Code

Prewritten code:

analyze.c:

the extrapolator for data from the detector to small window sizes

detect.c:

the corner detector that works on image data

matrix.c:

matrix operations, useful for calculating Plessey operators

optimize.c:

nonlinear multidimensional optimization

paraboloid.c:

operations for fitting lines to parabolas

ppm.c:

image manipulation operations

stax.c:

statistix (get it?) keeping for both processes, useless practically

zerror3D.c:

final statistics calculation for errors in corner point values calculated by Zhang's routine

and code written by me (included in full):

calibrate.cpp:

my version of Zhang's algorithm, which takes in data from analyze and calibrates a camera

matrivec.h:

my matrix and vector classes, more formal and easier to use than Mark's but based on them

quaternion.h:

my quaternion class, written to interact with matrivec to make parameterization of rotations easy