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 | %%% 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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