Changeset 238 for trunk/src/geometry_calib.m

Timestamp:

Apr 18, 2011, 10:42:29 PM (13 years ago)

Author:

sommeria

Message:

various bug corrections

File:

• trunk/src/geometry_calib.m (modified) (1 diff)

trunk/src/geometry_calib.m

@@ -458 +458 @@
 norm=abs(det(R));
 GeometryCalib.CalibrationType='linear';
+if (a_X1(2)/a_Y1(3))>0
+    epsilon=1;
 GeometryCalib.fx_fy(1)=sqrt((a_X1(2)/a_Y1(3))*norm);
+else
+    GeometryCalib.fx_fy(1)=-sqrt((-a_X1(2)/a_Y1(3))*norm);
+      epsilon=-1;
+end
 GeometryCalib.fx_fy(2)=(a_Y1(3)/a_X1(2))*GeometryCalib.fx_fy(1);
 GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
 %GeometryCalib.Tx_Ty_Tz=[a_X1(1) a_Y1(1) 1]; 
 GeometryCalib.Tx_Ty_Tz=[a_X1(1)/GeometryCalib.fx_fy(1) a_Y1(1)/GeometryCalib.fx_fy(2) 1];
-R(1,:)=R(1,:)/GeometryCalib.fx_fy(1);
+R(1,:)=epsilon*R(1,:)/GeometryCalib.fx_fy(1);
 R(2,:)=R(2,:)/GeometryCalib.fx_fy(2);
 R=[R;[0 0]];
-GeometryCalib.R=[R [0;0;1]];
-GeometryCalib.omc=(180/pi)*[acos(GeometryCalib.R(1,1)) 0 0];
+GeometryCalib.R=[R [0;0;-1]];
+GeometryCalib.omc=(180/pi)*[acos(GeometryCalib.R(1,1)) 0 0]
 %------------------------------------------------------------------------
 % determine the tsai parameters for a view normal to the grid plane