| 1 | %go_calib_optim |
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| 2 | % |
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| 3 | %Main calibration function. Computes the intrinsic andextrinsic parameters. |
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| 4 | %Runs as a script. |
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| 5 | % |
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| 6 | %INPUT: x_1,x_2,x_3,...: Feature locations on the images |
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| 7 | % X_1,X_2,X_3,...: Corresponding grid coordinates |
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| 8 | % |
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| 9 | %OUTPUT: fc: Camera focal length |
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| 10 | % cc: Principal point coordinates |
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| 11 | % alpha_c: Skew coefficient |
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| 12 | % kc: Distortion coefficients |
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| 13 | % KK: The camera matrix (containing fc and cc) |
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| 14 | % omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space |
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| 15 | % Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space |
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| 16 | % Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors |
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| 17 | % |
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| 18 | %Method: Minimizes the pixel reprojection error in the least squares sense over the intrinsic |
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| 19 | % camera parameters, and the extrinsic parameters (3D locations of the grids in space) |
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| 20 | % |
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| 21 | %Note: If the intrinsic camera parameters (fc, cc, kc) do not exist before, they are initialized through |
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| 22 | % the function init_intrinsic_param.m. Otherwise, the variables in memory are used as initial guesses. |
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| 23 | % |
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| 24 | %Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the |
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| 25 | % corresponding entry in the active_images vector to zero. |
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| 26 | % |
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| 27 | %VERY IMPORTANT: This function works for 2D and 3D calibration rigs, except for init_intrinsic_param.m |
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| 28 | %that is so far implemented to work only with 2D rigs. |
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| 29 | %In the future, a more general function will be there. |
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| 30 | %For now, if using a 3D calibration rig, set quick_init to 1 for an easy initialization of the focal length |
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| 31 | |
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| 32 | |
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| 33 | if ~exist('n_ima'), |
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| 34 | data_calib; % Load the images |
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| 35 | click_calib; % Extract the corners |
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| 36 | end; |
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| 37 | |
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| 38 | |
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| 39 | check_active_images; |
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| 40 | check_extracted_images; |
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| 41 | check_active_images; |
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| 42 | desactivated_images = []; |
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| 43 | |
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| 44 | recompute_extrinsic = (length(ind_active) < 100); % if there are too many images, do not spend time recomputing the extrinsic parameters twice.. |
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| 45 | |
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| 46 | %%% MAIN OPTIMIZATION CALL!!!!! (look into this function for the details of implementation) |
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| 47 | go_calib_optim_iter; |
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| 48 | |
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| 49 | if ~isempty(desactivated_images), |
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| 50 | param_list_save = param_list; |
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| 51 | fprintf(1,'\nNew optimization including the images that have been deactivated during the previous optimization.\n'); |
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| 52 | active_images(desactivated_images) = ones(1,length(desactivated_images)); |
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| 53 | desactivated_images = []; |
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| 54 | go_calib_optim_iter; |
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| 55 | if ~isempty(desactivated_images), |
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| 56 | fprintf(1,['List of images left desactivated: ' num2str(desactivated_images) '\n' ] ); |
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| 57 | end; |
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| 58 | param_list = [param_list_save(:,1:end-1) param_list]; |
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| 59 | end; |
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