source: trunk/src/toolbox_calib/extract_parameters.m @ 810

Last change on this file since 810 was 810, checked in by g7moreau, 10 years ago
  • Add license
File size: 2.4 KB
RevLine 
[810]1%=======================================================================
2% Copyright 2008-2014, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France
3%   http://www.legi.grenoble-inp.fr
4%   Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
5%
6%     This file is part of the toolbox UVMAT.
7%
8%     UVMAT is free software; you can redistribute it and/or modify
9%     it under the terms of the GNU General Public License as published
10%     by the Free Software Foundation; either version 2 of the license,
11%     or (at your option) any later version.
12%
13%     UVMAT is distributed in the hope that it will be useful,
14%     but WITHOUT ANY WARRANTY; without even the implied warranty of
15%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16%     GNU General Public License (see LICENSE.txt) for more details.
17%=======================================================================
[734]18
19%%% Extraction of the final intrinsic and extrinsic paramaters:
20
21check_active_images;
22
23if ~exist('solution_error')
24   solution_error = zeros(6*n_ima + 15,1);
25end;
26
27fc = solution(1:2);%***
28cc = solution(3:4);%***
29alpha_c = solution(5);%***
30kc = solution(6:10);%***
31
32fc_error = solution_error(1:2);
33cc_error = solution_error(3:4);
34alpha_c_error = solution_error(5);
35kc_error = solution_error(6:10);
36
37% Calibration matrix:
38       
39KK = [fc(1) fc(1)*alpha_c cc(1);0 fc(2) cc(2); 0 0 1];
40inv_KK = inv(KK);
41
42% Extract the extrinsic paramters, and recomputer the collineations
43
44for kk = 1:n_ima,
45   
46   if active_images(kk),   
47     
48      omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%***   
49      Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%***
50     
51      omckk_error = solution_error(15+6*(kk-1) + 1:15+6*(kk-1) + 3);
52      Tckk_error = solution_error(15+6*(kk-1) + 4:15+6*(kk-1) + 6);
53     
54        Rckk = rodrigues(omckk);
55   
56        Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk];
57   
58        Hkk = Hkk / Hkk(3,3);
59     
60   else
61     
62      omckk = NaN*ones(3,1);   
63      Tckk = NaN*ones(3,1);
64      Rckk = NaN*ones(3,3);
65      Hkk = NaN*ones(3,3);
66      omckk_error = NaN*ones(3,1);
67      Tckk_error = NaN*ones(3,1);
68     
69   end;
70   
71   eval(['omc_' num2str(kk) ' = omckk;']);
72   eval(['Rc_' num2str(kk) ' = Rckk;']);
73   eval(['Tc_' num2str(kk) ' = Tckk;']);
74   eval(['H_' num2str(kk) '= Hkk;']);
75   eval(['omc_error_' num2str(kk) ' = omckk_error;']);
76   eval(['Tc_error_' num2str(kk) ' = Tckk_error;']);
77   
78end;
Note: See TracBrowser for help on using the repository browser.