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;

