[734]  1 


 2  %%% Extraction of the final intrinsic and extrinsic paramaters:


 3 


 4  check_active_images;


 5 


 6  if ~exist('solution_error')


 7  solution_error = zeros(6*n_ima + 15,1);


 8  end;


 9 


 10  fc = solution(1:2);%***


 11  cc = solution(3:4);%***


 12  alpha_c = solution(5);%***


 13  kc = solution(6:10);%***


 14 


 15  fc_error = solution_error(1:2);


 16  cc_error = solution_error(3:4);


 17  alpha_c_error = solution_error(5);


 18  kc_error = solution_error(6:10);


 19 


 20  % Calibration matrix:


 21 


 22  KK = [fc(1) fc(1)*alpha_c cc(1);0 fc(2) cc(2); 0 0 1];


 23  inv_KK = inv(KK);


 24 


 25  % Extract the extrinsic paramters, and recomputer the collineations


 26 


 27  for kk = 1:n_ima,


 28 


 29  if active_images(kk),


 30 


 31  omckk = solution(15+6*(kk1) + 1:15+6*(kk1) + 3);%***


 32  Tckk = solution(15+6*(kk1) + 4:15+6*(kk1) + 6);%***


 33 


 34  omckk_error = solution_error(15+6*(kk1) + 1:15+6*(kk1) + 3);


 35  Tckk_error = solution_error(15+6*(kk1) + 4:15+6*(kk1) + 6);


 36 


 37  Rckk = rodrigues(omckk);


 38 


 39  Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk];


 40 


 41  Hkk = Hkk / Hkk(3,3);


 42 


 43  else


 44 


 45  omckk = NaN*ones(3,1);


 46  Tckk = NaN*ones(3,1);


 47  Rckk = NaN*ones(3,3);


 48  Hkk = NaN*ones(3,3);


 49  omckk_error = NaN*ones(3,1);


 50  Tckk_error = NaN*ones(3,1);


 51 


 52  end;


 53 


 54  eval(['omc_' num2str(kk) ' = omckk;']);


 55  eval(['Rc_' num2str(kk) ' = Rckk;']);


 56  eval(['Tc_' num2str(kk) ' = Tckk;']);


 57  eval(['H_' num2str(kk) '= Hkk;']);


 58  eval(['omc_error_' num2str(kk) ' = omckk_error;']);


 59  eval(['Tc_error_' num2str(kk) ' = Tckk_error;']);


 60 


 61  end;

