├── .gitignore ├── EKF_monoSLAM_1pRANSAC ├── GPL.txt ├── README.txt └── matlab_code │ ├── F_Test_dg_dhd.m │ ├── F_Test_dg_dxv.m │ ├── F_Test_dh_dxv.m │ ├── F_Test_dh_dxv_newPar.m │ ├── F_Test_dh_dy.m │ ├── F_Test_dh_dy_newPar.m │ ├── F_Test_dhd_dhu.m │ ├── F_Test_dhu_dhrl.m │ ├── F_test_q2rpy.m │ ├── F_test_rpy2q.m │ ├── GPL.txt │ ├── add_a_feature_covariance_inverse_depth.m │ ├── add_feature_to_info_vector.m │ ├── add_features_inverse_depth.m │ ├── calculate_Hi_cartesian.m │ ├── calculate_Hi_inverse_depth.m │ ├── calculate_derivatives.m │ ├── compute_hypothesis_support_fast.m │ ├── count_matches_under_a_threshold.m │ ├── crosscorr.m │ ├── dRq_times_a_by_dq.m │ ├── delete_a_feature.m │ ├── delete_features.m │ ├── dfv_by_dxv.m │ ├── distor_a_point.m │ ├── distort_fm.m │ ├── dq3_by_dq1.m │ ├── dq3_by_dq2.m │ ├── dq_by_deuler.m │ ├── dqbar_by_dq.m │ ├── dqomegadt_by_domega.m │ ├── draw_camera.m │ ├── ekf_filter │ ├── ekf_filter.m │ ├── ekf_prediction.m │ ├── ekf_update.m │ ├── ekf_update_hi_inliers.m │ ├── ekf_update_iterated.m │ ├── ekf_update_li_inliers.m │ ├── extract_nu_and_S.m │ ├── get_H_predicted.m │ ├── get_S_matching.m │ ├── get_S_predicted.m │ ├── get_measurements.m │ ├── get_p_k_k.m │ ├── get_p_k_km1.m │ ├── get_predicted_measurements.m │ ├── get_std_a.m │ ├── get_std_alpha.m │ ├── get_std_z.m │ ├── get_x_k_k.m │ ├── get_x_k_km1.m │ ├── rescue_hi_inliers.m │ ├── set_p_k_k.m │ ├── set_std_a.m │ ├── set_std_alpha.m │ └── set_x_k_k.m │ ├── fast-matlab-src │ ├── LICENSE │ ├── README │ ├── example.m │ ├── fast_corner_detect_10.m │ ├── fast_corner_detect_11.m │ ├── fast_corner_detect_12.m │ ├── fast_corner_detect_9.m │ ├── fast_nonmax.m │ └── lab.pgm │ ├── fig2avi.m │ ├── func_Q.m │ ├── fv.m │ ├── generate_random_6D_sphere.m │ ├── generate_state_vector_pattern.m │ ├── hi_cartesian.m │ ├── hi_inverse_depth.m │ ├── hinv.m │ ├── hu.m │ ├── initialize_a_feature.m │ ├── initialize_cam.m │ ├── initialize_features.m │ ├── initialize_x_and_p.m │ ├── inversedepth2cartesian.m │ ├── inversedepth_2_cartesian.m │ ├── jacob_distor_fm.m │ ├── jacob_q2rpy.m │ ├── jacob_rpy2q.m │ ├── jacob_undistor_fm.m │ ├── m.m │ ├── map_management.m │ ├── matching.m │ ├── matlabcalibration2ourcalibration │ ├── Bouguet2Devernay.m │ ├── Bouguet2Tsai.m │ ├── Calib_Results.m │ ├── README.txt │ ├── TOOLBOX_calib.zip │ ├── TOOLBOX_calib │ │ ├── Compute3D.m │ │ ├── ComputeStripes.m │ │ ├── Distor2Calib.m │ │ ├── Meshing.m │ │ ├── README.txt │ │ ├── Rectangle2Square.m │ │ ├── Tsai2SwaminathanError.m │ │ ├── UnWarpPlane.m │ │ ├── add_suppress.m │ │ ├── affine.m │ │ ├── align_structures.m │ │ ├── analyse_error.m │ │ ├── anisdiff.m │ │ ├── apply_distortion.m │ │ ├── apply_distortion2.m │ │ ├── calib.m │ │ ├── calib_gui.m │ │ ├── calib_gui_no_read.m │ │ ├── calib_gui_normal.m │ │ ├── calib_stereo.m │ │ ├── calibration_pattern │ │ │ ├── pattern.eps │ │ │ └── pattern.pdf │ │ ├── cam_proj_calib.m │ │ ├── cam_proj_calib_optim.m │ │ ├── cam_proj_extract_param.m │ │ ├── centercirclefinder.m │ │ ├── check_active_images.m │ │ ├── check_convergence.m │ │ ├── check_directory.m │ │ ├── check_extracted_images.m │ │ ├── clear_windows.m │ │ ├── clearwin.m │ │ ├── click_calib.m │ │ ├── click_calib_no_read.m │ │ ├── click_ima_calib.m │ │ ├── click_ima_calib3D.m │ │ ├── click_ima_calib_no_read.m │ │ ├── click_stereo.m │ │ ├── combine_calib.m │ │ ├── comp_distortion.m │ │ ├── comp_distortion2.m │ │ ├── comp_distortion_oulu.m │ │ ├── comp_error_calib.m │ │ ├── comp_ext_calib.m │ │ ├── compose_motion.m │ │ ├── compute_collineation.m │ │ ├── compute_epipole.m │ │ ├── compute_extrinsic.m │ │ ├── compute_extrinsic_init.m │ │ ├── compute_extrinsic_refine.m │ │ ├── compute_extrinsic_refine2.m │ │ ├── compute_homography.m │ │ ├── cornerfinder.m │ │ ├── cornerfinder_saddle_point.m │ │ ├── count_squares.m │ │ ├── dAB.m │ │ ├── data_calib.m │ │ ├── data_calib_no_read.m │ │ ├── downsample.m │ │ ├── edgefinder.m │ │ ├── eliminate_boundary.m │ │ ├── error_analysis.m │ │ ├── error_cam_proj.m │ │ ├── error_cam_proj2.m │ │ ├── error_cam_proj3.m │ │ ├── error_depth.m │ │ ├── error_depth_list.m │ │ ├── export_calib_data.m │ │ ├── ext_calib.m │ │ ├── ext_calib2.m │ │ ├── ext_calib_stereo.m │ │ ├── extract_distortion_data.m │ │ ├── extract_grid.m │ │ ├── extract_grid_manual.m │ │ ├── extract_parameters.m │ │ ├── extract_parameters3D.m │ │ ├── extrinsic_computation.m │ │ ├── fixallvariables.m │ │ ├── fixvariable.m │ │ ├── fov.m │ │ ├── ginput2.m │ │ ├── ginput3.m │ │ ├── ginput4.m │ │ ├── go_calib_optim.m │ │ ├── go_calib_optim_iter.m │ │ ├── go_calib_optim_iter_weak.m │ │ ├── go_calib_optim_no_read.m │ │ ├── go_calib_stereo.m │ │ ├── ima_read_calib.m │ │ ├── ima_read_calib_no_read.m │ │ ├── init_intrinsic_param.m │ │ ├── inverse_motion.m │ │ ├── is3D.m │ │ ├── load_image.m │ │ ├── load_stereo_calib_files.m │ │ ├── loading_calib.m │ │ ├── loading_stereo_calib.m │ │ ├── loadinr.m │ │ ├── loadpgm.m │ │ ├── loadppm.m │ │ ├── manual_corner_extraction.m │ │ ├── manual_corner_extraction_no_read.m │ │ ├── mean_std_robust.m │ │ ├── merge_calibration_sets.m │ │ ├── merge_two_datasets.m │ │ ├── mosaic.m │ │ ├── mosaic_no_read.m │ │ ├── normalize.m │ │ ├── normalize2.m │ │ ├── normalize_pixel.m │ │ ├── pattern.eps │ │ ├── pgmread.m │ │ ├── point_distribution.m │ │ ├── project2_oulu.m │ │ ├── project_points.m │ │ ├── project_points2.m │ │ ├── project_points3.m │ │ ├── project_points_weak.m │ │ ├── projectedGrid.m │ │ ├── projector_calib.m │ │ ├── projector_ima_corners.m │ │ ├── projector_marker.m │ │ ├── readras.m │ │ ├── recomp_corner_calib.m │ │ ├── recomp_corner_calib_no_read.m │ │ ├── recomp_corner_calib_saddle_points.m │ │ ├── rect.m │ │ ├── rect_index.m │ │ ├── rectify_stereo_pair.m │ │ ├── reproject_calib.m │ │ ├── reproject_calib_no_read.m │ │ ├── rigid_motion.m │ │ ├── rodrigues.m │ │ ├── rotation.m │ │ ├── run_error_analysis.m │ │ ├── saveinr.m │ │ ├── savepgm.m │ │ ├── saveppm.m │ │ ├── saving_calib.m │ │ ├── saving_calib_ascii.m │ │ ├── saving_calib_no_results.m │ │ ├── saving_stereo_calib.m │ │ ├── scanner_calibration_script.m │ │ ├── scanning_script.m │ │ ├── script_fit_distortion.m │ │ ├── show_calib_results.m │ │ ├── show_stereo_calib_results.m │ │ ├── skew3.m │ │ ├── small_test_script.m │ │ ├── smooth_images.m │ │ ├── startup.m │ │ ├── stereo_gui.m │ │ ├── stereo_triangulation.m │ │ ├── undistort_fm.m │ │ ├── undistort_image.m │ │ ├── undistort_image_color.m │ │ ├── undistort_image_no_read.m │ │ ├── undistort_sequence.m │ │ ├── visualize_distortions.m │ │ ├── willson_convert.m │ │ ├── willson_read.m │ │ ├── write_image.m │ │ ├── writeras.m │ │ └── x_distort.m │ ├── Tsai2SwaminathanError.m │ ├── TsaiImageUndistort.m │ ├── distort_bouguet.m │ ├── initialize_cam.m │ ├── matlab2Devernay_error.m │ ├── matlab2tsai.m │ ├── matlab2tsai_error.m │ ├── matlab_calibration.mat │ ├── undistort_and_normalize_fm.m │ ├── undistort_fm.m │ └── xy_u.m │ ├── mono_slam.m │ ├── normJac.m │ ├── plotUncertainEllip2D.m │ ├── plotUncertainEllip3D.m │ ├── plotUncertainSurfaceXZ.m │ ├── plots.m │ ├── pred_patch_fc.m │ ├── predict_camera_measurements.m │ ├── predict_features_appearance.m │ ├── predict_state_and_covariance.m │ ├── q2r.m │ ├── q2tr.m │ ├── qconj.m │ ├── qprod.m │ ├── quaternion.m │ ├── ransac_hypotheses.m │ ├── rot.m │ ├── rotate_with_dist_fc.m │ ├── rotate_with_dist_fc_c1c2.m │ ├── rotate_with_dist_fc_c2c1.m │ ├── rotx.m │ ├── roty.m │ ├── rotz.m │ ├── rpy.m │ ├── rpy2tr.m │ ├── search_IC_matches.m │ ├── select_random_match.m │ ├── set_as_most_supported_hypothesis.m │ ├── set_plots.m │ ├── takeImage.m │ ├── takeImageFromAvi.m │ ├── tr2q.m │ ├── tr2rpy.m │ ├── undistor_a_point.m │ ├── undistort_fm.m │ ├── update.m │ ├── update_features_info.m │ ├── v2q.m │ └── vectarrow.m ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── SE3Interpolation ├── CMakeLists.txt ├── build.sh ├── cmake_modules │ └── FindEigen3.cmake ├── python │ ├── __init__.py │ ├── time_alignment.py │ └── time_alignment_plotting_tools.py └── src │ ├── se3_fitting.h │ ├── test_se3_fitting.cpp │ └── upsample_se3_poses.cpp ├── data └── validatepatchfc.bmp ├── ekfmonoslam ├── correction │ ├── correctnav_eframe_v000.m │ └── correctnav_localframe_v000.m ├── datastructure │ ├── CQueue.m │ ├── checkstructfields.m │ ├── consistent.m │ ├── cvecrep.m │ ├── rvecrep.m │ └── stringmatch.m ├── doc │ └── Introduction_to_Sensor_Errors.pdf ├── ekf │ ├── EKF_filter_eframe.m │ ├── EKF_filter_nframe.m │ ├── EKF_filter_s0frame.m │ ├── EKF_filter_s0frame_bias.m │ ├── EKF_filter_s0framelet.m │ ├── feature description tables.xlsx │ └── tables for slam.xlsx ├── geodetic │ ├── Calender2GPSWeek.m │ ├── Cbn2att.m │ ├── att2Cbn.m │ ├── att2qua.m │ ├── blh2C_en.m │ ├── blh2xyz.m │ ├── defaultGpsCovariance.m │ ├── geoatan2.m │ ├── horizondist.m │ ├── posdiff_v001.m │ ├── xyz2blh_Hirvonen.m │ └── xyz2ell_borkowski.m ├── imageproc │ ├── Gscale.m │ ├── KLT_tracker.m │ ├── get_X_from_xP_lin.m │ ├── hi_inverse_depth_v002.m │ ├── iscamerastable.m │ ├── projectivereconstruct.m │ ├── rotate_with_dist_fc_c1c2_v001.m │ ├── rotate_with_dist_fc_c2c1_v001.m │ ├── validate_predictpatchfc.m │ └── xydistort_by_xynormalized.m ├── initialization │ ├── coarse_alignment.m │ ├── coarsealign3.m │ ├── getqimu2body.m │ ├── initialize_cam_v001.m │ └── orientbymagnaccel.m ├── install.m ├── io │ ├── DataReader.m │ ├── MicrostrainImuDataReader.m │ ├── RtklibGpsDataReader.m │ ├── RtklibQualityToGpsQuality.m │ ├── bulk_image_converter.m │ ├── cov2RTKlib.m │ ├── grabnextgpsdata.m │ ├── grabnextimudata.m │ ├── listcontent.m │ ├── loadAllGPSData.m │ ├── loadImuData.m │ ├── readHG1700navtxt.m │ ├── read_hg1700_bin.mexw64 │ ├── readdata.m │ ├── readgpsheader.m │ ├── readimgtimeheader.m │ ├── readimuheader.m │ ├── save_google_kml.m │ ├── saveimutext.m │ ├── takeImage_v002.m │ └── takeimagefromvideo.m ├── kinematics │ ├── R1.m │ ├── R2.m │ ├── R3.m │ ├── addangle.m │ ├── angledist.m │ ├── avg_quaternion_markley.m │ ├── dcm2quat.m │ ├── eul2rotm_oxford.m │ ├── inverseP.m │ ├── leftQuaternionProductMatrix.m │ ├── mat2rq.m │ ├── matangledist.m │ ├── matrdist.m │ ├── qua2Cbn.m │ ├── qua2att.m │ ├── quat2euler_blanco.m │ ├── rdist.m │ ├── rightQuaternionProductMatrix.m │ ├── rotationRK4.m │ ├── rotm2rpy_ie.m │ ├── rpy2rotm_ie.m │ ├── rq2mat.m │ ├── statsangle.m │ ├── subangle.m │ ├── test_euler_conversions.m │ └── weighted_avg_quat.m ├── plotters │ ├── drawBundlerSFMOutput.m │ ├── drawTimeOntoVideo.m │ ├── draw_error_stereo.m │ ├── plotFtPts.m │ ├── plotNEDKalmanFilterResult.m │ ├── ploterr.m │ ├── ploterr_v001.m │ ├── plotkf.m │ ├── plotnav.m │ └── plotptamresult.m └── propagation │ ├── gennoiseds.m │ ├── imu_err_model_v001.m │ ├── strapdown_ecef_quat_v001.m │ ├── strapdown_local_quat.m │ ├── strapdown_local_quat_bias.m │ ├── strapdown_local_quat_constvel.m │ ├── sys_ecef_dcm_v001.m │ ├── sys_local_dcm_bias.m │ ├── sys_local_dcm_constvel.m │ ├── sys_local_dcm_v000.m │ ├── sys_local_dcm_v001.m │ └── sys_metric_phipsi_v002.m ├── instk ├── Calibration │ ├── cp_affine_v000.m │ ├── cp_sensorio_v000.m │ └── example_calib.m ├── Common │ ├── cp_SSgain_v000.m │ ├── dc2dc_v000.m │ ├── diagmat_v000.m │ ├── downsample_v000.m │ ├── imu_err_defs_v000.m │ ├── imu_err_model_v000.m │ ├── interp_imu_v001.m │ ├── lsmat_v001.m │ ├── markov1st_v000.m │ ├── mat2vec_v000.m │ ├── posdiff_v000.m │ ├── readbin_v001.m │ ├── skew.m │ ├── ss2corr_v000.m │ └── unskew.m ├── Examples102 │ ├── LargeHeading │ │ ├── example_largeheading.m │ │ └── sys_path_largeheading.m │ ├── MultiSystems │ │ ├── cp_M_v000.m │ │ ├── cp_T_v000.m │ │ ├── cp_redsys_v000.m │ │ ├── example_MultiINSvsSRIMU.m │ │ ├── example_OptimalFusion.m │ │ ├── example_SRIMUNav.m │ │ └── st_size_v000.m │ ├── TightlyCoupled │ │ ├── Tightly_v000.m │ │ └── sys_def_v000.m │ └── WanderAzimuth │ │ └── example_wander.m ├── IMUModeling │ ├── Example_conf.m │ ├── allan2markov_v000.m │ ├── arma2allan_v000.m │ ├── arma2cov_v000.m │ ├── cp_allan_var_v000.m │ ├── cp_wn_pow_v000.m │ ├── exp2markov_v000.m │ ├── exp_approx1_v000.m │ ├── exp_approx2_v000.m │ ├── exp_approx3_v000.m │ ├── exp_approx_v000.m │ ├── expo_fit_v000.m │ └── lvl_filter_v000.m ├── INS │ ├── correctnav_Cen_v000.m │ ├── geoparam_v000.m │ ├── geoparam_v001.m │ ├── la_imu_v000.m │ ├── la_sen_v000.m │ ├── mdl_ecef_dcm_v000.m │ ├── mdl_ned_dcm_v000.m │ ├── strapdown_Cen_dcm_v000.m │ ├── strapdown_Cen_quat_v000.m │ ├── strapdown_bckwrd_Cen_quat_v000.m │ ├── strapdown_bd_dcm_v000.m │ ├── strapdown_ecef_dcm_v000.m │ ├── strapdown_ecef_quat_v000.m │ ├── strapdown_ned_dcm_v000.m │ ├── strapdown_ned_quat_v000.m │ ├── strapdown_pln_dcm_v000.m │ ├── strapdown_wander_dcm_v000.m │ ├── strapdown_wander_quat_v000.m │ ├── sys_bd_dcm_v000.m │ ├── sys_ecef_dcm_v000.m │ ├── sys_llh_phipsi_v000.m │ ├── sys_metric_phipsi_v000.m │ ├── sys_ned_dcm_v000.m │ ├── sys_ned_dcm_v001.m │ ├── sys_pln_dcm_v000.m │ ├── sys_wander_dcm_v000.m │ ├── sys_wander_largeheading_v000.m │ └── sys_wander_psi_v000.m ├── OldVersions │ ├── AddIMUErr_v000.m │ ├── AddIMUErr_v001.m │ ├── AddIniErr_v000.m │ ├── PathGen_v000_depreciated.m │ ├── PathGen_v001.m │ ├── alingc_std_v000.m │ ├── cp_Tparam_v000.m │ ├── imu_modTI_v000.m │ ├── imu_modTV_v000.m │ ├── lsmat_v000.m │ ├── mdl_wander_largeheading_v000.m │ ├── pos2Cne_v000.m │ ├── quatmult_v000.m │ ├── readbin_v000.m │ └── selfcalib1_v000.m ├── PDANav │ ├── example_AttRef.m │ └── senread.m ├── PathGen │ ├── AddIMUErr_v002.m │ ├── AddObsErr_v000.m │ ├── PathGen_v002.m │ ├── PathGen_v003.m │ └── flickgen_v000.m ├── README.md ├── Smoother │ ├── 2filter │ │ ├── combine_2filt_v000.m │ │ ├── combine_2filt_v001.m │ │ ├── smoother_2filt_bckwd.m │ │ └── smoother_2filt_fwd.m │ ├── BF │ │ ├── RealData │ │ │ ├── bf_bckwd.m │ │ │ └── bf_fwd.m │ │ └── SimData │ │ │ ├── smoother_BF_bkwd.m │ │ │ └── smoother_BF_frwd.m │ ├── FixedLag │ │ ├── smoother_FLS.m │ │ └── sys_path.m │ ├── RTS │ │ ├── RealData │ │ │ ├── klmn_scrpt.m │ │ │ ├── rts_bckwd_mtd1.m │ │ │ ├── rts_bckwd_mtd2.m │ │ │ └── rts_fwd.m │ │ └── SimData │ │ │ ├── smoother_RTS_bkwd.m │ │ │ └── smoother_RTS_frwd.m │ └── weinert │ │ └── PreSmooth1.m ├── TransFunctions │ ├── dcm2euler_v000.m │ ├── dcm2heading_v000.m │ ├── dcm2llh_v000.m │ ├── dcm2quat_v000.m │ ├── dcm2rot_v000.m │ ├── dir2euler_v000.m │ ├── ecef2geo_v000.m │ ├── euler2dcm_v000.m │ ├── llh2dcm_v000.m │ ├── quat2dcm_v000.m │ ├── quat2rot_v000.m │ ├── quatmult_v001.m │ ├── quatrot_v000.m │ ├── rot2dcm_v000.m │ └── rvec2quat_v000.m ├── conscull │ ├── coning_minor_v000.m │ ├── coning_v000.m │ ├── cs_example.m │ ├── sculling_coning_v000.m │ ├── sculling_minor_v000.m │ └── sculling_v000.m ├── groupFiles.py ├── initialization │ ├── align_opt_v000.m │ ├── align_wander_v000.m │ ├── alingc_2s_v000.m │ ├── alingc_hd_v000.m │ ├── alingc_pl_v000.m │ ├── alingc_std_v001.m │ ├── example_align.m │ ├── example_selfcalib.m │ ├── selfcalib1_v001.m │ ├── selfcalib2_v000.m │ └── sys_def.m └── install.m ├── mexopencv └── +cv │ ├── calcOpticalFlowPyrLK.m │ ├── calcOpticalFlowPyrLK.mexw64 │ ├── cornerSubPix.m │ ├── cornerSubPix.mexw64 │ ├── goodFeaturesToTrack.m │ ├── goodFeaturesToTrack.mexw64 │ ├── opencv_core246.dll │ ├── opencv_imgproc246.dll │ └── opencv_video246.dll ├── tests ├── EKF_filter_jekeli76.m ├── KLTtestopencv.m ├── KLTtestopencv_v001.m ├── Test_EKF_filters.m ├── cam_ins_gps.m ├── correctHG1700.m ├── forwardfilterH764G.m ├── forwardfilterMEMS.m ├── givens_vs_svd.m ├── gssm_cam_ins_gps.m ├── imu_cam_calib.m ├── jekeli76demo.m ├── mainslam.m ├── prob2_2_gs5660.m ├── sensor-setup-Jul-Aug-2013.jpg ├── sensor-setup-Nov-2015.jpg ├── testAddIMUError.m ├── testIMUCovariance.m ├── test_latlon2local.m ├── testvlfeatsift.m └── uavmems_EKF_filter.m ├── toolbox_calib ├── Compute3D.m ├── ComputeStripes.m ├── Distor2Calib.m ├── Meshing.m ├── README.txt ├── Rectangle2Square.m ├── TestFunction.m ├── UnWarpPlane.m ├── add_suppress.m ├── affine.m ├── align_structures.m ├── analyse_error.m ├── anisdiff.m ├── apply_distortion.m ├── apply_distortion2.m ├── apply_fisheye_distortion.m ├── calib.m ├── calib_gui.m ├── calib_gui_fisheye.m ├── calib_gui_no_read.m ├── calib_gui_normal.m ├── calib_stereo.m ├── calibration_pattern │ ├── pattern.eps │ └── pattern.pdf ├── cam_proj_calib.m ├── cam_proj_calib_optim.m ├── cam_proj_extract_param.m ├── centercirclefinder.m ├── check_active_images.m ├── check_convergence.m ├── check_directory.m ├── check_extracted_images.m ├── clear_windows.m ├── clearwin.m ├── click_calib.m ├── click_calib_fisheye_no_read.m ├── click_calib_no_read.m ├── click_ima_calib.m ├── click_ima_calib3D.m ├── click_ima_calib_fisheye_no_read.m ├── click_ima_calib_fisheye_no_read.m~ ├── click_ima_calib_no_read.m ├── click_stereo.m ├── combine_calib.m ├── comp_distortion.m ├── comp_distortion2.m ├── comp_distortion_oulu.m ├── comp_error_calib.m ├── comp_error_calib_fisheye.m ├── comp_ext_calib.m ├── comp_ext_calib_fisheye.m ├── comp_fisheye_distortion.m ├── compose_motion.m ├── compute_collineation.m ├── compute_epipole.m ├── compute_extrinsic.m ├── compute_extrinsic_init.m ├── compute_extrinsic_init_fisheye.m ├── compute_extrinsic_refine.m ├── compute_extrinsic_refine2.m ├── compute_extrinsic_refine_fisheye.m ├── compute_homography.m ├── cornerfinder.m ├── cornerfinder2.m ├── cornerfinder_saddle_point.m ├── count_squares.m ├── count_squares_distorted.m ├── count_squares_fisheye_distorted.m ├── dAB.m ├── data_calib.m ├── data_calib_no_read.m ├── downsample.m ├── edgefinder.m ├── eliminate_boundary.m ├── error_analysis.m ├── error_cam_proj.m ├── error_cam_proj2.m ├── error_cam_proj3.m ├── error_depth.m ├── error_depth_list.m ├── export_calib_data.m ├── ext_calib.m ├── ext_calib2.m ├── ext_calib_stereo.m ├── extract_distortion_data.m ├── extract_grid.m ├── extract_grid_manual.m ├── extract_parameters.m ├── extract_parameters3D.m ├── extract_parameters_fisheye.m ├── extrinsic_computation.m ├── fixallvariables.m ├── fixvariable.m ├── fov.m ├── ginput2.m ├── ginput3.m ├── ginput4.m ├── go_calib_optim.m ├── go_calib_optim_fisheye_no_read.m ├── go_calib_optim_iter.m ├── go_calib_optim_iter_fisheye.m ├── go_calib_optim_iter_weak.m ├── go_calib_optim_no_read.m ├── go_calib_stereo.m ├── ima_read_calib.m ├── ima_read_calib_no_read.m ├── init_intrinsic_param.m ├── init_intrinsic_param_fisheye.m ├── inverse_motion.m ├── is3D.m ├── load_image.m ├── load_stereo_calib_files.m ├── loading_calib.m ├── loading_stereo_calib.m ├── loadinr.m ├── loadpgm.m ├── loadppm.m ├── manual_corner_extraction.m ├── manual_corner_extraction_no_read.m ├── mean_std_robust.m ├── merge_calibration_sets.m ├── merge_two_datasets.m ├── mosaic.m ├── mosaic_no_read.m ├── normalize.m ├── normalize2.m ├── normalize_pixel.m ├── normalize_pixel_fisheye.m ├── pattern.eps ├── pgmread.m ├── point_distribution.m ├── project2_oulu.m ├── project_points.m ├── project_points2.m ├── project_points3.m ├── project_points_fisheye.m ├── project_points_weak.m ├── projectedGrid.m ├── projector_calib.m ├── projector_ima_corners.m ├── projector_marker.m ├── readras.m ├── recomp_corner_calib.m ├── recomp_corner_calib_fisheye_no_read.m ├── recomp_corner_calib_no_read.m ├── recomp_corner_calib_saddle_points.m ├── rect.m ├── rect_index.m ├── rectify_stereo_pair.m ├── reproject_calib.m ├── reproject_calib_no_read.m ├── rigid_motion.m ├── rodrigues.m ├── rotation.m ├── run_error_analysis.m ├── saveinr.m ├── savepgm.m ├── saveppm.m ├── saving_calib.m ├── saving_calib_ascii.m ├── saving_calib_ascii_fisheye.m ├── saving_calib_fisheye.m ├── saving_calib_no_results.m ├── saving_stereo_calib.m ├── scanner_calibration_script.m ├── scanning_script.m ├── script_fit_distortion.m ├── script_fit_distortion_fisheye.m ├── show_calib_results.m ├── show_calib_results_fisheye.m ├── show_stereo_calib_results.m ├── show_window.m ├── skew3.m ├── small_test_script.m ├── smooth_images.m ├── startup.m ├── stereo_gui.m ├── stereo_triangulation.m ├── undistort_image.m ├── undistort_image_color.m ├── undistort_image_no_read.m ├── undistort_sequence.m ├── visualize_distortions.m ├── willson_convert.m ├── willson_read.m ├── write_image.m └── writeras.m └── voicebox ├── Contents.m ├── activlev.m ├── activlevg.m ├── atan2sc.m ├── axisenlarge.m ├── bark2frq.m ├── berk2prob.m ├── bitsprec.m ├── cblabel.m ├── ccwarpf.m ├── cent2frq.m ├── cep2pow.m ├── choosenk.m ├── choosrnk.m ├── correlogram.m ├── distchar.m ├── distchpf.m ├── disteusq.m ├── distisar.m ├── distispf.m ├── distitar.m ├── distitpf.m ├── ditherq.m ├── dlyapsq.m ├── dualdiag.m ├── dypsa.m ├── enframe.m ├── entropy.m ├── erb2frq.m ├── estnoiseg.m ├── estnoisem.m ├── ewgrpdel.m ├── fig2emf.m ├── figbolden.m ├── filtbankm.m ├── filterbank.m ├── finishat.m ├── flac.exe ├── fopenmkd.m ├── frac2bin.m ├── fram2wav.m ├── frq2bark.m ├── frq2cent.m ├── frq2erb.m ├── frq2mel.m ├── frq2midi.m ├── fxpefac.m ├── fxrapt.m ├── gammabank.m ├── gausprod.m ├── gaussmix.m ├── gaussmixd.m ├── gaussmixg.m ├── gaussmixk.m ├── gaussmixm.m ├── gaussmixp.m ├── gaussmixt.m ├── glotlf.m ├── glotros.m ├── gmmlpdf.m ├── histndim.m ├── hostipinfo.m ├── huffman.m ├── imagehomog.m ├── importsii.m ├── irdct.m ├── irfft.m ├── kmeanhar.m ├── kmeanlbg.m ├── lambda2rgb.m ├── ldatrace.m ├── lin2pcma.m ├── lin2pcmu.m ├── lognmpdf.m ├── logsum.m ├── lpcaa2ao.m ├── lpcaa2dl.m ├── lpcaa2rf.m ├── lpcao2rf.m ├── lpcar2am.m ├── lpcar2cc.m ├── lpcar2db.m ├── lpcar2ff.m ├── lpcar2fm.m ├── lpcar2im.m ├── lpcar2ls.m ├── lpcar2pf.m ├── lpcar2pp.m ├── lpcar2ra.m ├── lpcar2rf.m ├── lpcar2rr.m ├── lpcar2zz.m ├── lpcauto.m ├── lpcbwexp.m ├── lpccc2ar.m ├── lpccc2cc.m ├── lpccc2db.m ├── lpccc2ff.m ├── lpccc2pf.m ├── lpcconv.m ├── lpccovar.m ├── lpccw2zz.m ├── lpcdb2pf.m ├── lpcdl2aa.m ├── lpcff2pf.m ├── lpcfq2zz.m ├── lpcifilt.m ├── lpcim2ar.m ├── lpcis2rf.m ├── lpcla2rf.m ├── lpclo2rf.m ├── lpcls2ar.m ├── lpcpf2cc.m ├── lpcpf2ff.m ├── lpcpf2rr.m ├── lpcpp2cw.m ├── lpcpp2pz.m ├── lpcpz2zz.m ├── lpcra2ar.m ├── lpcra2pf.m ├── lpcra2pp.m ├── lpcrand.m ├── lpcrf2aa.m ├── lpcrf2ao.m ├── lpcrf2ar.m ├── lpcrf2is.m ├── lpcrf2la.m ├── lpcrf2lo.m ├── lpcrf2rr.m ├── lpcrr2am.m ├── lpcrr2ar.m ├── lpcss2zz.m ├── lpczz2ar.m ├── lpczz2cc.m ├── lpczz2ss.m ├── m2htmlpwd.m ├── maxfilt.m ├── maxgauss.m ├── meansqtf.m ├── mel2frq.m ├── melbankm.m ├── melcepst.m ├── midi2frq.m ├── minspane.m ├── mintrace.m ├── modspect.m ├── momfilt.m ├── mos2pesq.m ├── nearnonz.m ├── overlapadd.m ├── pcma2lin.m ├── pcmu2lin.m ├── peak2dquad.m ├── permutes.m ├── pesq2mos.m ├── phon2sone.m ├── polygonarea.m ├── polygonwind.m ├── polygonxline.m ├── potsband.m ├── pow2cep.m ├── prob2berk.m ├── psycdigit.m ├── psycest.m ├── psycestu.m ├── psychofunc.m ├── qrabs.m ├── qrdivide.m ├── qrdotdiv.m ├── qrdotmult.m ├── qrmult.m ├── qrpermute.m ├── quadpeak.m ├── randfilt.m ├── randiscr.m ├── randvec.m ├── rdct.m ├── readaif.m ├── readau.m ├── readcnx.m ├── readflac.m ├── readhtk.m ├── readsfs.m ├── readsph.m ├── readwav.m ├── rectifyhomog.m ├── rfft.m ├── rhartley.m ├── rnsubset.m ├── rotation.m ├── rotax2qr.m ├── roteu2qr.m ├── roteu2ro.m ├── rotmc2qc.m ├── rotmr2qr.m ├── rotpl2ro.m ├── rotqc2mc.m ├── rotqc2qr.m ├── rotqr2ax.m ├── rotqr2eu.m ├── rotqr2mr.m ├── rotqr2qc.m ├── rotqr2ro.m ├── rotqrmean.m ├── rotqrvec.m ├── rotro2eu.m ├── rotro2pl.m ├── rotro2qr.m ├── rsfft.m ├── sapisynth.m ├── schmitt.m ├── sigalign.m ├── skew3d.m ├── snrseg.m ├── sone2phon.m ├── soundspeed.m ├── specsub.m ├── specsubm.m ├── spgrambw.m ├── sphrharm.m ├── sprintsi.m ├── ssubmmse.m ├── ssubmmsev.m ├── stdspectrum.m ├── stoi2prob.m ├── teager.m ├── texthvc.m ├── tilefigs.m ├── txalign.m ├── unixwhich.m ├── upolyhedron.m ├── usasi.m ├── v_addnoise.m ├── v_chimv.m ├── v_colormap.m ├── v_findpeaks.m ├── v_kmeans.m ├── v_ppmvu.m ├── v_resample.m ├── v_sigma.m ├── v_windinfo.m ├── v_windows.m ├── vadsohn.m ├── voicebox.m ├── vonmisespdf.m ├── winenvar.m ├── writehtk.m ├── writewav.m ├── xticksi.m ├── xyzticksi.m ├── yticksi.m ├── zerocros.m ├── zerotrim.m └── zoomfft.m /.gitignore: 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