[810] | 1 | %=======================================================================
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[908] | 2 | % Copyright 2008-2015, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France
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[810] | 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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[725] | 19 | %%% Computes the extrinsic parameters for all the active calibration images
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| 20 |
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| 21 | check_active_images;
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| 22 |
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| 23 | N_points_views = zeros(1,n_ima);
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| 24 |
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| 25 | for kk = 1:n_ima,
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| 26 |
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| 27 | if exist(['x_' num2str(kk)]),
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| 28 |
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| 29 | eval(['x_kk = x_' num2str(kk) ';']);
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| 30 | eval(['X_kk = X_' num2str(kk) ';']);
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| 31 |
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| 32 | if (isnan(x_kk(1,1))),
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| 33 | if active_images(kk),
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| 34 | fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk)
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| 35 | fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk)
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| 36 | end;
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| 37 | end;
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| 38 | if active_images(kk),
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| 39 | N_points_views(kk) = size(x_kk,2);
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| 40 | [omckk,Tckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c);
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| 41 | [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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| 42 | if check_cond,
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| 43 | if (cond(JJ_kk)> thresh_cond),
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| 44 | active_images(kk) = 0;
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| 45 | omckk = NaN*ones(3,1);
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| 46 | Tckk = NaN*ones(3,1);
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| 47 | fprintf(1,'\nWarning: View #%d ill-conditioned. This image is now set inactive.\n',kk)
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| 48 | desactivated_images = [desactivated_images kk];
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| 49 | end;
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| 50 | end;
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| 51 | if isnan(omckk(1,1)),
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| 52 | %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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| 53 | active_images(kk) = 0;
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| 54 | end;
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| 55 | else
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| 56 | omckk = NaN*ones(3,1);
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| 57 | Tckk = NaN*ones(3,1);
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| 58 | end;
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| 59 |
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| 60 | else
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| 61 |
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| 62 | omckk = NaN*ones(3,1);
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| 63 | Tckk = NaN*ones(3,1);
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| 64 |
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| 65 | if active_images(kk),
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| 66 | fprintf(1,'Warning: Cannot calibrate with image %d. Need to extract grid corners first.\n',kk)
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| 67 | fprintf(1,' Set active_images(%d)=1; and run Extract grid corners.\n',kk)
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| 68 | end;
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| 69 |
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| 70 | active_images(kk) = 0;
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| 71 |
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| 72 | end;
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| 73 |
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| 74 | eval(['omc_' num2str(kk) ' = omckk;']);
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| 75 | eval(['Tc_' num2str(kk) ' = Tckk;']);
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| 76 |
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| 77 | end;
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| 78 |
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| 79 |
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| 80 | check_active_images;
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