Changeset 1000 for trunk/src/toolbox_calib/compute_extrinsic.m

Timestamp:

Feb 17, 2017, 2:51:46 PM (7 years ago)

Author:

g7moreau

Message:

• Remove tab

File:

• trunk/src/toolbox_calib/compute_extrinsic.m (modified) (5 diffs)

trunk/src/toolbox_calib/compute_extrinsic.m

@@ -34 +34 @@
 %project_points.m: Computes the 2D image projections of a set of 3D points
 
-
-
 if nargin < 8,
    thresh_cond = inf;
 end;
-
 
 if nargin < 7,
@@ -45 +42 @@
 end;
 
-
 if nargin < 6,
-   alpha_c = 0;
-        if nargin < 5,
-        kc = zeros(5,1);
-        if nargin < 4,
-        cc = zeros(2,1);
-        if nargin < 3,
-                fc = ones(2,1);
-                if nargin < 2,
-                error('Need 2D projections and 3D points (in compute_extrinsic.m)');
-                return;
-                end;
-        end;
-        end;
-        end;
+    alpha_c = 0;
+    if nargin < 5,
+        kc = zeros(5,1);
+        if nargin < 4,
+            cc = zeros(2,1);
+            if nargin < 3,
+                fc = ones(2,1);
+                if nargin < 2,
+                    error('Need 2D projections and 3D points (in compute_extrinsic.m)');
+                    return;
+                end;
+            end;
+        end;
+    end;
 end;
 
@@ -69 +65 @@
 % Refinement:
 [omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omckk,Tckk,x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond);
-
 
 % computation of the homography (not useful in the end)
@@ -81 +76 @@
 ex = x_kk - x;
 
-
 % Converts the homography in pixel units:
 
@@ -87 +81 @@
 
 H = KK*H;
-
-
-
 
 return;