20 64	mega(2);...w3.=.omega(3);......d
12aa0	6d 31 64 6d 32 28 31 33 3a 32 31 2c 31 29 20 3d 20 5b 32 2a 77 31 3b 77 32 3b 77 33 3b 77 32 3b	m1dm2(13:21,1).=.[2*w1;w2;w3;w2;
12ac0	30 3b 30 3b 77 33 3b 30 3b 30 5d 3b 0a 09 20 64 6d 31 64 6d 32 28 31 33 3a 20 32 31 2c 32 29 20	0;0;w3;0;0];...dm1dm2(13:.21,2).
12ae0	3d 20 5b 30 3b 77 31 3b 30 3b 77 31 3b 32 2a 77 32 3b 77 33 3b 30 3b 77 33 3b 30 5d 3b 0a 09 20	=.[0;w1;0;w1;2*w2;w3;0;w3;0];...
12b00	64 6d 31 64 6d 32 28 31 33 3a 32 31 2c 33 29 20 3d 20 5b 30 3b 30 3b 77 31 3b 30 3b 30 3b 77 32	dm1dm2(13:21,3).=.[0;0;w1;0;0;w2
12b20	3b 77 31 3b 77 32 3b 32 2a 77 33 5d 3b 0a 09 20 0a 09 20 52 20 3d 20 65 79 65 28 33 29 2a 61 6c	;w1;w2;2*w3];......R.=.eye(3)*al
12b40	70 68 61 20 2b 20 6f 6d 65 67 61 76 2a 62 65 74 61 20 2b 20 41 2a 67 61 6d 6d 61 3b 0a 09 20 0a	pha.+.omegav*beta.+.A*gamma;....
12b60	09 20 64 52 64 6d 31 20 3d 20 7a 65 72 6f 73 28 39 2c 32 31 29 3b 0a 09 20 0a 09 20 64 52 64 6d	..dRdm1.=.zeros(9,21);......dRdm
12b80	31 28 5b 31 20 35 20 39 5d 2c 31 29 20 3d 20 6f 6e 65 73 28 33 2c 31 29 3b 0a 09 20 64 52 64 6d	1([1.5.9],1).=.ones(3,1);...dRdm
12ba0	31 28 3a 2c 32 29 20 3d 20 6f 6d 65 67 61 76 28 3a 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 34 3a	1(:,2).=.omegav(:);...dRdm1(:,4:
12bc0	31 32 29 20 3d 20 62 65 74 61 2a 65 79 65 28 39 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 33 29 20	12).=.beta*eye(9);...dRdm1(:,3).
12be0	3d 20 41 28 3a 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 31 33 3a 32 31 29 20 3d 20 67 61 6d 6d 61	=.A(:);...dRdm1(:,13:21).=.gamma
12c00	2a 65 79 65 28 39 29 3b 0a 09 20 0a 09 20 64 52 64 69 6e 20 3d 20 64 52 64 6d 31 20 2a 20 64 6d	*eye(9);......dRdin.=.dRdm1.*.dm
12c20	31 64 6d 32 20 2a 20 64 6d 32 64 6d 33 20 2a 20 64 6d 33 64 69 6e 3b 0a 09 20 0a 09 20 0a 20 20	1dm2.*.dm2dm3.*.dm3din;.........
12c40	20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 6f 75 74 20 3d 20 52 3b 0a 20 20 20 20 20 20 64 6f	....end;.......out.=.R;.......do
12c60	75 74 20 3d 20 64 52 64 69 6e 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 25 25 20 69 74 20 69	ut.=.dRdin;..............%%.it.i
12c80	73 20 70 72 6f 62 2e 20 61 20 72 6f 74 20 6d 61 74 72 2e 0a 20 20 20 65 6c 73 65 69 66 20 28 28	s.prob..a.rot.matr.....elseif.((
12ca0	6d 3d 3d 6e 29 20 26 20 28 6d 3d 3d 33 29 20 26 20 28 6e 6f 72 6d 28 69 6e 27 20 2a 20 69 6e 20	m==n).&.(m==3).&.(norm(in'.*.in.
12cc0	2d 20 65 79 65 28 33 29 29 20 3c 20 62 69 67 65 70 73 29 2e 2e 2e 0a 09 20 20 20 20 26 20 28 61	-.eye(3)).<.bigeps).........&.(a
12ce0	62 73 28 64 65 74 28 69 6e 29 2d 31 29 20 3c 20 62 69 67 65 70 73 29 29 0a 20 20 20 20 20 20 52	bs(det(in)-1).<.bigeps)).......R
12d00	20 3d 20 69 6e 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 20	.=.in;..........................
12d20	20 20 74 72 20 3d 20 28 74 72 61 63 65 28 52 29 2d 31 29 2f 32 3b 0a 20 20 20 20 20 20 64 74 72	..tr.=.(trace(R)-1)/2;.......dtr
12d40	64 52 20 3d 20 5b 31 20 30 20 30 20 30 20 31 20 30 20 30 20 30 20 31 5d 2f 32 3b 0a 20 20 20 20	dR.=.[1.0.0.0.1.0.0.0.1]/2;.....
12d60	20 20 74 68 65 74 61 20 3d 20 72 65 61 6c 28 61 63 6f 73 28 74 72 29 29 3b 0a 20 20 20 20 20 20	..theta.=.real(acos(tr));.......
12d80	0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 69 66 20 73 69 6e 28 74 68 65 74 61 29 20 3e 3d 20 31	..............if.sin(theta).>=.1
12da0	65 2d 35 2c 0a 09 20 0a 09 20 64 74 68 65 74 61 64 74 72 20 3d 20 2d 31 2f 73 71 72 74 28 31 2d	e-5,......dthetadtr.=.-1/sqrt(1-
12dc0	74 72 5e 32 29 3b 0a 09 20 0a 09 20 64 74 68 65 74 61 64 52 20 3d 20 64 74 68 65 74 61 64 74 72	tr^2);......dthetadR.=.dthetadtr
12de0	20 2a 20 64 74 72 64 52 3b 0a 09 20 25 20 76 61 72 31 20 3d 20 5b 76 74 68 3b 74 68 65 74 61 5d	.*.dtrdR;...%.var1.=.[vth;theta]
12e00	3b 0a 09 20 76 74 68 20 3d 20 31 2f 28 32 2a 73 69 6e 28 74 68 65 74 61 29 29 3b 0a 09 20 64 76	;...vth.=.1/(2*sin(theta));...dv
12e20	74 68 64 74 68 65 74 61 20 3d 20 2d 76 74 68 2a 63 6f 73 28 74 68 65 74 61 29 2f 73 69 6e 28 74	thdtheta.=.-vth*cos(theta)/sin(t
12e40	68 65 74 61 29 3b 0a 09 20 64 76 61 72 31 64 74 68 65 74 61 20 3d 20 5b 64 76 74 68 64 74 68 65	heta);...dvar1dtheta.=.[dvthdthe
12e60	74 61 3b 31 5d 3b 0a 09 20 0a 09 20 64 76 61 72 31 64 52 20 3d 20 20 64 76 61 72 31 64 74 68 65	ta;1];......dvar1dR.=..dvar1dthe
12e80	74 61 20 2a 20 64 74 68 65 74 61 64 52 3b 0a 09 20 0a 09 20 0a 09 20 6f 6d 31 20 3d 20 5b 52 28	ta.*.dthetadR;.........om1.=.[R(
12ea0	33 2c 32 29 2d 52 28 32 2c 33 29 2c 20 52 28 31 2c 33 29 2d 52 28 33 2c 31 29 2c 20 52 28 32 2c	3,2)-R(2,3),.R(1,3)-R(3,1),.R(2,
12ec0	31 29 2d 52 28 31 2c 32 29 5d 27 3b 0a 09 20 0a 09 20 64 6f 6d 31 64 52 20 3d 20 5b 30 20 30 20	1)-R(1,2)]';......dom1dR.=.[0.0.
12ee0	30 20 30 20 30 20 31 20 30 20 2d 31 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 2d 31 20 30	0.0.0.1.0.-1.0;.........0.0.-1.0
12f00	20 30 20 30 20 31 20 30 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 31 20 30 20 2d 31 20 30 20 30	.0.0.1.0.0;.........0.1.0.-1.0.0
12f20	20 30 20 30 20 30 5d 3b 0a 09 20 0a 09 20 25 20 76 61 72 20 3d 20 5b 6f 6d 31 3b 76 74 68 3b 74	.0.0.0];......%.var.=.[om1;vth;t
12f40	68 65 74 61 5d 3b 0a 09 20 64 76 61 72 64 52 20 3d 20 5b 64 6f 6d 31 64 52 3b 64 76 61 72 31 64	heta];...dvardR.=.[dom1dR;dvar1d
12f60	52 5d 3b 0a 09 20 0a 09 20 25 20 76 61 72 32 20 3d 20 5b 6f 6d 3b 74 68 65 74 61 5d 3b 0a 09 20	R];......%.var2.=.[om;theta];...
12f80	6f 6d 20 3d 20 76 74 68 2a 6f 6d 31 3b 0a 09 20 64 6f 6d 64 76 61 72 20 3d 20 5b 76 74 68 2a 65	om.=.vth*om1;...domdvar.=.[vth*e
12fa0	79 65 28 33 29 20 6f 6d 31 20 7a 65 72 6f 73 28 33 2c 31 29 5d 3b 0a 09 20 64 74 68 65 74 61 64	ye(3).om1.zeros(3,1)];...dthetad
12fc0	76 61 72 20 3d 20 5b 30 20 30 20 30 20 30 20 31 5d 3b 0a 09 20 64 76 61 72 32 64 76 61 72 20 3d	var.=.[0.0.0.0.1];...dvar2dvar.=
12fe0	20 5b 64 6f 6d 64 76 61 72 3b 64 74 68 65 74 61 64 76 61 72 5d 3b 0a 09 20 0a 09 20 0a 09 20 6f	.[domdvar;dthetadvar];.........o
13000	75 74 20 3d 20 6f 6d 2a 74 68 65 74 61 3b 0a 09 20 64 6f 6d 65 67 61 64 76 61 72 32 20 3d 20 5b	ut.=.om*theta;...domegadvar2.=.[
13020	74 68 65 74 61 2a 65 79 65 28 33 29 20 6f 6d 5d 3b 0a 09 20 0a 09 20 64 6f 75 74 20 3d 20 64 6f	theta*eye(3).om];......dout.=.do
13040	6d 65 67 61 64 76 61 72 32 20 2a 20 64 76 61 72 32 64 76 61 72 20 2a 20 64 76 61 72 64 52 3b 0a	megadvar2.*.dvar2dvar.*.dvardR;.
13060	09 20 0a 09 20 0a 20 20 20 20 20 20 65 6c 73 65 0a 09 20 69 66 20 74 72 20 3e 20 30 3b 20 09 09	............else...if.tr.>.0;...
13080	09 25 20 63 61 73 65 20 6e 6f 72 6d 28 6f 6d 29 3d 30 3b 0a 09 20 20 20 20 0a 09 20 20 20 20 6f	.%.case.norm(om)=0;............o
130a0	75 74 20 3d 20 5b 30 20 30 20 30 5d 27 3b 0a 09 20 20 20 20 0a 09 20 20 20 20 64 6f 75 74 20 3d	ut.=.[0.0.0]';............dout.=
130c0	20 5b 30 20 30 20 30 20 30 20 30 20 31 2f 32 20 30 20 2d 31 2f 32 20 30 3b 0a 09 09 20 20 30 20	.[0.0.0.0.0.1/2.0.-1/2.0;.....0.
130e0	30 20 2d 31 2f 32 20 30 20 30 20 30 20 31 2f 32 20 30 20 30 3b 0a 09 09 20 20 30 20 31 2f 32 20	0.-1/2.0.0.0.1/2.0.0;.....0.1/2.
13100	30 20 2d 31 2f 32 20 30 20 30 20 30 20 30 20 30 5d 3b 0a 09 20 65 6c 73 65 20 09 09 09 09 25 20	0.-1/2.0.0.0.0.0];...else.....%.
13120	63 61 73 65 20 6e 6f 72 6d 28 6f 6d 29 3d 70 69 3b 20 25 25 20 66 69 78 65 64 20 41 70 72 69 6c	case.norm(om)=pi;.%%.fixed.April
13140	20 36 74 68 0a 09 20 20 20 20 0a 09 20 20 20 20 0a 09 20 20 20 20 6f 75 74 20 3d 20 74 68 65 74	.6th..................out.=.thet
13160	61 20 2a 20 28 73 71 72 74 28 28 64 69 61 67 28 52 29 2b 31 29 2f 32 29 2e 2a 5b 31 3b 32 2a 28	a.*.(sqrt((diag(R)+1)/2).*[1;2*(
13180	52 28 31 2c 32 3a 33 29 3e 3d 30 29 27 2d 31 5d 29 3b 0a 09 20 20 20 20 25 6b 65 79 62 6f 61 72	R(1,2:3)>=0)'-1]);......%keyboar
131a0	64 3b 0a 09 20 20 20 20 0a 09 20 20 20 20 69 66 20 6e 61 72 67 6f 75 74 20 3e 20 31 2c 0a 09 20	d;............if.nargout.>.1,...
131c0	20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 57 41 52 4e 49 4e 47 21 21 21 21 20 4a 61 63	......fprintf(1,'WARNING!!!!.Jac
131e0	6f 62 69 61 6e 20 64 6f 6d 64 52 20 75 6e 64 65 66 69 6e 65 64 21 21 21 5c 6e 27 29 3b 0a 09 09	obian.domdR.undefined!!!\n');...
13200	20 64 6f 75 74 20 3d 20 5b 5d 3b 0a 09 20 20 20 20 65 6e 64 3b 0a 09 20 65 6e 64 3b 20 0a 20 20	.dout.=.[];......end;...end;....
13220	20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65 72	....end;...........else.......er
13240	72 6f 72 28 27 4e 65 69 74 68 65 72 20 61 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 6e	ror('Neither.a.rotation.matrix.n
13260	6f 72 20 61 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 77 65 72 65 20 70 72 6f 76 69 64	or.a.rotation.vector.were.provid
13280	65 64 27 29 3b 0a 20 20 20 65 6e 64 3b 0a 0a 72 65 74 75 72 6e 3b 0a 0a 25 25 20 74 65 73 74 20	ed');....end;..return;..%%.test.
132a0	6f 66 20 74 68 65 20 4a 61 63 6f 62 69 61 6e 73 3a 0a 0a 25 25 25 25 20 54 45 53 54 20 4f 46 20	of.the.Jacobians:..%%%%.TEST.OF.
132c0	64 52 64 6f 6d 3a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 64 6f 6d 20 3d 20 72 61	dRdom:.om.=.randn(3,1);.dom.=.ra
132e0	6e 64 6e 28 33 2c 31 29 2f 31 30 30 30 30 30 30 3b 0a 0a 5b 52 31 2c 64 52 31 5d 20 3d 20 72 6f	ndn(3,1)/1000000;..[R1,dR1].=.ro
13300	64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 52 32 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 2b 64	drigues(om);.R2.=.rodrigues(om+d
13320	6f 6d 29 3b 0a 0a 52 32 61 20 3d 20 52 31 20 2b 20 72 65 73 68 61 70 65 28 64 52 31 20 2a 20 64	om);..R2a.=.R1.+.reshape(dR1.*.d
13340	6f 6d 2c 33 2c 33 29 3b 0a 0a 67 61 69 6e 20 3d 20 6e 6f 72 6d 28 52 32 20 2d 20 52 31 29 2f 6e	om,3,3);..gain.=.norm(R2.-.R1)/n
13360	6f 72 6d 28 52 32 20 2d 20 52 32 61 29 0a 0a 25 25 25 20 54 45 53 54 20 4f 46 20 64 4f 6d 64 52	orm(R2.-.R2a)..%%%.TEST.OF.dOmdR
13380	3a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 52 20 3d 20 72 6f 64 72 69 67 75 65 73	:.om.=.randn(3,1);.R.=.rodrigues
133a0	28 6f 6d 29 3b 0a 64 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 2f 31 30 30 30 30 3b 0a 64 52	(om);.dom.=.randn(3,1)/10000;.dR
133c0	20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 2b 64 6f 6d 29 20 2d 20 52 3b 0a 0a 5b 6f 6d 63 2c	.=.rodrigues(om+dom).-.R;..[omc,
133e0	64 6f 6d 64 52 5d 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 29 3b 0a 5b 6f 6d 32 5d 20 3d 20 72	domdR].=.rodrigues(R);.[om2].=.r
13400	6f 64 72 69 67 75 65 73 28 52 2b 64 52 29 3b 0a 0a 6f 6d 5f 61 70 70 20 3d 20 6f 6d 63 20 2b 20	odrigues(R+dR);..om_app.=.omc.+.
13420	64 6f 6d 64 52 2a 64 52 28 3a 29 3b 0a 0a 67 61 69 6e 20 3d 20 6e 6f 72 6d 28 6f 6d 32 20 2d 20	domdR*dR(:);..gain.=.norm(om2.-.
13440	6f 6d 63 29 2f 6e 6f 72 6d 28 6f 6d 32 20 2d 20 6f 6d 5f 61 70 70 29 0a 0a 0a 25 25 25 20 4f 54	omc)/norm(om2.-.om_app)...%%%.OT
13460	48 45 52 20 42 55 47 3a 20 28 46 49 58 45 44 20 4e 4f 57 21 21 21 29 0a 0a 6f 6d 75 20 3d 20 72	HER.BUG:.(FIXED.NOW!!!)..omu.=.r
13480	61 6e 64 6e 28 33 2c 31 29 3b 20 20 20 0a 6f 6d 75 20 3d 20 6f 6d 75 2f 6e 6f 72 6d 28 6f 6d 75	andn(3,1);....omu.=.omu/norm(omu
134a0	29 0a 6f 6d 20 3d 20 70 69 2a 6f 6d 75 3b 20 20 20 20 20 20 20 20 0a 5b 52 2c 64 52 5d 3d 20 72	).om.=.pi*omu;.........[R,dR]=.r
134c0	6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 5b 6f 6d 32 5d 20 3d 20 72 6f 64 72 69 67 75 65 73 28	odrigues(om);.[om2].=.rodrigues(
134e0	52 29 3b 0a 5b 6f 6d 20 6f 6d 32 5d 0a 0a 25 25 25 20 4e 4f 52 4d 41 4c 20 4f 50 45 52 41 54 49	R);.[om.om2]..%%%.NORMAL.OPERATI
13500	4f 4e 0a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 20 20 20 20 20 20 20 20 20 0a 5b 52	ON..om.=.randn(3,1);..........[R
13520	2c 64 52 5d 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 5b 6f 6d 32 5d 20 3d 20 72 6f 64	,dR]=.rodrigues(om);.[om2].=.rod
13540	72 69 67 75 65 73 28 52 29 3b 0a 5b 6f 6d 20 6f 6d 32 5d 0a 0a 00 00 00 00 00 00 00 00 00 00 00	rigues(R);.[om.om2].............
13560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
135a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
135c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
135e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 63 72 69 70 74 5f 66 69 74 5f 64 69 73 74 6f 72 74	TOOLBOX_calib/script_fit_distort
13620	69 6f 6e 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	ion.m...........................
13640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13660	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
13680	20 20 20 31 37 32 35 20 20 36 37 36 33 30 37 30 32 33 33 20 20 31 33 32 32 37 00 20 00 00 00 00	...1725..6763070233..13227......
136a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
136c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
136e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
137a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
137c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
137e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13800	0a 20 20 20 20 20 20 73 61 74 69 73 5f 64 69 73 74 6f 72 74 20 3d 20 30 3b 0a 20 20 20 20 20 20	.......satis_distort.=.0;.......
13820	0a 20 20 20 20 20 20 64 69 73 70 28 5b 27 45 73 74 69 6d 61 74 65 64 20 66 6f 63 61 6c 3a 20 27	.......disp(['Estimated.focal:.'
13840	20 6e 75 6d 32 73 74 72 28 66 5f 67 29 20 27 20 70 69 78 65 6c 73 27 5d 29 3b 0a 20 20 20 20 20	.num2str(f_g).'.pixels']);......
13860	20 0a 20 20 20 20 20 20 77 68 69 6c 65 20 7e 73 61 74 69 73 5f 64 69 73 74 6f 72 74 2c 0a 0a 09	........while.~satis_distort,...
13880	20 6b 5f 67 20 3d 20 69 6e 70 75 74 28 27 47 75 65 73 73 20 66 6f 72 20 64 69 73 74 6f 72 74 69	.k_g.=.input('Guess.for.distorti
138a0	6f 6e 20 66 61 63 74 6f 72 20 6b 63 20 28 5b 5d 3d 30 29 3a 20 27 29 3b 0a 09 20 0a 09 20 69 66	on.factor.kc.([]=0):.');......if
138c0	20 69 73 65 6d 70 74 79 28 6b 5f 67 29 2c 20 6b 5f 67 20 3d 20 30 3b 20 65 6e 64 3b 0a 20 20 20	.isempty(k_g),.k_g.=.0;.end;....
138e0	20 20 20 0a 09 20 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 20 3d 20 63 6f 6d 70 5f 64	......xy_corners_undist.=.comp_d
13900	69 73 74 6f 72 74 69 6f 6e 32 28 5b 78 27 20 2d 20 63 5f 67 28 31 29 3b 79 27 2d 63 5f 67 28 32	istortion2([x'.-.c_g(1);y'-c_g(2
13920	29 5d 2f 66 5f 67 2c 6b 5f 67 29 3b 0a 09 20 0a 09 20 78 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72	)]/f_g,k_g);......xu.=.xy_corner
13940	73 5f 75 6e 64 69 73 74 28 31 2c 3a 29 27 3b 0a 09 20 79 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72	s_undist(1,:)';...yu.=.xy_corner
13960	73 5f 75 6e 64 69 73 74 28 32 2c 3a 29 27 3b 0a 09 20 0a 09 20 5b 58 58 75 5d 20 3d 20 70 72 6f	s_undist(2,:)';......[XXu].=.pro
13980	6a 65 63 74 65 64 47 72 69 64 20 28 20 5b 78 75 28 31 29 3b 79 75 28 31 29 5d 2c 20 5b 78 75 28	jectedGrid.(.[xu(1);yu(1)],.[xu(
139a0	32 29 3b 79 75 28 32 29 5d 2c 5b 78 75 28 33 29 3b 79 75 28 33 29 5d 2c 20 5b 78 75 28 34 29 3b	2);yu(2)],[xu(3);yu(3)],.[xu(4);
139c0	79 75 28 34 29 5d 2c 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73 71 5f 79 2b 31 29 3b 20 25 20 54 68 65	yu(4)],n_sq_x+1,n_sq_y+1);.%.The
139e0	20 66 75 6c 6c 20 67 72 69 64 0a 09 20 0a 09 20 58 58 20 3d 20 28 6f 6e 65 73 28 32 2c 31 29 2a	.full.grid......XX.=.(ones(2,1)*
13a00	28 31 20 2b 20 6b 5f 67 20 2a 20 73 75 6d 28 58 58 75 2e 5e 32 29 29 29 20 2e 2a 20 58 58 75 3b	(1.+.k_g.*.sum(XXu.^2)))..*.XXu;
13a20	0a 09 20 58 58 28 31 2c 3a 29 20 3d 20 66 5f 67 2a 58 58 28 31 2c 3a 29 2b 63 5f 67 28 31 29 3b	...XX(1,:).=.f_g*XX(1,:)+c_g(1);
13a40	0a 09 20 58 58 28 32 2c 3a 29 20 3d 20 66 5f 67 2a 58 58 28 32 2c 3a 29 2b 63 5f 67 28 32 29 3b	...XX(2,:).=.f_g*XX(2,:)+c_g(2);
13a60	0a 09 20 0a 09 20 66 69 67 75 72 65 28 32 29 3b 0a 09 20 69 6d 61 67 65 28 49 29 3b 0a 09 20 63	......figure(2);...image(I);...c
13a80	6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 0a 09 20 7a 6f 6f 6d 20 6f 6e 3b 0a 09 20 68 6f 6c 64 20	olormap(map);...zoom.on;...hold.
13aa0	6f 6e 3b 0a 09 20 25 70 6c 6f 74 28 66 5f 67 2a 58 58 75 28 31 2c 3a 29 2b 63 5f 67 28 31 29 2c	on;...%plot(f_g*XXu(1,:)+c_g(1),
13ac0	66 5f 67 2a 58 58 75 28 32 2c 3a 29 2b 63 5f 67 28 32 29 2c 27 72 6f 27 29 3b 0a 09 20 70 6c 6f	f_g*XXu(2,:)+c_g(2),'ro');...plo
13ae0	74 28 58 58 28 31 2c 3a 29 2c 58 58 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 09 20 74 69 74 6c 65	t(XX(1,:),XX(2,:),'r+');...title
13b00	28 27 54 68 65 20 72 65 64 20 63 72 6f 73 73 65 73 20 73 68 6f 75 6c 64 20 62 65 20 6f 6e 20 74	('The.red.crosses.should.be.on.t
13b20	68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 2e 2e 2e 27 29 3b 0a 09 20 68 6f 6c 64 20 6f 66 66	he.grid.corners...');...hold.off
13b40	3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 53 61	;......satis_distort.=.input('Sa
13b60	74 69 73 66 69 65 64 20 77 69 74 68 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c	tisfied.with.distortion?.([]=no,
13b80	20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f	.other=yes).');......satis_disto
13ba0	72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 73 61 74 69 73 5f 64 69 73 74 6f 72 74 29 3b 0a 09 20	rt.=.~isempty(satis_distort);...
13bc0	0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 00 00 00 00 00 00 00 00 00 00 00	..........end;..................
13be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 65 6c 65 63 74 5f 73 6f 6c 5f 6e 6f 5f 63 65 6e 74	TOOLBOX_calib/select_sol_no_cent
13c20	65 72 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	er.m............................
13c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13c60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
13c80	20 20 20 31 30 33 32 20 20 36 37 36 33 30 37 30 32 33 34 20 20 31 32 37 36 33 00 20 00 00 00 00	...1032..6763070234..12763......
13ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
13e00	25 25 25 20 53 65 6c 65 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e	%%%.Selection.of.the.calibration
13e20	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
13e40	0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 3b 0a 0a 25 25 25	..solution.=.sol_no_center;..%%%
13e60	20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73	.Extraction.of.the.final.intrins
13e80	69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78	ic.and.extrinsic.paramaters:..ex
13ea0	74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c	tract_parameters;...fprintf(1,'\
13ec0	6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 6f 75 74 20 70	n\nCalibration.results.without.p
13ee0	72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29	rincipal.point.estimation:\n\n')
13f00	3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66	;.fprintf(1,'Focal.Length:.....f
13f20	63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72	c.=.[.%3.5f...%3.5f]\n',fc);.fpr
13f40	69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b	intf(1,'Principal.point:..cc.=.[
13f60	20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28	.%3.5f...%3.5f]\n',cc);.fprintf(
13f80	31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35	1,'Distortion:.......kc.=.[.%3.5
13fa0	66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63	f...%3.5f...%3.5f...%3.5f]\n',kc
13fc0	29 3b 20 20 20 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41	);......%%%%%%%%%%%%%%%%%%%%.GRA
13fe0	50 48 49 43 41 4c 20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	PHICAL.OUTPUT.%%%%%%%%%%%%%%%%%%
14000	25 25 25 25 25 25 0a 0a 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 3b 0a 0a 0a 72 61 74 69 6f 6e	%%%%%%..graphout_calib;...ration
14020	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
14040	0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 3b 0a 0a 25 25 25	..solution.=.sol_no_center;..%%%
14060	20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73	.Extraction.of.the.final.intrins
14080	69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78	ic.and.extrinsic.paramaters:..ex
140a0	74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c	tract_parameters;...fprintf(1,'\
140c0	6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 6f 75 74 20 70	n\nCalibration.results.without.p
140e0	72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29	rincipal.point.estimation:\n\n')
14100	3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66	;.fprintf(1,'Focal.Length:.....f
14120	63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72	c.=.[.%3.5f...%3.5f]\n',fc);.fpr
14140	69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b	intf(1,'Principal.point:..cc.=.[
14160	20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28	.%3.5f...%3.5f]\n',cc);.fprintf(
14180	31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35	1,'Distortion:.......kc.=.[.%3.5
141a0	66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63	f...%3.5f...%3.5f...%3.5f]\n',kc
141c0	29 3b 20 20 20 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41	);......%%%%%%%%%%%%%%%%%%%%.GRA
141e0	50 48 49 43 41 4c 20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	PHICAL.OUTPUT.%%%%%%%%%%%%%%%%%%
14200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65	TOOLBOX_calib/select_sol_with_ce
14220	6e 74 65 72 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	nter.m..........................
14240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14260	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
14280	20 20 20 31 30 33 31 20 20 36 37 36 33 30 37 30 32 33 35 20 20 31 33 33 32 32 00 20 00 00 00 00	...1031..6763070235..13322......
142a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
142c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
142e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
143a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
143c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
143e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14400	25 25 25 20 53 65 6c 65 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e	%%%.Selection.of.the.calibration
14420	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
14440	0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 3b 0a 0a 25	..solution.=.sol_with_center;..%
14460	25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69	%%.Extraction.of.the.final.intri
14480	6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a	nsic.and.extrinsic.paramaters:..
144a0	65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c	extract_parameters;...fprintf(1,
144c0	27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 20 70 72	'\n\nCalibration.results.with.pr
144e0	69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b	incipal.point.estimation:\n\n');
14500	0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63	.fprintf(1,'Focal.Length:.....fc
14520	20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69	.=.[.%3.5f...%3.5f]\n',fc);.fpri
14540	6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20	ntf(1,'Principal.point:..cc.=.[.
14560	25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31	%3.5f...%3.5f]\n',cc);.fprintf(1
14580	2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66	,'Distortion:.......kc.=.[.%3.5f
145a0	20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29	...%3.5f...%3.5f...%3.5f]\n',kc)
145c0	3b 20 20 20 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50	;......%%%%%%%%%%%%%%%%%%%%.GRAP
145e0	48 49 43 41 4c 20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	HICAL.OUTPUT.%%%%%%%%%%%%%%%%%%%
14600	25 25 25 25 25 0a 0a 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 3b 0a 0a 0a 00 00 00 00 00 00 00	%%%%%..graphout_calib;..........
14620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14660	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14680	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
146a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
146c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
146e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
147a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
147c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
147e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 00 00 00 00	TOOLBOX_calib/UnWarpPlane.m.....
14820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14860	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
14880	20 20 20 31 35 36 37 20 20 36 37 36 33 30 37 30 32 33 35 20 20 31 31 30 30 35 00 20 00 00 00 00	...1567..6763070235..11005......
148a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
148c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
148e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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15000	66 75 6e 63 74 69 6f 6e 20 77 72 69 74 65 72 61 73 28 66 69 6c 65 6e 61 6d 65 2c 20 69 6d 61 67	function.writeras(filename,.imag
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15480	3d 20 5b 7a 65 72 6f 5f 73 74 72 28 31 3a 38 2d 6c 65 6e 67 74 68 28 68 65 69 67 68 74 5f 73 74	=.[zero_str(1:8-length(height_st
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15a80	20 20 20 20 31 30 30 20 20 36 37 36 33 30 37 31 35 31 35 20 20 31 30 32 35 33 00 20 00 00 00 00	....100..6763071515..10253......
15aa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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15d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15e00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 52 45 41 44 4d 45 2e 74 78 74 00 00 00 00 00 00 00 00	TOOLBOX_calib/README.txt........
15e20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15e40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15e60	00 00 00 00 20 20 20 36 34 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......640.....471.....454......
15e80	20 20 20 36 34 36 31 20 20 36 37 36 33 32 36 35 32 32 35 20 20 31 30 31 33 34 00 20 00 00 00 00	...6461..6763265225..10134......
15ea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15ec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15ee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15f00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15f20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15f40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15f60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15f80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15fa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15fc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
15fe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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16060	61 6d 65 72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 62 6f 78 20 66 72 6f 6d 20 6d	amera.calibration.toolbox.from.m
16080	75 6c 74 69 70 6c 65 20 69 6d 61 67 65 73 20 6f 66 20 61 20 70 6c 61 6e 61 72 20 70 61 74 74 65	ultiple.images.of.a.planar.patte
160a0	72 6e 20 28 69 6e 20 4d 61 74 6c 61 62 29 20 20 20 20 7c 0a 7c 20 20 20 20 20 20 20 20 20 20 20	rn.(in.Matlab)....|.|...........
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16100	20 20 20 20 20 20 20 20 20 20 20 20 7c 0a 7c 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	............|.|.................
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16160	20 20 20 20 20 20 7c 0a 7c 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	......|.|.......................
16180	68 74 74 70 3a 2f 2f 77 77 77 2e 76 69 73 69 6f 6e 2e 63 61 6c 74 65 63 68 2e 65 64 75 2f 62 6f	http://www.vision.caltech.edu/bo
161a0	75 67 75 65 74 6a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	uguetj..........................
161c0	7c 0a 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	|.*-----------------------------
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16220	45 4e 45 52 41 4c 20 4e 4f 54 49 43 45 3a 20 54 68 65 20 4d 61 74 6c 61 62 20 4f 70 74 69 6d 69	ENERAL.NOTICE:.The.Matlab.Optimi
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16260	65 20 74 68 61 74 20 74 6f 6f 6c 62 6f 78 2e 0a 0a 0a 0a 49 4e 53 54 52 55 43 54 49 4f 4e 53 3a	e.that.toolbox.....INSTRUCTIONS:
16280	0a 0a 31 2d 20 52 75 6e 20 6d 61 74 6c 61 62 20 75 6e 64 65 72 20 54 4f 4f 4c 42 4f 58 5f 63 61	..1-.Run.matlab.under.TOOLBOX_ca
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16340	61 6d 65 72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 62 6f 78 20 72 75 6e 20 75 6e	amera.calibration.toolbox.run.un
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164e0	45 78 61 6d 70 6c 65 3a 20 49 66 20 31 35 20 74 69 66 20 69 6d 61 67 65 73 20 61 72 65 20 75 73	Example:.If.15.tif.images.are.us
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16560	20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 2e 74 69 66 0a 20 20 20 20 20 20 20	.......camera_calib1.tif........
16580	20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 32 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20	.....camera_calib2.tif..........
165a0	20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 33 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20	...camera_calib3.tif............
165c0	20 63 61 6d 65 72 61 5f 63 61 6c 69 62 34 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63	.camera_calib4.tif.............c
165e0	61 6d 65 72 61 5f 63 61 6c 69 62 35 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d	amera_calib5.tif.............cam
16600	65 72 61 5f 63 61 6c 69 62 36 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72	era_calib6.tif.............camer
16620	61 5f 63 61 6c 69 62 37 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f	a_calib7.tif.............camera_
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16660	6c 69 62 39 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69	lib9.tif.............camera_cali
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166a0	31 31 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31	11.tif.............camera_calib1
166c0	32 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 33	2.tif.............camera_calib13
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16900	66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 36 2e 74 69 66	f.............camera_calib06.tif
16920	0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 37 2e 74 69 66 0a	.............camera_calib07.tif.
16940	20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 38 2e 74 69 66 0a 20	............camera_calib08.tif..
16960	20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 39 2e 74 69 66 0a 20 20	...........camera_calib09.tif...
16980	20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 30 2e 74 69 66 0a 20 20 20	..........camera_calib10.tif....
169a0	20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 31 2e 74 69 66 0a 20 20 20 20	.........camera_calib11.tif.....
169c0	20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 32 2e 74 69 66 0a 20 20 20 20 20	........camera_calib12.tif......
169e0	20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 33 2e 74 69 66 0a 20 20 20 20 20 20	.......camera_calib13.tif.......
16a00	20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 34 2e 74 69 66 0a 20 20 20 20 20 20 20	......camera_calib14.tif........
16a20	20 20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 31 35 2e 74 69 66 0a 0a 20 20 20 20 20 20 20	.....camera_calib15.tif.........
16a40	20 20 20 20 20 4d 6f 72 65 20 73 6c 6f 74 73 20 6d 61 79 20 62 65 20 75 73 65 64 20 61 73 20 77	.....More.slots.may.be.used.as.w
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16ac0	69 62 30 30 30 31 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63 61	ib0001.tif.............camera_ca
16ae0	6c 69 62 30 30 30 32 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f 63	lib0002.tif.............camera_c
16b00	61 6c 69 62 30 30 30 33 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61 5f	alib0003.tif.............camera_
16b20	63 61 6c 69 62 30 30 30 34 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72 61	calib0004.tif.............camera
16b40	5f 63 61 6c 69 62 30 30 30 35 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65 72	_calib0005.tif.............camer
16b60	61 5f 63 61 6c 69 62 30 30 30 36 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d 65	a_calib0006.tif.............came
16b80	72 61 5f 63 61 6c 69 62 30 30 30 37 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61 6d	ra_calib0007.tif.............cam
16ba0	65 72 61 5f 63 61 6c 69 62 30 30 30 38 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63 61	era_calib0008.tif.............ca
16bc0	6d 65 72 61 5f 63 61 6c 69 62 30 30 30 39 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20 63	mera_calib0009.tif.............c
16be0	61 6d 65 72 61 5f 63 61 6c 69 62 30 30 31 30 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20 20	amera_calib0010.tif.............
16c00	63 61 6d 65 72 61 5f 63 61 6c 69 62 30 30 31 31 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20 20	camera_calib0011.tif............
16c20	20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 30 31 32 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20 20	.camera_calib0012.tif...........
16c40	20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 30 31 33 2e 74 69 66 0a 20 20 20 20 20 20 20 20 20	..camera_calib0013.tif..........
16c60	20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 30 31 34 2e 74 69 66 0a 20 20 20 20 20 20 20 20	...camera_calib0014.tif.........
16c80	20 20 20 20 63 61 6d 65 72 61 5f 63 61 6c 69 62 30 30 31 35 2e 74 69 66 0a 0a 0a 34 2d 20 54 68	....camera_calib0015.tif...4-.Th
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17c00	25 20 4d 61 69 6e 20 63 61 6d 65 72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 62 6f	%.Main.camera.calibration.toolbo
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17e00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 52 45 41 44 4d 45 2e 74 78 74 00 00 00 00 00 00 00 00	TOOLBOX_calib/README.txt........
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