Last change
on this file since 762 was
732,
checked in by sommeria, 10 years ago
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comp_error_calib added in tool_box_calib
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File size:
1.2 KB
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[732] | 1 | %%%%%%%%%%%%%%%%%%%% RECOMPUTES THE REPROJECTION ERROR %%%%%%%%%%%%%%%%%%%%%%%%
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| 2 |
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| 3 | check_active_images;
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| 4 |
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| 5 | % Reproject the patterns on the images, and compute the pixel errors:
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| 6 |
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| 7 | ex = []; % Global error vector
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| 8 | x = []; % Detected corners on the image plane
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| 9 | y = []; % Reprojected points
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| 10 |
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| 11 | if ~exist('alpha_c'),
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| 12 | alpha_c = 0;
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| 13 | end;
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| 14 |
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| 15 | for kk = 1:n_ima,
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| 16 |
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| 17 | eval(['omckk = omc_' num2str(kk) ';']);
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| 18 | eval(['Tckk = Tc_' num2str(kk) ';']);
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| 19 |
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| 20 | if active_images(kk) & (~isnan(omckk(1,1))),
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| 21 |
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| 22 | %Rkk = rodrigues(omckk);
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| 23 |
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| 24 | eval(['y_' num2str(kk) ' = project_points2(X_' num2str(kk) ',omckk,Tckk,fc,cc,kc,alpha_c);']);
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| 25 |
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| 26 | eval(['ex_' num2str(kk) ' = x_' num2str(kk) ' - y_' num2str(kk) ';']);
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| 27 |
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| 28 | eval(['x_kk = x_' num2str(kk) ';']);
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| 29 |
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| 30 | eval(['ex = [ex ex_' num2str(kk) '];']);
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| 31 | eval(['x = [x x_' num2str(kk) '];']);
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| 32 | eval(['y = [y y_' num2str(kk) '];']);
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| 33 |
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| 34 | else
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| 35 |
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| 36 | % eval(['y_' num2str(kk) ' = NaN*ones(2,1);']);
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| 37 |
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| 38 |
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| 39 | % If inactivated image, the error does not make sense:
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| 40 | eval(['ex_' num2str(kk) ' = NaN*ones(2,1);']);
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| 41 |
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| 42 | end;
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| 43 |
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| 44 | end;
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| 45 |
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| 46 | err_std = std(ex')';
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