/********************************************************************************* Copyright 2007-2012 The Regents of the University of California. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. **********************************************************************************/ SUMMARY: This software was developed for external calibration of multiple cameras as part of the research work at the Teleimmersion Lab at University of California, Berkeley. Note that this software was developed for research purpose and may therefore not be optimized or even correct in its assumptions. SOURCE CODE: The project on this repository was tested with Visual Studio 2010 (VC10) and OpenCV 2.2. To be able to compile the code, point environmental variable OPENCV2_HOME to the location of your OpenCV 2.2 installation folder. The configuration assumes the following arrangement: * Header files: $(OPENCV2_HOME)\include; $(OPENCV2_HOME)\include\opencv * Library files: $(OPENCV2_HOME)\x86\vc10\lib * DLL files: $(OPENCV2_HOME)\x86\vc10\bin This solution has been configured only for 32-bit compiler but it should be pretty striaghtforward to extend that to 64-bit compiler. DEPENDENCIES: The source code depnds on several external libraries. Note that the libraries have their own licensing terms which may differ from those associated with our source files. These include: * sba : A Generic Sparse Bundle Adjustment C/C++ Package Based on the Levenberg-Marquardt Algorithm http://users.ics.forth.gr/~lourakis/sba/ Released under GPL (!) license. * levmar : Levenberg-Marquardt nonlinear least squares algorithms in C/C++ http://users.ics.forth.gr/~lourakis/levmar/ Released under GPL (!) license. * CLAPACK http://www.netlib.org/clapack/ * CINIFile INI-file reading functions developed by Adam Clauss & Shane Hill The binaries are provided here only for reference. One should obtain the libraries on their own and compile them as needed. Compiled versions should be placed in 'lib' subfolder. Corresponding header files should be places in 'include' subfolder. DOCUMENTATION: Look into the subfolder 'docs' for calibration information. Note that some of the information in there may be outdated and may not correspond to the actual code. DATA INPUT: There are several example configuration files that provide the most up-to-date parameters that can be used to control the calibration software. In general refer to the manual to see what is the meaning of the parameters in the files. --------------------------------------------------- CONTACT: Gregorij Kurillo (gregorij@eecs.berkeley.edu)