Changeset 1000 for trunk/src/toolbox_calib/compute_extrinsic.m
- Timestamp:
- Feb 17, 2017, 2:51:46 PM (7 years ago)
- File:
-
- 1 edited
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trunk/src/toolbox_calib/compute_extrinsic.m
r926 r1000 34 34 %project_points.m: Computes the 2D image projections of a set of 3D points 35 35 36 37 38 36 if nargin < 8, 39 37 thresh_cond = inf; 40 38 end; 41 42 39 43 40 if nargin < 7, … … 45 42 end; 46 43 47 48 44 if nargin < 6, 49 alpha_c = 0;50 51 52 53 54 55 56 57 58 59 60 61 62 45 alpha_c = 0; 46 if nargin < 5, 47 kc = zeros(5,1); 48 if nargin < 4, 49 cc = zeros(2,1); 50 if nargin < 3, 51 fc = ones(2,1); 52 if nargin < 2, 53 error('Need 2D projections and 3D points (in compute_extrinsic.m)'); 54 return; 55 end; 56 end; 57 end; 58 end; 63 59 end; 64 60 … … 69 65 % Refinement: 70 66 [omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond); 71 72 67 73 68 % computation of the homography (not useful in the end) … … 81 76 ex = x_kk - x; 82 77 83 84 78 % Converts the homography in pixel units: 85 79 … … 87 81 88 82 H = KK*H; 89 90 91 92 83 93 84 return;
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