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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