====== Camera calibration / distortion calculation ======

[[http://vis-www.cs.umass.edu/~apw/calib/manual.html|Calibration guide]]


**Important:** if the images end in "TIF" and not "tif" (lowercase vs. uppercase), the program will try to overwrite the images with the xyz files. If you rename all extensions to lowercase tif, the program will correctly append _xyz.txt at the end.

----

===== Z-Values for Adam's images =====

0: 0.000

1: 0.075

2: 0.1500

3: 0.2250

4: 0.3000

5: 0.3749

6: 0.4500

7: 0.5250

8: 0.6750

9: 0.8250

10: 0.9750

11: 1.1250

12: 1.2750

13: 1.4570

14: 1.6070

15: 1.7570

[[http://vis-www.cs.umass.edu/~apw/calib/images.zip | Adam's Images]]


===== Calibration guide thoughts =====

  * Step 5 not entirely clear - this is the number of dots in a row inside the area that we selected with the red rectangle.
         
         I think Dots in a Row is on your looking image.
         - jaeyoo

  * Step 8 - the piece of tape on the target is southwest of and pointing to the center point, which is at (4,4). Remembering that we only count the dots within the area that was selected with the red rectangle, determine the coordinates of the point at the bottom left corner.
     
         I think the number of missing row and column only depends on the region of red rectangle for
         which you will drag.  I used 1 and 1 for each starting
         - jaeyoo

  * Step 10 - This is the distance from the camera to the target at the time each frame was captured.
     
         I think it means the distance data we will measure for each frame.
         distance data is in zlist.txt.
         - jaeyoo


Calibrate steps 1 and 2: are the XYZ and the ROW COL files the ones in the same directory as calibrationsystem.exe (/windowsbins)
     
          calibrate stage2 seems to use xyz_file and rowcol_file produced in the directory at which 
          calibrationsystem.exe is located. I think both files have accumulated data set from
          all frames used in dot finder.          
         - jaeyoo



----

===== Dana's data: =====

==== Z-Values ====

frame 1: 0.0000

frame 2: 0.1501

frame 3: 0.30001

frame 4: 0.450025

frame 5: 0.600245

frame 6: 0.74999

frame 7: 0.90009

frame 8: 1.049915

frame 9: 1.2

frame 10: 1.35001

frame 11: 1.5

frame 12: 1.650035


----

==== Parameter file ====

Row center: 960

Col center: 540

Focal length: 0.014

T3: 0.5

Pixel size: 0.0000074


==== Andrey's run: ====

<code>
Contents of parout.txt:

row0:     6.075e+002     1
col0:     9.185e+002     1
f:        6.279e-003     1
t1:      -4.156e-001     1
t2:      -5.324e-001     1
t3:       4.841e-001     1
omega:   -1.429e-002     1
phi:      4.311e-002     1
kappa:    4.771e-003     1
k1:      -1.421e-002     1
g1:      -1.356e-003     1
g2:       3.371e-004     1
g3:       4.714e-002     1
g4:       5.460e-004     1
pixsize:  7.400e-006     0
----------------------
This file is generated by "calibrate"
</code>

Error Estimation:


|      |  Avrg Err  |  Std Div   |
| row  |  1.092e-001 |  8.498e-002 |
| col  |  1.500e-001 |  1.388e-001 |
| eucl |  2.051e-001 |  1.372e-001 |