1  %=======================================================================


2  % Copyright 20082014, LEGI UMR 5519 / CNRS UJF GINP, Grenoble, France


3  % http://www.legi.grenobleinp.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  %=======================================================================


18 


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


20 


21  check_active_images;


22 


23  if ~exist('solution_error')


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


25  end;


26 


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


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


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


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


31 


32  fc_error = solution_error(1:2);


33  cc_error = solution_error(3:4);


34  alpha_c_error = solution_error(5);


35  kc_error = solution_error(6:10);


36 


37  % Calibration matrix:


38 


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


40  inv_KK = inv(KK);


41 


42  % Extract the extrinsic paramters, and recomputer the collineations


43 


44  for kk = 1:n_ima,


45 


46  if active_images(kk),


47 


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


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


50 


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


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


78  end;

