This software package contains routines for calibrating Roger Tsai's perspective projection camera model. Routines are provided for two levels of calibration. The first level is a direct implementation of Tsai's algorithm in which only three (f, Tz, and kappa1) of the 11 calculated model parameters are numerically optimized. The second level is an extension of Tsai's algorithm in which the full 11 parameter model is numerically optimized. Full optimization is slower but provides the most accurate calibration.
This software also contains routines for using the camera model and for gauging the model's accuracy.
- R. Tsai, " A versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the-Shelf TV Cameras and Lenses ", IEEE Journal of Robotics and Automation, Vol. RA-3, No. 4, August 1987, pages 323-344.