1 | %=======================================================================
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2 | % Copyright 2008-2015, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France
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3 | % http://www.legi.grenoble-inp.fr
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4 | % Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
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5 | %
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6 | % This file is part of the toolbox UVMAT.
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7 | %
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8 | % UVMAT is free software; you can redistribute it and/or modify
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9 | % it under the terms of the GNU General Public License as published
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10 | % by the Free Software Foundation; either version 2 of the license,
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11 | % or (at your option) any later version.
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12 | %
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13 | % UVMAT is distributed in the hope that it will be useful,
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14 | % but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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16 | % GNU General Public License (see LICENSE.txt) for more details.
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17 | %=======================================================================
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18 |
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19 | %%%%%%%%%%%%%%%%%%%% RECOMPUTES THE REPROJECTION ERROR %%%%%%%%%%%%%%%%%%%%%%%%
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20 |
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21 | check_active_images;
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22 |
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23 | % Reproject the patterns on the images, and compute the pixel errors:
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24 |
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25 | ex = []; % Global error vector
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26 | x = []; % Detected corners on the image plane
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27 | y = []; % Reprojected points
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28 |
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29 | if ~exist('alpha_c'),
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30 | alpha_c = 0;
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31 | end;
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32 |
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33 | for kk = 1:n_ima,
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34 |
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35 | eval(['omckk = omc_' num2str(kk) ';']);
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36 | eval(['Tckk = Tc_' num2str(kk) ';']);
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37 |
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38 | if active_images(kk) & (~isnan(omckk(1,1))),
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39 |
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40 | %Rkk = rodrigues(omckk);
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41 |
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42 | eval(['y_' num2str(kk) ' = project_points2(X_' num2str(kk) ',omckk,Tckk,fc,cc,kc,alpha_c);']);
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43 |
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44 | eval(['ex_' num2str(kk) ' = x_' num2str(kk) ' - y_' num2str(kk) ';']);
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45 |
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46 | eval(['x_kk = x_' num2str(kk) ';']);
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47 |
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48 | eval(['ex = [ex ex_' num2str(kk) '];']);
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49 | eval(['x = [x x_' num2str(kk) '];']);
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50 | eval(['y = [y y_' num2str(kk) '];']);
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51 |
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52 | else
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53 |
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54 | % eval(['y_' num2str(kk) ' = NaN*ones(2,1);']);
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55 |
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56 |
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57 | % If inactivated image, the error does not make sense:
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58 | eval(['ex_' num2str(kk) ' = NaN*ones(2,1);']);
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59 |
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60 | end;
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61 |
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62 | end;
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63 |
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64 | err_std = std(ex')';
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