[926] | 1 | %%% Computes the extrinsic parameters for all the active calibration images |
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| 2 | |
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| 3 | check_active_images; |
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| 4 | |
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| 5 | N_points_views = zeros(1,n_ima); |
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| 6 | |
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| 7 | for kk = 1:n_ima, |
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| 8 | |
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| 9 | if exist(['x_' num2str(kk)]), |
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| 10 | |
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| 11 | eval(['x_kk = x_' num2str(kk) ';']); |
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| 12 | eval(['X_kk = X_' num2str(kk) ';']); |
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| 13 | |
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| 14 | if (isnan(x_kk(1,1))), |
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| 15 | if active_images(kk), |
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| 16 | fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) |
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| 17 | fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) |
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| 18 | end; |
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| 19 | end; |
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| 20 | if active_images(kk), |
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| 21 | N_points_views(kk) = size(x_kk,2); |
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| 22 | [omckk,Tckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c); |
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| 23 | [omckk,Tckk,Rckk,JJ_kk] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,alpha_c,20,thresh_cond); |
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| 24 | if check_cond, |
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| 25 | if (cond(JJ_kk)> thresh_cond), |
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| 26 | active_images(kk) = 0; |
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| 27 | omckk = NaN*ones(3,1); |
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| 28 | Tckk = NaN*ones(3,1); |
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| 29 | fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk) |
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| 30 | desactivated_images = [desactivated_images kk]; |
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| 31 | end; |
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| 32 | end; |
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| 33 | if isnan(omckk(1,1)), |
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| 34 | %fprintf(1,'\nWarning: Desactivating image %d. Re-activate it later by typing:\nactive_images(%d)=1;\nand re-run optimization\n',[kk kk]) |
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| 35 | active_images(kk) = 0; |
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| 36 | end; |
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| 37 | else |
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| 38 | omckk = NaN*ones(3,1); |
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| 39 | Tckk = NaN*ones(3,1); |
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| 40 | end; |
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| 41 | |
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| 42 | else |
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| 43 | |
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| 44 | omckk = NaN*ones(3,1); |
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| 45 | Tckk = NaN*ones(3,1); |
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| 46 | |
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| 47 | if active_images(kk), |
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| 48 | fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk) |
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| 49 | fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk) |
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| 50 | end; |
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| 51 | |
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| 52 | active_images(kk) = 0; |
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| 53 | |
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| 54 | end; |
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| 55 | |
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| 56 | eval(['omc_' num2str(kk) ' = omckk;']); |
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| 57 | eval(['Tc_' num2str(kk) ' = Tckk;']); |
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| 58 | |
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| 59 | end; |
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| 60 | |
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| 61 | |
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| 62 | check_active_images; |
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