├── doc └── manual │ ├── 3dplot.sty │ ├── algorithm │ ├── 3dplot.sty │ ├── algorithm.bib │ ├── algorithm.tex │ ├── section_ax-xb.aux │ ├── section_ax-xb.tex │ ├── section_complexity.aux │ ├── section_complexity.tex │ ├── section_initializer.aux │ ├── section_initializer.tex │ ├── section_io.tex.aux │ ├── section_optimizer.aux │ └── section_optimizer.tex │ ├── api │ ├── section_initializer.aux │ ├── section_initializer.tex │ ├── section_io.aux │ ├── section_io.tex │ ├── section_nodes.aux │ ├── section_nodes.tex │ ├── section_observations.aux │ ├── section_observations.tex │ ├── section_optimizer.aux │ ├── section_optimizer.tex │ ├── section_package.aux │ ├── section_package.tex │ ├── section_tree.aux │ ├── section_tree.tex │ ├── section_tweaks.aux │ ├── section_tweaks.tex │ └── subsection_core_xml.tex │ ├── example_xml.tex │ ├── figures │ ├── examples.pdf │ ├── extrinsic_example.png │ ├── image_example.png │ ├── pixel_example.png │ └── tree_example.png │ ├── manual.tex │ └── tutorial │ ├── section_examples.aux │ ├── section_examples.tex │ ├── section_examples_xml.tex │ ├── section_intro.aux │ ├── section_intro.tex │ ├── section_results.aux │ └── section_results.tex ├── license.md ├── readme.md └── src └── matlab ├── +caliber ├── +init │ ├── @Initializer │ │ ├── Initializer.m │ │ ├── makeGraphInit.m │ │ ├── normalizeFull.m │ │ ├── printSolutionInfo.m │ │ ├── processObservation.m │ │ ├── solve.m │ │ ├── solveGraph.m │ │ ├── solveGraphAX_XB.m │ │ ├── solveGraphDirect.m │ │ ├── solveGraphLabels.m │ │ ├── solvePost.m │ │ └── solvePre.m │ ├── Label.m │ ├── optionsGet.m │ └── optionsSet.m ├── +io │ ├── +test │ │ ├── bouguetErrorsTest.m │ │ ├── bouguetSingle.m │ │ └── stereoTest.m │ ├── +xml │ │ ├── processBouguetSet.m │ │ ├── processNode.m │ │ ├── processObservation.m │ │ ├── readMatrices.m │ │ ├── readMatrix.m │ │ ├── readStates.m │ │ ├── readXML.m │ │ └── solveXML.m │ ├── bouguet.m │ ├── opencv.m │ ├── opencvGantry.m │ └── printCell.m ├── +math │ ├── +ax_xb │ │ ├── +test │ │ │ ├── coincidentAxisTest.m │ │ │ ├── extractParallelVectors.m │ │ │ ├── nonparallelAxisTest.m │ │ │ ├── nonparallelTranslationTest.m │ │ │ ├── nullTest.m │ │ │ ├── parallelAxisPreTest.m │ │ │ ├── parallelAxisTest.m │ │ │ └── parallelTranslationTest.m │ │ ├── checkI.m │ │ ├── extractTranslations.m │ │ ├── screwInfo.m │ │ ├── solve.m │ │ ├── solveCoincidentAxis.m │ │ ├── solveNonparallelAxis.m │ │ ├── solveNonparallelTranslation.m │ │ ├── solveParallelAxis.m │ │ ├── solveParallelTranslation.m │ │ ├── solveRotation0DoF.m │ │ ├── solveRotation1DoF.m │ │ ├── solveTranslation0DoF.m │ │ └── solveTranslation1DoF.m │ ├── +projection │ │ ├── +test │ │ │ ├── applyKTest.m │ │ │ ├── derivTest.m │ │ │ ├── normalizedProjectionTest.m │ │ │ ├── projectionTest.m │ │ │ ├── radialDistortionTest.m │ │ │ ├── wallProjectionTest.m │ │ │ └── zhangTest.m │ │ ├── cameraIntrinsics.m │ │ ├── inverseRadialDistortion.m │ │ ├── normalizedProjection.m │ │ ├── radialDistortion.m │ │ ├── standardProjection.m │ │ ├── standardReverseProjection.m │ │ ├── wallProjection.m │ │ └── zhang.m │ ├── +quat │ │ ├── +test │ │ │ ├── ax_xbTest.m │ │ │ └── mathTest.m │ │ ├── ax_xb.m │ │ ├── quat2rot.m │ │ ├── quatconj.m │ │ ├── quatmult.m │ │ └── rot2quat.m │ ├── +test │ │ ├── dltTest.m │ │ └── meanRigidTest.m │ ├── +xaxtest │ │ ├── mixedSolve.m │ │ ├── xaxSingle.m │ │ └── xaxSolve.m │ ├── axisAngle.m │ ├── axisAngleDerivative.m │ ├── cayley.m │ ├── cayleyDerivative.m │ ├── computeK.m │ ├── connectedComponents.m │ ├── crossProductMatrix.m │ ├── deg2rad.m │ ├── dlt.m │ ├── errorStats.m │ ├── estimatePixelPitch.m │ ├── eulerZYX.m │ ├── fov.m │ ├── gridCoordinates2d.m │ ├── logmVector.m │ ├── logmVectorEig.m │ ├── meanRigid.m │ ├── mod1.m │ ├── normalizeRigid.m │ ├── normc.m │ ├── randDir.m │ ├── randImage.m │ ├── randK.m │ ├── randM.m │ ├── randRigid.m │ ├── randRot.m │ ├── randVec.m │ └── xf2screw.m ├── +node │ ├── GeneralNode.m │ ├── Node.m │ └── PrismaticJoint.m ├── +observation │ ├── +test │ │ └── nodeTest.m │ ├── CameraProjectorObservation.m │ ├── IndependentObservation.m │ ├── NodeObservation.m │ ├── Observation.m │ ├── StandardObservation.m │ └── TransformationObservation.m ├── +opt │ ├── +test │ │ ├── mobileRobot.m │ │ └── stereoNoDeriv.m │ ├── @Optimizer │ │ ├── Optimizer.m │ │ ├── estimateTweakErrors.m │ │ ├── loocv.m │ │ ├── makeSynthetic.m │ │ ├── printSolutionInfo.m │ │ └── printSolutionStats.m │ ├── Tweak.m │ └── getTweakTableRow.m ├── +plot │ ├── drawCameraFrustrum.m │ ├── drawFrame.m │ ├── hcy2rgb.m │ ├── plotImagePoints.m │ ├── plotOnImage.m │ ├── plotOptResNormSemilogY.m │ ├── plotOptStepSizeSemilogY.m │ ├── plotPixelErrors.m │ ├── plotRectification.m │ ├── plotTransforms.m │ ├── plotVectors.m │ └── scatterChar.m ├── +special │ ├── facingDevices.m │ ├── fixedCameraSet.m │ ├── gantryObject.m │ ├── gantry_2_arm.m │ ├── gantry_full.m │ ├── handEye.m │ ├── nonoverlap.m │ ├── partialStereo.m │ └── sphericalGantry.m ├── +test │ ├── allTests.m │ ├── bouguetRMS.m │ ├── bouguetRMSScript.m │ ├── facing00.m │ ├── facingLoocv00.m │ ├── findStates.m │ ├── gantryObject00.m │ ├── ladybug00.m │ ├── ladybugRectTest.m │ ├── nonoverlap00.m │ ├── nonoverlapLoocv00.m │ ├── nonoverlapLoocvTest.m │ ├── nonoverlapTest.m │ ├── plotOnImages.m │ ├── resultBars.m │ ├── sphericalGantry00.m │ ├── stereo00.m │ ├── stereo01.m │ ├── suppPlot.m │ ├── synAdjustableStereo.m │ ├── synCameraProjector.m │ ├── synCirc.m │ ├── synNonoverlap.m │ ├── synTriple.m │ ├── tablet00.m │ ├── twoarm.m │ ├── variableStereoTest.m │ └── xmlTest.m └── +tree │ └── @Tree │ ├── Tree.m │ ├── automaticTweaks.m │ ├── estimateSceneSize.m │ ├── loocv.m │ ├── makeSynthetic.m │ ├── nodeData.m │ ├── nodeM.m │ ├── plotExtrinsics.m │ ├── plotImagePoints.m │ ├── plotPixelErrors.m │ ├── plotTree.m │ ├── relativeM.m │ ├── rootM.m │ ├── solve.m │ ├── updateFull.m │ └── updateIteration.m └── caliber_data ├── cal2arms ├── arm_data.mat ├── arm_results.m ├── arm_results.mat ├── calib.run ├── fixed_data.mat ├── fixed_results.m ├── fixed_results.mat ├── loocv │ └── initOpt.mat ├── merged_results.m ├── merged_results.mat ├── opt.mat └── test.run ├── facing00 ├── Calib_results.mat ├── a01.jpg ├── a02.jpg ├── a03.jpg ├── a04.jpg ├── a05.jpg ├── a06.jpg ├── a07.jpg ├── a08.jpg ├── a09.jpg ├── a10.jpg ├── a11.jpg ├── a12.jpg ├── a13.jpg ├── a_data.mat ├── a_results.m ├── a_results.mat ├── d01.jpg ├── d02.jpg ├── d03.jpg ├── d04.jpg ├── d05.jpg ├── d06.jpg ├── d07.jpg ├── d08.jpg ├── d09.jpg ├── d10.jpg ├── d11.jpg ├── d12.jpg ├── d13.jpg ├── d_data.mat ├── d_results.m ├── d_results.mat ├── jacobian.mat └── opt_extrinsics.fig ├── ladybug00 ├── results1.mat ├── results2.mat ├── results3.mat ├── results4.mat └── results5.mat ├── loocv └── stereo_03.mat ├── nonoverlap00 ├── C_Results.m ├── C_Results.mat ├── M_Results.m ├── M_Results.mat ├── c_data.mat └── m_data.mat ├── nonoverlap01 ├── C_Results.m ├── C_Results.mat ├── M_Results.m ├── M_Results.mat ├── c_data.mat ├── m_data.mat └── opt_extrinsics.fig ├── nonoverlap02 ├── C_Results.m ├── C_Results.mat ├── M_Results.m ├── M_Results.mat ├── c_data.mat └── m_data.mat ├── nonoverlap03 ├── C_Results.m ├── C_Results.mat ├── D_Results.m ├── D_Results.mat ├── M_Results.m ├── M_Results.mat ├── R_Results.m ├── R_Results.mat ├── c_data.mat ├── d_data.mat ├── m_data.mat └── r_data.mat ├── nonoverlap04 ├── C_Results.m ├── C_Results.mat ├── D_Results.m ├── D_Results.mat ├── M_Results.m ├── M_Results.mat ├── R_Results.m ├── R_Results.mat ├── c_data.mat ├── d_data.mat ├── m_data.mat └── r_data.mat ├── nonoverlap05 ├── C_Results.m ├── C_Results.mat ├── D_Results.m ├── D_Results.mat ├── M_Results.m ├── M_Results.mat ├── R_Results.m ├── R_Results.mat ├── c_data.mat ├── d_data.mat ├── jacobian.mat ├── m_data.mat └── r_data.mat ├── spherical_00 ├── Calib_Results.m ├── Calib_Results.mat ├── calib_data.mat └── jacobian.mat ├── stereo_03 ├── c_data.mat ├── c_results.m ├── c_results.mat ├── jacobian.mat ├── m_data.mat ├── m_results.m ├── m_results.mat └── opt.mat ├── stereo_display_00 ├── c_results.mat ├── m_results.mat ├── ppm │ ├── c0.ppm │ ├── c1.ppm │ ├── c2.ppm │ ├── c3.ppm │ ├── c4.ppm │ ├── m0.ppm │ ├── m1.ppm │ ├── m2.ppm │ ├── m3.ppm │ └── m4.ppm └── readme.txt ├── stereo_test_00 ├── color.mat └── gray.mat ├── tablet ├── c_data.mat ├── c_results.m ├── c_results.mat ├── ct_data.mat ├── ct_results.m ├── ct_results.mat ├── m_data.mat ├── m_results.m ├── m_results.mat ├── mt_data.mat ├── mt_results.m ├── mt_results.mat ├── t_data.mat ├── t_results.m └── t_results.mat ├── tablet02 ├── c_data.mat ├── c_results.m ├── c_results.mat ├── cm_results.m ├── cm_results.mat ├── ct_data.mat ├── ct_results.m ├── ct_results.mat ├── loocv.mat ├── m_data.mat ├── m_results.m ├── m_results.mat ├── mm_results.m ├── mm_results.mat ├── mt_data.mat ├── mt_results.m ├── mt_results.mat ├── opt.mat ├── t01.JPG ├── t02.JPG ├── t03.JPG ├── t04.JPG ├── t05.JPG ├── t06.JPG ├── t07.JPG ├── t08.JPG ├── t_data.mat ├── t_results.m └── t_results.mat └── test.xml 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