This file describes the files contained in release 3.0b3.
The files include:

	index.txt	this file
	changes.txt	listing of the version to version changes
	faq.txt		frequently asked questions
	notes.txt	release announcements

The basic calibration software is contained in the files:

	cal_main.h
	cal_main.c	calibration routines
	ecalmain.c	exterior orientation calibration routines
	cal_tran.c	coordinate transformation routines
	cal_eval.c	model evaluation routines
	cal_util.c	utilities for reading and writing data

The subdirectory matrix contains the source code for the matrix
manipulation routines.  The files in this directory are:

	matrix.h
	matrix.c

The subdirectory minpack contains the FORTRAN and C source code for the
MINPACK nonlinear optimization routines.  The files in this directory are:

	dpmpar.{f,c}	MINPACK routines
	enorm.{f,c}
	fdjac2.{f,c}
	lmdif.{f,c}
	lmpar.{f,c}
	qrfac.{f,c}
	qrsolv.{f,c}

	f2c.h		header file for the converted C code

	f2c.ps		postscript guide describing the f2c converter

Five programs are included to demonstrate the use of the calibration
routines.  The programs are:

	ccal.c		basic coplanar calibration
	ccal_fo.c	coplanar calibration with full optimization

	nccal.c		basic non-coplanar calibration
	nccal_fo.c	non-coplanar calibration with full optimization

	ecal.c		extrinsic parameter calibration (i.e. pose only)

Two programs are included to generate synthetic data to test the
calibration code:

	csyn.c		coplanar calibration data generation program
	nsyn.c		non-coplanar calibration data generation program

	gasdev.c	random number routine for the above programs

Four test data files are also included:

	cc_cd.dat	synthetic coplanar test data (100 points)
	ncc_cd.dat	synthetic non-coplanar test data (300 points)

	cc_cpcc.dat	calibrated camera model from coplanar test data
	ncc_cpcc.dat	calibrated camera model from non-coplanar test data

Three log files illustrate the output of the synthetic data generation
programs and the results for each of the calibration programs:

	ccal.log	coplanar calibration log
	nccal.log	non-coplanar calibration log
        ecal.log	exterior orientation calibration log

A makefile is provided to build the code in Unix environments:

	makefile.unx	makefile for Unix environments

To build the full set of software use the command:
	
	make -f makefile.unx all

Three other miscellaneous test programs:

	xfd2xfu.c	convert from distorted to undistorted image coordinates
	wc2ic.c		convert from 3D world to 2D image coordinates
	ic2wc.c		convert from 2D image to 3D world coordinates

All of the above files are contained in the compressed tar file
Tsai-method-v3.0b3.tar.Z.  To extract the files use the commands:

	uncompress  Tsai-method-v3.0b3.tar.Z
	tar  -xvf   Tsai-method-v3.0b3.tar

The files are also contained in the PKZIP file tsai30b3.zip.  To 
extract the files use the command:

	pkunzip -d  tsai30b3.zip

Please feel free to redistribute the code.  Comments, suggestions, and bug
reports can be directed to me at rgwillson@mmm.com.