Third calibration example - Calibration using Heikkil�'s data (planar and non-planar calibration rig

Similarly to the previous example, let us apply our calibration engine onto the data that comes with the original calibration toolbox of Heikkil� from the University of Oulu. Once again. do not bother downloading the data from their package, we have it available to you right here: heikkila_data.zip (16Kb zipped). Retrieve all the files ( cademo.mat, demo_script_oulu_2D.m, demo_script_oulu_3D.m) into a unique directory called heikkila_data.

跟上个例子相似，让我们使用原先的来自Oulu大学的Heikkil校正数据。可以直接点击右键下载。将数据（cademo.mat,demo_script_oulu_2D.m,demo_script_oulu_3D.m）解压出来，放在目录heikkila_data中。

Calibration with a planar rig: Run the first matlab script filedemo_script_oulu_2D. This script converts a first set of calibration data (3 images of a planar calibration rig) into my calibration format, runs through our main calibration engine, shows the results (intrinsic + extrinsic). Make sure you try the world-centered view of the extrinsic parameters (it is very informative of the 3D locations of the camera).
用平面台校准：运行第一个matlab脚本demo_script_oulu_2D。这个脚本将一系列的校正数据（3副图片的标定平面）转换成自己的格式。用来运行校正引擎，显示结果（内部参数和外部参数）。确保你使用世界坐标系中的外部参数。

Calibration with a non-planar rig: Run now the second matlab script filedemo_script_oulu_3D. This script loads the second calibration data (one image of a non-planar calibration rig), runs through our main calibration engine, and shows the results (intrinsic + extrinsic).

不用平面台校准：运行第二个matlab脚本demo_script_oulu_3D。该脚本加载第二个校正数据（1副非平面），运行校正引擎，显示结果（内部参数和外部参数）。

Observe that our calibration engine also works on calibration data acquired with non-planar rigs.
注意我们的校正引擎同样可以运行在费平面获取的数据中。