Each directory contains the data in Section IV.B.
The experiments can be demonstrated by MATLAB programs in each directory.

To execute the calibration by the previous methods, need to install

Camera Calibration Toolbox for Matlab
http://www.vision.caltech.edu/bouguetj/calib_doc/
http://www.vision.caltech.edu/bouguetj/calib_doc/download/TOOLBOX_calib.zip

In each directory, run show_points to view the input images and points.

calib_parallel:
  * Calibration by the proposed method
  * To run calibration: test_paracalib
  * Symbolic Math Toolbox is required for visualization

calib_planes:
  * Calibration by using planar objects
  * To run calibration: toolbox_calib

calib_indoor:
  * Calibration by using a 3D object in an indoor scene
  * To run calibration: toolbox_calib

calib_outdoor:
  * Calibration by using a 3D object in an outdoor scene
  * To run calibration: toolbox_calib

test_indoor:
  * Evaluate the reprojection error of a marker on a tripod
  * Estimate the 3D points and camera positions by bundle adjustment
  * To run test: estimate_structure

test_outdoor:
  * Evaluate the reprojection error of the points of far building (right-side)
  * Estimate the camera positions (3D points are given)
  * To run test: estimate_extparam

