Index: /trunk/src/toolbox_calib/comp_error_calib.m
===================================================================
--- /trunk/src/toolbox_calib/comp_error_calib.m	(revision 732)
+++ /trunk/src/toolbox_calib/comp_error_calib.m	(revision 732)
@@ -0,0 +1,46 @@
+%%%%%%%%%%%%%%%%%%%% RECOMPUTES THE REPROJECTION ERROR %%%%%%%%%%%%%%%%%%%%%%%%
+
+check_active_images;
+
+% Reproject the patterns on the images, and compute the pixel errors:
+
+ex = []; % Global error vector
+x = []; % Detected corners on the image plane
+y = []; % Reprojected points
+
+if ~exist('alpha_c'),
+   alpha_c = 0;
+end;
+
+for kk = 1:n_ima,
+   
+   eval(['omckk = omc_' num2str(kk) ';']);
+   eval(['Tckk = Tc_' num2str(kk) ';']);   
+   
+   if active_images(kk) & (~isnan(omckk(1,1))),
+      
+      %Rkk = rodrigues(omckk);
+      
+      eval(['y_' num2str(kk) '  = project_points2(X_' num2str(kk) ',omckk,Tckk,fc,cc,kc,alpha_c);']);
+      
+      eval(['ex_' num2str(kk) ' = x_' num2str(kk) ' - y_' num2str(kk) ';']);
+      
+      eval(['x_kk = x_' num2str(kk) ';']);
+      
+      eval(['ex = [ex ex_' num2str(kk) '];']);
+      eval(['x = [x x_' num2str(kk) '];']);
+      eval(['y = [y y_' num2str(kk) '];']);
+      
+   else
+      
+      %	eval(['y_' num2str(kk) '  = NaN*ones(2,1);']);
+
+   
+      % If inactivated image, the error does not make sense:
+      eval(['ex_' num2str(kk) ' = NaN*ones(2,1);']);
+      
+   end;
+   
+end;
+
+err_std = std(ex')';