[926] | 1 | |
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| 2 | %%% Extraction of the final intrinsic and extrinsic paramaters: |
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| 3 | |
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| 4 | check_active_images; |
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| 5 | |
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| 6 | if ~exist('solution_error') |
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| 7 | solution_error = zeros(6*n_ima + 15,1); |
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| 8 | end; |
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| 9 | |
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| 10 | fc = solution(1:2);%*** |
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| 11 | cc = solution(3:4);%*** |
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| 12 | alpha_c = solution(5);%*** |
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| 13 | kc = solution(6:10);%*** |
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| 14 | |
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| 15 | fc_error = solution_error(1:2); |
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| 16 | cc_error = solution_error(3:4); |
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| 17 | alpha_c_error = solution_error(5); |
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| 18 | kc_error = solution_error(6:10); |
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| 19 | |
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| 20 | % Calibration matrix: |
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| 21 | |
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| 22 | KK = [fc(1) fc(1)*alpha_c cc(1);0 fc(2) cc(2); 0 0 1]; |
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| 23 | inv_KK = inv(KK); |
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| 24 | |
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| 25 | % Extract the extrinsic paramters, and recomputer the collineations |
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| 26 | |
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| 27 | for kk = 1:n_ima, |
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| 28 | |
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| 29 | if active_images(kk), |
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| 30 | |
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| 31 | omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%*** |
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| 32 | Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%*** |
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| 33 | |
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| 34 | omckk_error = solution_error(15+6*(kk-1) + 1:15+6*(kk-1) + 3); |
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| 35 | Tckk_error = solution_error(15+6*(kk-1) + 4:15+6*(kk-1) + 6); |
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| 36 | |
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| 37 | Rckk = rodrigues(omckk); |
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| 38 | |
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| 39 | Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; |
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| 40 | |
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| 41 | Hkk = Hkk / Hkk(3,3); |
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| 42 | |
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| 43 | else |
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| 44 | |
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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 | Rckk = NaN*ones(3,3); |
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| 48 | Hkk = NaN*ones(3,3); |
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| 49 | omckk_error = NaN*ones(3,1); |
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| 50 | Tckk_error = NaN*ones(3,1); |
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| 51 | |
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| 52 | end; |
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| 53 | |
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| 54 | eval(['omc_' num2str(kk) ' = omckk;']); |
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| 55 | eval(['Rc_' num2str(kk) ' = Rckk;']); |
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| 56 | eval(['Tc_' num2str(kk) ' = Tckk;']); |
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| 57 | eval(['H_' num2str(kk) '= Hkk;']); |
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| 58 | eval(['omc_error_' num2str(kk) ' = omckk_error;']); |
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| 59 | eval(['Tc_error_' num2str(kk) ' = Tckk_error;']); |
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| 60 | |
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| 61 | end; |
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