Changeset 1000 for trunk/src/toolbox_calib/extract_parameters.m
- Timestamp:
- Feb 17, 2017, 2:51:46 PM (8 years ago)
- File:
-
- 1 edited
Legend:
- Unmodified
- Added
- Removed
-
trunk/src/toolbox_calib/extract_parameters.m
r926 r1000 5 5 6 6 if ~exist('solution_error') 7 solution_error = zeros(6*n_ima + 15,1);7 solution_error = zeros(6*n_ima + 15,1); 8 8 end; 9 9 … … 19 19 20 20 % Calibration matrix: 21 21 22 22 KK = [fc(1) fc(1)*alpha_c cc(1);0 fc(2) cc(2); 0 0 1]; 23 23 inv_KK = inv(KK); … … 26 26 27 27 for kk = 1:n_ima, 28 29 if active_images(kk), 30 31 omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%*** 32 Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%*** 33 34 omckk_error = solution_error(15+6*(kk-1) + 1:15+6*(kk-1) + 3); 35 Tckk_error = solution_error(15+6*(kk-1) + 4:15+6*(kk-1) + 6); 36 37 Rckk = rodrigues(omckk); 38 39 Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; 40 41 Hkk = Hkk / Hkk(3,3); 42 43 else 44 45 omckk = NaN*ones(3,1); 46 Tckk = NaN*ones(3,1); 47 Rckk = NaN*ones(3,3); 48 Hkk = NaN*ones(3,3); 49 omckk_error = NaN*ones(3,1); 50 Tckk_error = NaN*ones(3,1); 51 52 end; 53 54 eval(['omc_' num2str(kk) ' = omckk;']); 55 eval(['Rc_' num2str(kk) ' = Rckk;']); 56 eval(['Tc_' num2str(kk) ' = Tckk;']); 57 eval(['H_' num2str(kk) '= Hkk;']); 58 eval(['omc_error_' num2str(kk) ' = omckk_error;']); 59 eval(['Tc_error_' num2str(kk) ' = Tckk_error;']); 60 28 29 if active_images(kk), 30 omckk = solution(15+6*(kk-1) + 1:15+6*(kk-1) + 3);%*** 31 Tckk = solution(15+6*(kk-1) + 4:15+6*(kk-1) + 6);%*** 32 33 omckk_error = solution_error(15+6*(kk-1) + 1:15+6*(kk-1) + 3); 34 Tckk_error = solution_error(15+6*(kk-1) + 4:15+6*(kk-1) + 6); 35 36 Rckk = rodrigues(omckk); 37 38 Hkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; 39 40 Hkk = Hkk / Hkk(3,3); 41 42 else 43 omckk = NaN*ones(3,1); 44 Tckk = NaN*ones(3,1); 45 Rckk = NaN*ones(3,3); 46 Hkk = NaN*ones(3,3); 47 omckk_error = NaN*ones(3,1); 48 Tckk_error = NaN*ones(3,1); 49 end; 50 51 eval(['omc_' num2str(kk) ' = omckk;']); 52 eval(['Rc_' num2str(kk) ' = Rckk;']); 53 eval(['Tc_' num2str(kk) ' = Tckk;']); 54 eval(['H_' num2str(kk) '= Hkk;']); 55 eval(['omc_error_' num2str(kk) ' = omckk_error;']); 56 eval(['Tc_error_' num2str(kk) ' = Tckk_error;']); 61 57 end;
Note: See TracChangeset
for help on using the changeset viewer.