R.Collins and Y.Tsin, "Calibration of an Outdoor Active Camera System," IEEE Computer Vision and Pattern Recognition (CVPR'99), Ft.Collins, CO, June 23-25, 1999.
CMUpose/data/ CMUpose/src/In the data/ directory you will find
landmarks.datwhich is a file of GPS landmark data. Read the header to decipher the format. The position of the landmarks on campus is depicted in the gif file campuspts.gif. You will also find the following set of pan-tilt measurement files for each of 5 cameras on campus (measured by sighting a subset of the landmarks in the landmarks.dat file)
porter_calib.dat prb_calib.dat roberts_calib.dat smith_calib.dat wean_calib.datAgain read the header to understand the format. In the src/ directory you will find my pose calibration code. It is perhaps the best example of how to read and use the data in the above files. Go to the src/ directory and type "make". I've compiled it under SGI IRIX and RedHat Linux without problems. It will make an executable called posecalib. Run "posecalib" with no arguments to see what the input arguments should be. To try a test run, type
posecalib ../data/landmarks.dat ../data/prb_calib.dat 1and compare the results with the file prbpose.out. If the results deviate significantly there is a problem. You are the alpha test site! Good luck.
-Bob Collins Robotics Institute Carnegie Mellon University 5000 Forbes Ave Pittsburgh, PA 15213 EMAIL: email@example.com