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

Timestamp:

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

Author:

g7moreau

Message:

• Remove tab

File:

• trunk/src/toolbox_calib/extract_parameters.m (modified) (3 diffs)

trunk/src/toolbox_calib/extract_parameters.m

@@ -5 +5 @@
 
 if ~exist('solution_error')
-   solution_error = zeros(6*n_ima + 15,1);
+    solution_error = zeros(6*n_ima + 15,1);
 end;
 
@@ -19 +19 @@
 
 % Calibration matrix:
-        
+
 KK = [fc(1) fc(1)*alpha_c cc(1);0 fc(2) cc(2); 0 0 1];
 inv_KK = inv(KK);
@@ -26 +26 @@
 
 for kk = 1:n_ima,
-   
-   if active_images(kk),   
-      
-      omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%***   
-      Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%*** 
-      
-      omckk_error = solution_error(15+6*(kk-1) + 1:15+6*(kk-1) + 3); 
-      Tckk_error = solution_error(15+6*(kk-1) + 4:15+6*(kk-1) + 6);
-      
-        Rckk = rodrigues(omckk);
-   
-        Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk];
-   
-        Hkk = Hkk / Hkk(3,3);
-      
-   else
-      
-      omckk = NaN*ones(3,1);   
-      Tckk = NaN*ones(3,1);
-      Rckk = NaN*ones(3,3);
-      Hkk = NaN*ones(3,3);
-      omckk_error = NaN*ones(3,1);
-      Tckk_error = NaN*ones(3,1);
-      
-   end;
-   
-   eval(['omc_' num2str(kk) ' = omckk;']);
-   eval(['Rc_' num2str(kk) ' = Rckk;']);
-   eval(['Tc_' num2str(kk) ' = Tckk;']);
-   eval(['H_' num2str(kk) '= Hkk;']);
-   eval(['omc_error_' num2str(kk) ' = omckk_error;']);
-   eval(['Tc_error_' num2str(kk) ' = Tckk_error;']);
-   
+
+    if active_images(kk),
+        omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%***
+        Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%***
+
+        omckk_error = solution_error(15+6*(kk-1) + 1:15+6*(kk-1) + 3);
+        Tckk_error = solution_error(15+6*(kk-1) + 4:15+6*(kk-1) + 6);
+
+        Rckk = rodrigues(omckk);
+
+        Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk];
+
+        Hkk = Hkk / Hkk(3,3);
+
+    else
+        omckk = NaN*ones(3,1);
+        Tckk = NaN*ones(3,1);
+        Rckk = NaN*ones(3,3);
+        Hkk = NaN*ones(3,3);
+        omckk_error = NaN*ones(3,1);
+        Tckk_error = NaN*ones(3,1);
+    end;
+
+    eval(['omc_' num2str(kk) ' = omckk;']);
+    eval(['Rc_' num2str(kk) ' = Rckk;']);
+    eval(['Tc_' num2str(kk) ' = Tckk;']);
+    eval(['H_' num2str(kk) '= Hkk;']);
+    eval(['omc_error_' num2str(kk) ' = omckk_error;']);
+    eval(['Tc_error_' num2str(kk) ' = Tckk_error;']);
 end;